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 smoother lane change. A vehicle control device is provided with: a recognition unit that recognizes the surroundings of a vehicle; a setting unit that sets a target area between a first vehicle and a second vehicle on the basis of the position of the first vehicle present on the lane of the lane change destination recognized by the recognition unit and the position of the second vehicle behind the first vehicle; and a control unit that, on the basis of the position of the first vehicle and the position of the second vehicle, causes the vehicle to pass through the target region set by the setting unit, and then causes the vehicle to enter the target region by making the speed of the vehicle slower than the speed of the first vehicle. 本发明提供能够执行更顺畅的车道变更的车辆控制装置、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；设定部，其基于由识别部识别到的车道变更目的地的车道上存在的第一车辆的位置、以及第一车辆的后方的第二车辆的位置，来在第一车辆与第二车辆之间设定目标区域；以及控制部，其基于第一车辆的位置和第二车辆的位置，来使车辆通