VEHICLE CONTROL DEVICE

The vehicle control device includes an arbitration unit (21) configured to arbitrate between a plurality of control commands acquired from a plurality of driving support applications that respectively implements driving support functions, configured to output instructions based on a control command after arbitration to a first control unit (33) that is able to control a steering actuator (43) and a second control unit (31, 32) that is able to control at least one of a brake actuator (42) or a drive actuator (41), and configured to acquire a steering angle and a yaw rate as the control commands from the driving support applications.