A vehicle control device including a tire-side device and a vehicle-side device is provided. The tire-side device includes a vibration detection unit that outputs a detection signal corresponding to a magnitude of vibration of a tire, a signal processing unit that generates μ data representing a friction coefficient between the tire and a road surface by processing the detection signal, and a transmitter that transmits the μ data. The vehicle-side device includes a receiver that receives the μ data and a travel control unit that estimates the friction coefficient based on the μ data, acquires a braking distance of the vehicle based on the friction coefficient, and controls acceleration and deceleration of the vehicle based on the braking distance.