VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle and a driving controller configured to control acceleration, deceleration, and steering of the vehicle independently of an operation of an occupant of the vehicle on the basis of a recognition result of the recognizer. When it is recognized that the vehicle passes through a complex intersection where two or more intersections are combined by turning left or right at the complex intersection, the recognizer excludes at least a traffic signal closest to the vehicle among traffic signals present at positions capable of being visually recognized from the vehicle in a traveling direction of the vehicle from traffic signals whose states are required to be taken into account by the vehicle in a state in which the vehicle has entered the complex intersection.