Vehicle control device

A vehicle control device comprising:

• a camera that photographs a forward view of a vehicle and that acquires image data:
• a control unit that recognizes a border of a traveling area for the vehicle based on the image data and that performs at least one of a departure alarm and a departure control when an execution condition is satisfied, the execution condition being satisfied when the vehicle is predicted to depart from a reference line that is set based on the border or when the vehicle has departed from the reference line, the departure alarm being relevant to the departure of the vehicle from the reference line, the departure control being a control to avoid the vehicle from departing from the reference line, wherein
• the control unit is configured
• to determine whether a particular registered three-dimensional object exists, based on the image data, the registered three-dimensional object being previously registered, and
• to make it easier to recognize the border in a predetermined easing area than in a normal area, when the control unit determines that the registered three-dimensional object exists, the easing area being set based on a position of the registered three-dimensional object on the image data, the normal area being an area that is on the image data and that is other than the easing area.