Vehicle control device and vehicle control system

A longitudinal acceleration calculation unit includes a low-pass filter (LPF), a high-pass filter (HPF), and an addition unit. The LPF is configured to acquire a first longitudinal acceleration of a vehicle detected by a longitudinal acceleration sensor, and remove a high-frequency component of the first longitudinal acceleration. The HPF is configured to acquire a second longitudinal acceleration of the vehicle estimated based on an engine torque of the vehicle and a brake hydraulic pressure of the vehicle, and remove a low-frequency component of the second longitudinal acceleration. The addition unit is configured to obtain a composed longitudinal acceleration of the vehicle based on a post-high-frequency-component-removal longitudinal acceleration obtained by removing the high-frequency component by the LPF and a post-low-frequency-component-removal longitudinal acceleration obtained by removing the low-frequency component by the HPF.