The present disclosure relates to a vehicle control device mounted on a vehicle and a method for controlling the vehicle. A vehicle control device according to the present disclosure is a vehicle control device that controls a vehicle platooning with at least one other vehicle, the vehicle control device including: a communication portion communicating with the at least one other vehicle; and a control portion calculating a sensing range allocated to each of the at least one other vehicle in the platooning based on an arrangement pattern of the platooning.