VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device includes a preceding vehicle recognition unit which recognizes a preceding vehicle, a lane marking recognition unit which recognizes a lane marking for sectioning a lane in which a host vehicle travels, and a traveling control unit which performs first traveling control for causing the host vehicle to travel along a traveling route based on the lane marking recognized by the lane marking recognition unit in a case where the degree of recognition of the lane marking recognized by the lane marking recognition unit satisfies a predetermined standard, and performs second traveling control for causing the host vehicle to travel on the basis of a trajectory of the preceding vehicle recognized by the preceding vehicle recognition unit in a case where the degree of recognition of the lane marking recognized by the lane marking recognition unit does not satisfy the predetermined standard, and the traveling control unit changes the predetermined standard on the basis of a vehicle speed of the host vehicle.