A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle; a target vehicle specifier configured to specify a target vehicle which is a control target of the vehicle within a set reference range based on a recognition result of the recognizer; and a driving controller configured to control at least one of an acceleration or deceleration speed and steering of the vehicle based on a position of the specified target vehicle. The target vehicle specifier sets the reference range to a more distant location when the reference range is set based on map information than when the reference range is set irrespective of the map information.