Vehicle control device and vehicle control method

A vehicle control device configured to control the travel of an own vehicle so that a lateral position of the own vehicle is maintained a predetermined target lateral position set in an own lane,

• wherein the vehicle control device comprising:
• a longitudinal movement control unit configured to execute, when a front object approaching the own vehicle in an adjacent area adjacent to the own lane and an approaching vehicle in an adjacent lane adjacent to the own lane on the opposite side of the adjacent area are detected, controlling a longitudinal acceleration or a longitudinal deceleration of the own vehicle based on a relationship between the own vehicle and the front object and a relationship between the own vehicle and the approaching vehicle, so that a first timing which v is an overtaking timing of the own vehicle and the front object and a second timing which is an overtaking timing of the own vehicle and the approaching vehicle is different from each other;
• and
• a lateral movement control unit configured to control a lateral speed of the own vehicle so that the lateral direction position of the own vehicle at the first timing is offset to a target lateral position laterally separated from the front object in the own lane and the lateral direction position of the own vehicle at the second timing is offset to the target lateral position laterally separated from the approaching vehicle in the own lane.