VEHICLE CONTROL DEVICE

The present invention provides a vehicle control device capable of ensuring safety and ride comfort. The device includes: a self-location estimation processing unit estimating self location (absolute position information on a map) of a vehicle by matching sensor information obtained from external sensors to mounted in the vehicle with map information including future information as a point group; a solid object movement predicting unit predicting movement of an object as a factor of obstructing the matching with the map information; and a driving movement candidate generating unit (driving movement planning unit) making a driving movement plan of the vehicle on the basis of a result of predicting movement of the obstructive factor object, a result of presuming a road situation at future time, and an estimation result of a position error of the vehicle at future time.