VEHICLE CONTROL DEVICE

A vehicle control device includes a processor. The processor calculates an instruction value of an operation request for controlling an operation of an actuator mounted on a vehicle based on a motion request from an application. The processor executes feedback control on the instruction value using a deviation between the motion request and a motion result of the vehicle that is calculated based on one of detection values of four wheel velocity sensors. The processor calculates the motion result in the feedback control based on a detection value indicating the second largest vehicle body velocity among the vehicle body velocities indicated by the detection values of the four wheel velocity sensors when the vehicle is braked.