Vehicle control device, vehicle control method, and storage medium

A vehicle control method comprising:

• by a computer,
• detecting a specific operation performed on a vehicle from outside the vehicle;
• recognizing a vicinity situation of the vehicle;
• controlling steering and acceleration or deceleration of the vehicle on the basis of the recognized vicinity situation;
• and
• executing an automated exit processing, the automated exit processing being process in which the vehicle is caused to exit from a parking lot and allowing a user to get on the vehicle in the boarding area,
• if the specific operation is detected before the vehicle arrives at a boarding area in automated exit processing, bringing the vehicle into a stopped state, the specific operation is an operation in which the user who does not get in the vehicle touches an outside of the vehicle, the boarding area being area in which the user of the vehicle is allowed to get on the vehicle.

A non-transitory computer-readable storage medium that stores a computer program to be executed by a computer to perform at least:

• detect a specific operation performed on a vehicle from outside the vehicle;
• recognize a vicinity situation of the vehicle;
• control steering and acceleration or deceleration of the vehicle on the basis of the recognized vicinity situation;
• and
• executing an automated exit processing, the automated exit processing being process in which the vehicle is caused to exit from a parking lot and allowing a user to get on the vehicle in the boarding area,
• if the specific operation is detected before the vehicle arrives at a boarding area in automated exit processing, bringing the vehicle into a stopped state, the specific operation is an operation in which the user who does not get in the vehicle touches an outside of the vehicle, the boarding area being area in which the user of the vehicle is allowed to get on the vehicle.