A vehicle control device includes a plurality of lamps provided on a vehicle; a sensing unit configured to sense information related to the vehicle; and at least one processor. The at least one processor is configured to, based on a determination, through the sensing unit, that at least a portion of the vehicle has entered a first area that is adjacent to an available parking space, activate, in a first illumination mode, at least one lamp among the plurality of lamps that has entered the first area that is adjacent to the available parking space.