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

This invention provides a vehicle control device for controlling a vehicle, which comprises a first detection unit configured to detect an out-of-lane region outside a lane in which the vehicle is traveling; a second detection unit configured to detect an obstacle; a guiding unit configured to start guiding the vehicle to the out-of-lane region in a case where the first detection unit detects the out-of-lane region and the second detection unit detects the obstacle; and a steering control unit configured to determine excess or deficiency of avoidance steering by a driver for avoiding a collision with the obstacle in response to the guidance by the guiding unit and perform steering assist on the basis of a degree of the excess or deficiency.