VEHICLE CONTROL DEVICE, STORAGE MEDIUM STORING COMPUTER PROGRAM FOR VEHICLE CONTROL, AND METHOD FOR CONTROLLING VEHICLE

A vehicle control device has a processor configured to detect an other vehicle in a detection mode in a visual field boundary zone, detect the other vehicle in a detection mode with higher precision in a zone other than the visual field boundary zone, and, when a merging terrain exists and the other vehicle has been detected in the visual field boundary zone, generate a plan to control the speed of the own vehicle in a first deceleration mode until the other vehicle is detected in a zone other than the visual field boundary zone, or when the merging terrain exists and the other vehicle has been detected in a zone other than the visual field boundary zone, generate a plan to carry out space creation processing, whereby a space allowing the other vehicle to move from the adjacent lane is created.