Vehicle control device, vehicle control method, and storage medium

A vehicle control device comprising:

• a recognizer that recognizes a surrounding situation of a subject vehicle;
• a driving controller that executes driving control of controlling one or both of steering and acceleration/deceleration of the subject vehicle on the basis of the surrounding situation recognized by the recognizer;
• and
• a notifier that notifies a vehicle occupant of the subject vehicle of predetermined information,
• wherein the driving controller sets a degree of margin for a surrounding environment set in the driving control after a predetermined time before start of the notification of the predetermined information using the notifier to be higher than that before the predetermined time before start of the notification of the predetermined information.

A vehicle control method using a vehicle control device, the vehicle control method comprising:

• recognizing a surrounding situation of a subject vehicle;
• executing driving control of controlling one or both of steering and acceleration/deceleration of the subject vehicle on the basis of the recognized surrounding situation;
• notifying a vehicle occupant of the subject vehicle of predetermined information;
• and
• setting a degree of margin for a surrounding environment set in the driving control after start of the notification of the predetermined information to be higher than that before start of the notification of the predetermined information.

A computer-readable non-transitory storage medium having a program stored thereon, the program causing a vehicle control device to execute:

• recognizing a surrounding situation of a subject vehicle;
• executing driving control of controlling one or both of steering and acceleration/deceleration of the subject vehicle on the basis of the recognized surrounding situation;
• notifying a vehicle occupant of the subject vehicle of predetermined information;
• and
• setting a degree of margin for a surrounding environment set in the driving control after start of the notification of the predetermined information to be higher than that before start of the notification of the predetermined information.