Vehicle control device, vehicle control method, and storage medium

A vehicle control method comprising:

• recognizing, by a computer, a first marking for defining a travel lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle;
• recognizing, by the computer, a second marking for defining the travel lane on the basis of position information and map information of the vehicle;
• correcting, by the computer, the second marking on the basis of road gradient information of a travel direction of the vehicle;
• and
• deciding, by the computer, on a travel lane of the vehicle on the basis of a comparison result between the first marking and the corrected second marking.

A computer-readable non-transitory storage medium storing a program for causing a computer to:

• recognize a first marking for defining a travel lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle;
• recognize a second marking for defining the travel lane on the basis of position information and map information of the vehicle;
• correct the second marking on the basis of road gradient information of a travel direction of the vehicle;
• and
• decide on a travel lane of the vehicle on the basis of a comparison result between the first marking and the corrected second marking.