VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device recognizes surrounding circumstances of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver of the vehicle, determines any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, changes the driving mode of the vehicle to a driving mode in which the task is heavier when a task associated with the determined driving mode is not executed by the driver, determines whether or not the map information includes an error and determines whether or not a road division line is included in the surrounding circumstances, and sets a longer traveling continuation distance in the second driving mode in a case where it is determined that the map information includes an error, the road division line is not included in the surrounding circumstances, and a preceding vehicle has been recognized.