The invention provides a vehicle control device capable of improving the degree of freedom of driving support, a vehicle control method, and a storage medium. The vehicle control device is provided with: a surroundings recognition unit that recognizes surroundings of a host vehicle; a driving control unit that performs acceleration/deceleration control of the host vehicle, including follow-up travel control to a preceding vehicle, on the basis of output information of the recognition unit; and a prediction unit, which predicts, on the basis of the state of a brake device controlled by the driving control unit, that the temperature of a friction member in the brake device is equal to or greater than a threshold value, wherein when the prediction unit predicts that the temperature of the friction member is equal to or greater than a threshold value, the driving control unit suppresses a longitudinal vehicle behavior in the following travel control.