VEHICLE CONTROLLER, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle controller includes a first detector that detects a traveling state of a host vehicle, a second detector that detects a traveling state of an other vehicle that travels along a main lane when the host vehicle is traveling along a merging road, a marking line recognizer that recognizes a marking line of the main lane, and a merging controller that performs merging control of the host vehicle into the main lane based on a transverse moving situation of the other vehicle detected by the second detector, wherein, when a marking line of the main lane is unable to be recognized by the marking line recognizer, the merging controller delays starting of the merging control in comparison with a case in which the marking line of the main lane is able to be recognized by the marking line recognizer.