VEHICLE CONTROL DEVICE

A vehicle control device including: an acquisition unit acquiring, from a camera that images a surrounding of a vehicle and inside of a vehicle compartment, a surrounding image of the vehicle and an image of an occupant in the vehicle compartment; a first estimation unit estimating vibration applied to the vehicle based on the surrounding image, the vibration including a vertical component; a second estimation unit estimating vibration of the occupant with respect to the vehicle based on the image of the occupant, the vibration including a vertical component; a calculation unit calculating vibration applied to the occupant by adding the vibration of the occupant with respect to the vehicle to the vibration applied to the vehicle; and a generation unit generating a signal to be output to a vibration control device that controls the vibration applied to the occupant, the signal based on the vibration applied to the occupant.