VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

The invention provides a vehicle control device, a vehicle control method, and a storage medium capable of executing more appropriate drive control on the basis of surrounding situations and the stateof a driver. The vehicle control device includes: an obstacle recognizing unit that recognizes an obstacle in the vicinity of a vehicle; a state recognizing unit that recognizes a state of a driver of the vehicle; an operation detecting unit that detects an operation of the driver on an operator accepting a driving operation for a driving force output device; a braking force control unit that performs automated brake control of outputting a braking force by operating a brake device in a case in which a relation between the obstacle and the vehicle satisfies a predetermined condition; and a stopping control unit that stops the automated brake control in a case in which a driving operation of a predetermined level or more using the operator is detected from a time that is a predetermined time before start of the au