VEHICLE CONTROL DEVICE, VEHICLE, AND VEHICLE SYSTEM

A vehicle system (1) includes an auxiliary vehicle (3) that includes an auxiliary sensor (110A) and an auxiliary actuator (300A), and a vehicle (2) that communicates with the auxiliary vehicle (3). The vehicle (2) includes an in-vehicle sensor (110) that acquires information of an external environment of the vehicle (2), an in-vehicle actuator (300) used in traveling of the vehicle (2), a vehicle control device (11) that controls driving of the in-vehicle actuator (300) using an input from the in-vehicle sensor (110), and a communicator (10) that communicates with the auxiliary vehicle (3). The vehicle control device (11) implement, upon detecting an abnormality in the in-vehicle sensor (110), one of the first switching control that controls the driving of the in-vehicle actuator (300) based on an input from the auxiliary sensor (110A), and a second switching control that causes the vehicle (2) to travel using the auxiliary actuator (300A).