VEHICLE CONTROL DEVICE, VEHICLE, AND VEHICLE SYSTEM

A vehicle system includes an auxiliary vehicle that includes an auxiliary sensor and an auxiliary actuator, and a vehicle that communicates with the auxiliary vehicle. The vehicle includes an in-vehicle sensor that acquires information of an external environment of the vehicle, an in-vehicle actuator used in traveling of the vehicle, a vehicle control device that controls driving of the in-vehicle actuator using an input from the in-vehicle sensor, and a communicator that communicates with the auxiliary vehicle. The vehicle control device implement, upon detecting an abnormality in the in-vehicle sensor, one of the first switching control that controls the driving of the in-vehicle actuator based on an input from the auxiliary sensor, and a second switching control that causes the vehicle to travel using the auxiliary actuator.