A vehicle control device, the vehicle control device being configured to: input information on a road curvature of a road on which a preceding vehicle traveling forward of a vehicle has traveled, the information being obtained by an external world recognition unit; input information on a relative position between the vehicle and the preceding vehicle, the information being obtained by the external world recognition unit; and output an instruction relating to steering of the vehicle for achieving an obtained first-order follow-up control and an obtained second-order follow-up control, to a steering actuator unit relating to the steering of the vehicle, characterized in that the vehicle control device is configured to obtain a distribution between first-order follow-up control and second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, the first-order follow-up control causing the vehicle to follow the preceding vehicle through use of a first-order trajectory, the second-order follow-up control causing the vehicle to follow the preceding vehicle through use of a second-order trajectory; and the vehicle control device is configured to selectively switch between the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, and select the first-order follow-up control when a centrifugal acceleration is equal to or higher than a threshold value or when a vehicle speed is equal to or higher than a threshold value, or is configured to weight the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, to thereby obtain the distribution between the first-order follow-up control and the second-order follow-up control, and increase the weight of the first-order follow-up control as a centrifugal acceleration increases or as a vehicle speed increases. input information on a road curvature of a road on which a preceding vehicle traveling forward of a vehicle has traveled, the information being obtained by an external world recognition unit; input information on a relative position between the vehicle and the preceding vehicle, the information being obtained by the external world recognition unit; and output an instruction relating to steering of the vehicle for achieving an obtained first-order follow-up control and an obtained second-order follow-up control, to a steering actuator unit relating to the steering of the vehicle, characterized in that the vehicle control device is configured to obtain a distribution between first-order follow-up control and second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, the first-order follow-up control causing the vehicle to follow the preceding vehicle through use of a first-order trajectory, the second-order follow-up control causing the vehicle to follow the preceding vehicle through use of a second-order trajectory; and the vehicle control device is configured to selectively switch between the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, and select the first-order follow-up control when a centrifugal acceleration is equal to or higher than a threshold value or when a vehicle speed is equal to or higher than a threshold value, selectively switch between the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, and select the first-order follow-up control when a centrifugal acceleration is equal to or higher than a threshold value or when a vehicle speed is equal to or higher than a threshold value, or is configured to weight the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, to thereby obtain the distribution between the first-order follow-up control and the second-order follow-up control, and increase the weight of the first-order follow-up control as a centrifugal acceleration increases or as a vehicle speed increases. weight the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, to thereby obtain the distribution between the first-order follow-up control and the second-order follow-up control, and increase the weight of the first-order follow-up control as a centrifugal acceleration increases or as a vehicle speed increases.