Vehicle control device

A vehicle control device that achieves preferred steering control characteristics of a driver while keeping lane tracing during lane keeping control. Included are: a lane shape detection unit that detects a lane shape around a vehicle; a steering torque detection unit that detects a steering torque of a driver who drives the vehicle; a lane keeping control unit that calculates a steering command for keeping within a lane based on the detected lane shape; and a steering control unit that controls vehicle steering based on the steering command from the lane keeping control unit, and the lane keeping control unit having a plurality of control characteristics including at least a first control characteristic and a second control characteristic selectable according to a preference of the driver, and selects the first or second control characteristic on the basis of switching information input in advance according to the preference of the driver.