This disclosure provides a vehicle control device, a vehicle control method, and a recording medium. The vehicle control device according to one aspect of an embodiment includes a recognition unit that recognizes an object in a periphery of the own vehicle, a road information acquisition unit that acquires road information in the periphery of the own vehicle, and an alarm control unit that causes an alarm device to give an alarm when the object recognized by the recognition unit exists in a predetermined region set with reference to a position of the own vehicle, in which the alarm control unit does not give the alarm regarding the object when at least part of the object existing in the predetermined region recognized by the recognition unit exists outside a road from a boundary the road where the own vehicle acquired by the road information acquisition unit exists.