Vehicle control device and autonomous driving system

In a vehicle control device , a rough-road travel unit determines whether or not there is a rough road within a predetermined range in front of a vehicle based on a position of the vehicle estimated by a position estimation unit and a position of a rough road acquired by a map information acquisition unit , and determines whether or not the rough road has been detected based on road surface information acquired by an outside environment information acquisition unit . When it is determined that there is the rough road within the predetermined range in front of the vehicle based on the position of the vehicle estimated by the position estimation unit and the position of the rough road acquired by the map information acquisition unit , and it is determined that the rough road is not detected based on the road surface information acquired by the outside environment information acquisition unit , a rough-road detection-omission determination unit determines whether or not rough-road detection is omitted based on the position of the rough road and a detectable section of a stereo camera