VEHICLE CONTROL METHOD, VEHICLE CONTROL DEVICE, AND STORAGE MEDIUM

Provided are a vehicle control device, a vehicle control method, and a storage medium capable of realizing control suitable for a traffic environment. The vehicle control device is provided with: a recognition unit that recognizes the surroundings of a vehicle; and a control unit that controls the steering and speed of the vehicle on the basis of the situation of the surroundings of the vehicle recognized by the recognition unit, wherein the control unit stops the vehicle in front of a stop line in such a manner that, in the width direction of a road, the vicinity or center of the center of the vehicle in the width direction coincides with the vicinity or center of the center of the stop line recognized by the recognition unit in the length direction. 提供能够实现对于交通环境而言适宜的控制的车辆控制装置、车辆控制方法及存储介质。车辆控制装置具备：识别部，其识别车辆的周边；以及控制部，其基于由所述识别部识别到的所述车辆的周边的状况，来控制所述车辆的转向及速度，所述控制部以在道路的宽度方向上使所述车辆的宽度方向的中央附近或中央与由所述识别部识别到的停止线的长度方向的中央附近或中央一致的方式，使所述车辆在停止线的跟前停止。