Vehicle control device, vehicle control method, and storage medium

A vehicle control method that causes a vehicle control device to:

• recognize a surrounding situation of a subject vehicle;
• determine whether or not a situation of an intersection road that is present in a progress direction of the subject vehicle is able to be recognized at a predetermined degree or more based on a recognition result;
• control at least steering of the subject vehicle based on a determination result;
• perform control of moving the subject vehicle toward a side of the first direction in front of the intersection road in a case where it is determined that the situation of the intersection road is able to be recognized at the predetermined degree or more, when the subject vehicle turns in a first direction that is one of left and right directions at the intersection road;
• suppress the control of moving the subject vehicle toward the side of the first direction in front of the intersection road in a case where it is determined that the situation of the intersection road is not able to be recognized at the predetermined degree or more;
• and
• in a case where the subject vehicle turns in the first direction, cause the subject vehicle to stop in the first direction with respect to an extending direction of a road on which the subject vehicle travels in front of the intersection road, in a case where it is determined that the situation of the intersection road is not able to be recognized at the predetermined degree or more.

A computer-readable non-transitory storage medium storing a program that causes a vehicle control device to:

• recognize a surrounding situation of a subject vehicle;
• determine whether or not a situation of an intersection road that is present in a progress direction of the subject vehicle is able to be recognized at a predetermined degree or more based on a recognition result;
• control at least steering of the subject vehicle based on a determination result;
• perform control of moving the subject vehicle toward a side of the first direction in front of the intersection road in a case where it is determined that the situation of the intersection road is able to be recognized at the predetermined degree or more, when the subject vehicle turns in a first direction that is one of left and right directions at the intersection road;
• suppress the control of moving the subject vehicle toward the side of the first direction in front of the intersection road in a case where it is determined that the situation of the intersection road is not able to be recognized at the predetermined degree or more;
• and
• in a case where the subject vehicle turns in the first direction, cause the subject vehicle to stop in the first direction with respect to an extending direction of a road on which the subject vehicle travels in front of the intersection road, in a case where it is determined that the situation of the intersection road is not able to be recognized at the predetermined degree or more.