VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD

Disclosed are a vehicle control device and a vehicle control method capable of performing appropriate traveling control while exhibiting the capability of a control system. Feedback control is performed according to a traveling target set in advance. At the time of the feedback control, when a vehicle traveling trace is deviated, when a tire friction circle is exceeded, or when a vehicle acceleration or a jerk exceeds a set value, if a control deviation exceeds a set value, a traveling target is regenerated. This enables appropriate traveling control while sufficiently exhibiting the capability of the control system until the control deviation exceeds the set value. When the control deviation exceeds the set value, a traveling target is regenerated, such that traveling control appropriate for the traveling environment can be performed.