VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND PROGRAM

To provide a vehicle control device, a vehicle control method and a program which can appropriately adjust a speed of change of an upper limit value.SOLUTION: The vehicle control device comprises: an obtaining unit that obtains a positional relation between a vehicle and a lane; a control unit that performs in-lane travelling control by which an actuator included in a steering device of the vehicle is made to output force for allowing the vehicle to travel on the lane, while preventing the force from surpassing an upper limit value; and an upper limit value adjusting unit that adjusts the upper limit value in a predetermined case, which switches a speed of change of the upper limit value in accordance with a change in state of an operator that receives steering operation by an occupant in the vehicle.SELECTED DRAWING: Figure 2 【課題】上限値の変化速度を適切に調整することができる車両制御装置、車両制御方法、およびプログラムを提供すること。【解決手段】車両と車線との位置関係を取得する取得部と、前記位置関係に基づいて、前記車両の操舵装置に含まれるアクチュエータに、前記車両に車線内を走行させるための力を、上限値を超えない範囲で出力させる車線内走行制御を行う制御部と、所定の場合に前記上限値を調整する上限値調整部であって、前記車両の乗員による操舵操作を受け付ける操作子の状態変化に応じて前記上限値の変化速度を切り替える上限値調整部と、を備える車両制御装置。【選択図】図２