A vehicle control device obtains, a relative distance of an object to an own vehicle in the travel direction of the own vehicle and a lateral position that is a relative location of the object to the own vehicle in a lateral direction orthogonal to the travel direction. The vehicle control device sets a limit value indicating the lateral width of a determination region for determining whether or not the object is present in the traveling path of the own vehicle. The vehicle control device determines, on the basis of the lateral position of the object and the limit value for the determination region, whether or not the object is present in the traveling path of the own vehicle. The vehicle control device extends the determination region width by correcting the limit value when the object is a vehicle and the relative distance is less than a predetermined distance.