VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM

A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle; and a driving controller configured to control a speed and steering of the vehicle according to a recognition result of the recognizer. The driving controller is configured to stop following travel of following a front vehicle recognized by the recognizer according to a state of a target recognized by the recognizer in a traveling region through which the front vehicle has passed when the following travel is performed. The target is a regulation sign for regulating a part of a lane in which a vehicle is traveling, a regulation sign for regulating a lane, or a guiding sign for guiding a visual line of an occupant of the vehicle.