Vehicle control device, vehicle control method, and storage medium

A vehicle control method in which a computer

• recognizes a surrounding situation of a host vehicle,
• detects a driving state of a driver of the host vehicle,
• executes, when an obstacle is present in front of the host vehicle and the driver is in a distracted driving state, driving control suitable for the obstacle on the basis of recognition results of the surrounding situation, and
• issues a notification to the driver when the driving control is executed,
• wherein the notification includes a first notification which is notified at a time of execution of a first driving control including steering control, and a second notification which is notified at a time of execution of second driving control executed in a state in which the host vehicle has approached further toward the obstacle from in the first driving control, and
• the second notification is issued when a particular driving support function is operated within a predetermined time from the first notification.

A computer readable non-transitory storage medium which stores a program causing a computer

• to recognize a surrounding situation of a host vehicle,
• to detect a driving state of a driver of the host vehicle,
• to execute, when an obstacle is present in front of the host vehicle and the driver is in a distracted driving state, driving control suitable for the obstacle on the basis of recognition results of the surrounding situation, and
• to issue a notification to the driver when the driving control is executed,
• wherein the notification includes a first notification which is notified at a time of execution of a first driving control including steering control, and a second notification which is notified at a time of execution of second driving control executed in a state in which the host vehicle has approached further toward the obstacle from in the first driving control, and
• the second notification is issued when a particular driving support function is operated within a predetermined time from the first notification.