VEHICLE CONTROL DEVICE, VEHICLE CONTROL SYSTEM, VEHICLE CONTROL METHOD, AND COMPUTER-READABLE STORAGE MEDIUM

A vehicle control device includes: a surrounding vehicle lane determination unit; a surrounding vehicle behavior prediction unit for predicting whether or not the surrounding vehicle will cut in at a time point after a present; a preceding vehicle determination unit; a target acceleration calculation unit; and a drive force calculation unit for calculating a drive force of the own vehicle. The preceding vehicle determination unit includes: a preceding vehicle candidate selection unit for selecting, as a preceding vehicle candidate, the surrounding vehicle traveling in front on an own vehicle traveling lane and the surrounding vehicle predicted to cut in to the own vehicle traveling lane; a collision risk determination unit for determining a collision risk of each surrounding vehicle selected as the preceding vehicle candidate; and a preceding vehicle selecting unit for selecting, as the preceding vehicle, the surrounding vehicle of which the collision risk is greatest.