VEHICLE CONTROL DEVICE

The present invention addresses the problem of performing automatic driving in accordance with driving characteristics of a driver while considering a vehicle peripheral state, even in the case where the vehicle peripheral state during manual driving is different from the vehicle peripheral state during the automatic driving. The present invention is a vehicle control device that can switch between manual driving in which a vehicle is caused to travel by the operation of a driver and automatic driving in which the vehicle is caused to travel automatically in accordance with a traveling plan. The vehicle control device is provided with a vehicle control planning unit that devises the traveling plan, and a verification unit that verifies a vehicle traveling state on the basis of the traveling plan. The vehicle control device devises the traveling plan in accordance with learning related to driving characteristics of the driver during the manual driving, and the result of learning related to the verification result from the verification unit