VEHICLE CONTROL DEVICE

A vehicle control device includes an actuator drive control section that controls drive of an actuator, a main motor drive control section that controls drive of a main motor, and a stagnation determination section. The stagnation determination section determines a stagnation of the actuator based on a detected value of a sensor unit that detects a physical quantity that changes according to a drive state of the actuator. When performing a meshing surface pressure reduction control for reducing a meshing surface pressure generated at the meshing point between a parking gear and a parking lever by driving the main motor, the main motor drive control section decreases a main motor torque which is a torque of the main motor based on the detected value of the sensor unit.