To provide a vehicular control device and a vehicle capable of exerting excellent turning performance by selectively using cambers of right and left wheels in consideration of a turning state of the vehicle.

When a wheel turns while a brake is applied to the wheel, a second adjustment means adjusts a camber angle of the right or left wheel among the wheels in which the camber angle is adjusted by a first adjustment means according to the turning state detected by a detection means. When the camber angle of the left or right wheel is changed, the balance between a friction resistance from the left wheel and a road surface and the friction resistance from the right wheel and the road surface is relatively changed. Thus, a moment for rotating the vehicle about the center of gravity of the vehicle can be generated according to a change direction of the balance of the friction resistances. Therefore, the moment can be generated according to the turning state, thereby improving the turning state and providing the excellent turning stability.