VEHICLE CONTROL DEVICE

A vehicle control device recognizes a border of a traveling area of a vehicle based on image data acquired when a camera photographs a forward view of the vehicle, and performs at least one of a departure alarm and a departure control when the vehicle is predicted to depart from a reference line set based on the border or when the vehicle has departed from the border. Furthermore, the vehicle control device determines whether a particular registered three-dimensional object that is previously registered exists, based on the image data, and makes it easier to recognize the border in a predetermined easing area set based on the position of the registered three-dimensional object on the image data, than in a normal area on the image data other than the easing area, when it is determined that the registered three-dimensional object exists.