Vehicle control device, vehicle control method, and storage medium

A vehicle control method comprising:

• controlling, by a computer, traveling of a vehicle on a runway decided on according to first information based on an output of a detection device obtained by detecting a surrounding situation of the vehicle and second information based on map information;
• estimating, by the computer, the runway of the vehicle on the basis of the first information and the second information;
• and
• deciding, by the computer, on the runway of the vehicle on the basis of the first information, the second information, and runway estimation information about the estimated runway of the vehicle.

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

• control traveling of a vehicle on a runway decided on according to first information based on an output of a detection device obtained by detecting a surrounding situation of the vehicle and second information based on map information:
• estimate the runway of the vehicle on the basis of the first information and the second information;
• and
• decide on the runway of the vehicle on the basis of the first information, the second information, and runway estimation information about the estimated runway of the vehicle.