VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device including: a recognizer () that recognizes a surrounding situation of a subject vehicle; a driving controller ( or ) that executes driving control of controlling one or both of steering and acceleration/deceleration of the subject vehicle on the basis of the surrounding situation recognized by the recognizer; and a notifier ( or ) that notifies a vehicle occupant of the subject vehicle of predetermined information, wherein the driving controller sets a degree of margin for a surrounding environment set in the driving control after start of the notification of the predetermined information using the notifier to be higher than that before start of the notification of the predetermined information.