VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device includes a storage device configured to store a program, and a hardware processor. The hardware processor executes the program stored in the storage device to recognize a surrounding situation of a vehicle including a road division line and a surrounding vehicle, to control steering and acceleration/deceleration of the vehicle based on at least the road division line without depending on an operation of a driver of the vehicle, and to determine whether occlusion, in which at least a part of the road division line is shielded, has occurred, based on the road division line and a position of the surrounding vehicle present in front of the vehicle.