Vehicle Control Device, Vehicle Control Method, and Vehicle Control System

In an aspect of a vehicle control device, a vehicle control method, and a vehicle control system according to the present invention, in a case in which a preceding vehicle running ahead of a host vehicle is present when a host vehicle running route on which the host vehicle runs is obtained based on a road shape on which the host vehicle runs and an index related to movement of the host vehicle in forward information about the host vehicle, the host vehicle running route is obtained using information related to a running position or a running history of the preceding vehicle in the forward information. This configuration enables both of comfortable ride quality of the host vehicle and a capability of the host vehicle to naturally follow the preceding vehicle to be satisfied.