A vehicle control device for applying a steering force to a steering wheel of a vehicle according to a vehicle traveling condition, comprising: a steering-force generator configured to generate the steering force applied to the steering wheel; a lane detector configured to detect a lane on which the vehicle travels; a vehicle-speed detector configured to detect a vehicle speed; and a controller configured to output a command signal to the steering-force generator based on detection results of the lane detector and the vehicle-speed detector, characterized in that said controller is configured to apply a first steering force to the steering wheel by means of said steering-force generator, apply a second steering force to the steering wheel by means of said steering-force generator, and calculate a radius of curvature of the lane, said first steering force is based on or determined by a first steering characteristic (CT1, CH1A- CH1J) which is operable or operative to make the vehicle travel at a center of the lane, said second steering force is based on or determined by a second steering characteristic (CT2, CH2A - CH2L), which is different from the first steering characteristic (CT1, CH1A - CH1J), and which is operable or operative to prevent the vehicle from deviating from the lane, in a case where said first steering characteristic and said second steering characteristic are shown by a characteristic diagram having two-dimensional coordinates with a horizontal axis as a position in a width direction of the lane and with a vertical axis as a magnitude of the steering force (ST1, ST2) applied, the first steering characteristic includes a first steering-force increase part where said magnitude of the steering force gradually increases as said position changes from an inward side to an outward side in a width direction of the lane and the second steering characteristic includes a second steering-force increase part where said magnitude of the steering force gradually increases as said position changes from an inward side to an outward side in the width direction of the lane, and said controller is configured to set, in a case where the vehicle travels at a curved portion of the lane, said first steering characteristic such that the first steering-force increase part is located further outward in the width direction of the lane as the vehicle speed becomes higher and said second steering characteristic such that a magnitude of an upper limit of said second steering-force increase part becomes lower as the radius of curvature of the lane becomes smaller. a steering-force generator configured to generate the steering force applied to the steering wheel; a lane detector configured to detect a lane on which the vehicle travels; a vehicle-speed detector configured to detect a vehicle speed; and a controller configured to output a command signal to the steering-force generator based on detection results of the lane detector and the vehicle-speed detector, characterized in that said controller is configured to apply a first steering force to the steering wheel by means of said steering-force generator, apply a second steering force to the steering wheel by means of said steering-force generator, and calculate a radius of curvature of the lane, said first steering force is based on or determined by a first steering characteristic (CT1, CH1A- CH1J) which is operable or operative to make the vehicle travel at a center of the lane, said second steering force is based on or determined by a second steering characteristic (CT2, CH2A - CH2L), which is different from the first steering characteristic (CT1, CH1A - CH1J), and which is operable or operative to prevent the vehicle from deviating from the lane, in a case where said first steering characteristic and said second steering characteristic are shown by a characteristic diagram having two-dimensional coordinates with a horizontal axis as a position in a width direction of the lane and with a vertical axis as a magnitude of the steering force (ST1, ST2) applied, the first steering characteristic includes a first steering-force increase part where said magnitude of the steering force gradually increases as said position changes from an inward side to an outward side in a width direction of the lane and the second steering characteristic includes a second steering-force increase part where said magnitude of the steering force gradually increases as said position changes from an inward side to an outward side in the width direction of the lane, and said controller is configured to set, in a case where the vehicle travels at a curved portion of the lane, said first steering characteristic such that the first steering-force increase part is located further outward in the width direction of the lane as the vehicle speed becomes higher and said second steering characteristic such that a magnitude of an upper limit of said second steering-force increase part becomes lower as the radius of curvature of the lane becomes smaller.