VEHICLE CONTROL DEVICE

A vehicle control device for a vehicle includes: one or more processors; and one or more memories coupled to the one or more processors. The one or more processors are configured to execute a process including: deriving a target yaw rate based on a steering angle obtained by a steering angle sensor of the vehicle; deriving a deviation of an actual yaw rate, obtained by a yaw rate sensor of the vehicle, relative to the target yaw rate; when the deviation is not a value representing overshoot where the actual yaw rate is substantially higher than the target yaw rate, preventing execution of differential limiting by a differential limiting device of the vehicle; and when the deviation is a value representing the overshoot, causing execution of differential limiting by the differential limiting device.