Vehicle Control Device, Vehicle Control Method, Target Trajectory Calculation Method, and Vehicle

In an aspect of a vehicle control device, a vehicle control method, a target trajectory calculation method, and a vehicle according to the present invention, an offset amount of a coordinate value or a curvature is determined for each item of basic trajectory coordinate data on a basis of the basic trajectory coordinate data on at least a part or all of a two-dimensional coordinate value, a trajectory curvature, and a trajectory azimuth angle at coordinates arranged in ascending order of arc length from a certain position serving as an origin point, new target trajectory coordinate data is determined by adding the offset amount to each item of the basic trajectory coordinate data, and a trajectory of a vehicle is controlled on a basis of the new target trajectory coordinate data. Thus, a target trajectory with an out-in-out line can be obtained as in steering by an expert driver.