The present disclosure relates to a vehicle control device provided in a vehicle and a method of controlling the vehicle. A vehicle control device according to an embodiment of the present disclosure may include a communication unit formed to acquire the location information of the vehicle and perform communication with at least one of an external server and another vehicle, a sensing unit configured to sense information associated with the vehicle, and a processor configured to control the communication unit to receive map information from the external server and the location information of the another vehicle from the another vehicle, wherein the processor merges the acquired location information of the vehicle and the received location information of the another vehicle into the received map information to control the vehicle based on at least one of the merged map information and the information associated with the vehicle sensed through the sensing unit.