VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device for controlling steering and braking of a vehicle: determines, based on prediction of movement of an object detected on a road and prediction of a traveling trajectory of the vehicle, whether collision between the vehicle and the object will occur; determines whether it is possible to avoid the collision by braking without steering when it is determined that the collision will occur; and performs braking control for avoiding the collision and assists the steering such that the vehicle remains in a lane in which the vehicle is traveling when it is determined that it is possible to avoid the collision by braking.