Vehicle control device, vehicle control method, and storage medium

Abstract

A vehicle-control-device automatically controls steering of a vehicle and performs automatic lane-change based on a surrounding-situation and instruction information that is a lane-change instruction. The instruction information includes first-instruction-information transmitted in response to an operation of a first operator and second-instruction-information transmitted in response to an operation of a second operator. The vehicle-control-device executes first-lane-change-control of causing the vehicle to change a lane to an adjacent-lane in the case in which it is determined that a lane-change is possible on the basis of the surrounding-situation when the first-instruction-information is acquired, and transitions to a standby-state of the lane-change in response to acquisition of the second-instruction-information, maintains the standby-state until the lane-change becomes possible based on the surrounding-situation, and when it is determined that the lane-change became possible based on the surrounding-situation in the standby-state, and executes second-lane-change-control of causing the vehicle to change the lane to the adjacent-lane.