A vehicle control device that includes: a camera that is configured to capture an outside image of a vehicle in real time; a display that is configured to present the outside image of the vehicle in real time; and a controller that is configured to (i) detect, from the outside image, a virtual parking-available space that corresponds to an actual parking-available space in an area captured in the outside image and that is tagged in the outside image, (ii) generate parking space information based on the virtual parking-available space, and (iii) provide the parking space information to the display to overlay the parking space information over the outside image on the display is disclosed.