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

A vehicle control device, a vehicle control method, and a vehicle control system according to the present invention perform feedback control to reduce difference in lateral direction or difference in turning direction between an own vehicle and a travel target, so as to acquire a first steering angle control conunand for increasing a steering angle control amount as the velocity of the own vehicle decreases, acquire a second steering angle control command for decreasing the steering angle control amount with respect to the velocity, compared with a magnitude of the steering angle control amount with respect to the velocity obtained by the first steering angle control command, output the first steering angle control command when the velocity is greater than a predetermined threshold, and output the second steering angle control command when the velocity is equal to, or less than, the predetermined threshold.