Abstract: A vehicle control device facilitates giving a feeling of security to a driver and passengers of an autonomous driving host vehicle M. The vehicle control device includes a recognition unit recognizing circumstances surrounding the vehicle, a travel control unit controlling at least one of steering and acceleration of the vehicle based on the circumstances surrounding the vehicle, an external notification unit notifying the traffic participants recognized by the recognition unit of a behavior of the host vehicle based on a control by the travel control unit, an internal notification unit notifying the driver of the information notified to the traffic participant through the external notification unit when the host vehicle M is within a predetermined area of the intersection, and a notification control unit stopping the notifications when the vehicle is not in the area.