A vehicle control device has a processor configured to generate a first traveling lane plan representing the traveling lane in which the vehicle is traveling within a first driving zone of a navigation route, to generate a first lane change plan representing movement of the vehicle between lanes, based on the first traveling lane plan or on surrounding environment information and, when the first lane change plan has been generated, to determine whether or not there exists a control transfer request zone at less than a first reference distance from the location of the vehicle on the post-movement traffic lane, or a lane change schedule zone at less than a second reference distance, and the first lane change plan is cancelled when such a control transfer request zone or lane change schedule zone exists.