VEHICLE CONTROL DEVICE AND VEHICLE CONTROL SYSTEM

Realized is a vehicle control device capable of performing automatic driving control that does not reduce turning accuracy of a host vehicle even when an object in a blind spot is different from an assumption and a vehicle speed decreases due to a rapid deceleration. A vehicle control device includes a blind spot object estimation unit that detects a blind spot region of an external-field recognition sensor that recognizes an external field and estimates a blind spot object potential in the blind spot region , and a future trajectory generation unit that generates a future trajectory of a host vehicle in consideration of a potential risk from the blind spot object estimated by the blind spot object estimation unit and surrounding information of a vehicle that is the host vehicle. Furthermore, the vehicle control device includes a target steering angle calculation unit that calculates a curvature radius at which the vehicle travels from the future trajectory generated by the future trajectory generation unit and a past trajectory of the vehicle , and calculates a target steering angle of the vehicle from the calculated curvature radius and an acceleration/deceleration of the vehicle