Vehicle control device, vehicle control method, and storage medium for changing lane at branch station

Abstract

A vehicle control device according to an embodiment includes a recognizer that recognizes a surroundings situation of a host vehicle, and a driving controller that generates a target trajectory for the host vehicle on the basis of a recognition result of the recognizer, and controls one or both of speed and steering of the host vehicle so that the host vehicle travels along the generated target trajectory, the recognizer searches for, in a branch section in which a main lane and a plurality of branch lanes are connected, a number-of-lanes increase end position satisfying a predetermined condition on the start position side of the branch section, rather than an end position of the branch section, and the driving controller generates the target trajectory so that course change to the branch lane is completed until the host vehicle reaches the number-of-lanes increase end position.