A human-powered vehicle control device includes an electronic controller configured to control a transmission that changes a transmission ratio of a rotational speed of a wheel of a human-powered vehicle to a rotational speed of a crank of the human-powered vehicle. The electronic controller is configured to control the transmission to change the transmission ratio in accordance with a comparison of a parameter related to at least one of a traveling environment and a traveling state of the human-powered vehicle with a predetermined determination value. The electronic controller is configured to change the predetermined determination value in accordance with a change in the parameter during a single rotation of the crank.