The present disclosure relates to a
vehicle control method, a
vehicle control device, and a
vehicle control system including same. Specifically, a vehicle control device according to the present disclosure includes: a vehicle travel
route estimation unit which estimates a first travel
route of a vehicle on the basis of the turn
radius and traveled distance of the vehicle, when the speed of the vehicle is equal to or less than a preset speed; a target travel
route predicter which confirms a target from periphery detection information about the periphery of the vehicle, and predicts a second travel route of the target; a collision determiner which determines whether there is a possibility of a collision between the vehicle and the target; and a vehicle
control unit which controls to perform at least one among an alert control, a
brake control, and an avoidance control, when there is a possibility of a collision between the vehicle and the target.