VEHICLE CONTROL DEVICE

A vehicle control device includes a processor, a memory and a sensor that acquires surrounding environment information of the vehicle, a host vehicle position estimation unit that estimates the route of the vehicle, a surrounding environment storage unit that stores the surrounding environment information and the route estimated by the host vehicle position estimation unit in association with each other, a vehicle-speed threshold determination unit that sets a vehicle-speed threshold value when the surrounding environment storage unit stores the surrounding environment information and the route in association with each other, and determines whether or not a current vehicle speed exceeds the vehicle-speed threshold value when the surrounding environment storage unit stores the surrounding environment information and the route, and a warning unit that performs a notification of an excess of the vehicle speed when the vehicle-speed threshold determination unit determines that the vehicle speed exceeds the vehicle-speed threshold value.