VEHICLE CONTROL DEVICE, VEHICLE, VEHICLE CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM

A vehicle control device is mountable on a vehicle. The vehicle control device includes: a processor; and a memory storing instructions that, when executed by the processor, cause the vehicle control device to perform operations. The operations includes: acquiring detection information obtained by detecting an obstacle around the vehicle; performing collision determination of evaluating a possibility of collision with the obstacle, generating, based on the detection information, information on an approaching object that is an obstacle approaching the vehicle and information on a detection point group that is a set of detection points indicating an obstacle that does not move; and excluding the approaching object from collision determination in a case in which the detection point group has a shielding effect of shielding the vehicle from the approaching object. The shielding effect is evaluated by using a gap threshold that is set based on a vehicle width.