VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device controls automated driving of a vehicle and includes a processor configured to execute a program to acquire map information including information of lanes and reference information for identifying a position of the vehicle, determine a travel lane in which the vehicle is traveling in the map information based on the acquired reference information; determine lane candidates in which the vehicle is traveling in the map information based on the reference information when the travel lane has not been identified, and maintain a current control level of the automated driving when an event in which the control level needs to be changed does not occur in any one of the lane candidates and lower the control level when the event occurs in at least one of the lane candidates.