VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device includes a recognizer that recognizes another vehicle present in the surroundings of an own vehicle, a detector that detects an orientation of a face or a line of sight of a driver of the own vehicle, an output controller that causes an outputter to, on the basis of a position of the other vehicle recognized by the recognizer and present in a second lane adjacent to a first lane in which the own vehicle is present, output predetermined information indicating that the other vehicle is present in the second lane, a driving controller that performs automated driving for controlling at least one of a speed or steering of the own vehicle on the basis of the recognition result from the recognizer and the detection result from the detector and reduces a level of the automated driving in a case where the orientation detected by the detector is not within an allowable range, and a determiner that determines the allowable range on the basis of the orientation detected by the detector after the predetermined information is output by the outputter.