A vehicle control device includes: a processor configured to: recognize a surrounding situation of a vehicle; specify a target vehicle which is a control target of the vehicle within a set reference range based on a recognition result; and control at least one of an acceleration or deceleration speed and steering of the vehicle based on a position of the target vehicle. The processor is further configured to specify the target vehicle in a reference range based on lane information and output first target vehicle information, and, in parallel, specify the target vehicle in a reference range based on a behavior of the vehicle, and output second target vehicle information, and select one of the first target vehicle information and the second target vehicle information and output the selected target vehicle information to a driving controller.