VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device recognizes a surrounding situation of a vehicle, controls steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle based on the surrounding situation and map information, determines a driving mode of the vehicle to be one of a plurality of driving modes including a first driving mode and a second driving mode, determines whether there is an error in the map information based on the surrounding situation and the map information, and in a case where an error is determined in the map information while the vehicle is driving in the second driving mode, continues the second driving mode when a preceding vehicle is recognized within a first predetermined distance, or changes the second driving mode to the first driving mode when a preceding vehicle is not recognized within the first predetermined distance.