VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM

To provide a vehicle control device, a vehicle control method, and a program capable of executing driving control adapted for a road environment.SOLUTION: A vehicle control device according to an embodiment includes a recognition unit (130) configured to recognize a surrounding situation of a subject vehicle, a reception unit (180) configured to receive an input of a set vehicle speed set by an occupant of the subject vehicle, and a driving control unit (140 and 160) configured to control one or both of steering and acceleration or deceleration of the subject vehicle on the basis of the surrounding situation recognized by the recognition unit and the set vehicle speed received by the reception unit. In a case in which a plurality of traveling lanes on which the subject vehicle is able to travel in a progress direction of the subject vehicle are recognized by the recognition unit, the driving control unit determines a lane on which the subject vehicle travels among the plurality of traveling lanes on the basis of the set vehicle speed.SELECTED DRAWING: Figure 2 【課題】道路環境に合わせた運転制御を実行することができる車両制御装置、車両制御方法、及びプログラムを提供すること。【解決手段】自車両の周辺状況を認識する認識部（１３０）と、前記自車両の乗員により設定される設定車速の入力を受け付ける受付部（１８０）と、前記認識部により認識された周辺状況と、前記受付部により受け付けられた設定車速とに基づいて、前記自車両の操舵または加減速のうち一方または双方を制御する運転制御部（１４０、１６０）と、を備え、前記運転制御部は、前記認識部により前記自車両の進行方向に走行可能な複数の走行車線が存在することが認識された場合に、前記設定車速に基づいて、前記複数の走行車線のうち前記自車両が走行する車線を決定する、車両制御装置。【選択図】図２