A vehicle control device is configured to control traveling of a vehicle capable of self-driving. The vehicle control device includes a processor and a memory storing instructions that, when executed by the processor, cause the vehicle control device to perform operations including: determining a control condition related to vehicle traveling when an own vehicle as a control target vehicle is in automated traveling by self-driving; and controlling traveling of the own vehicle based on a determination result. The determining the control condition includes, in a case in which an obstacle is present in front of the own vehicle, determining, as the control condition, whether passing is possible and further whether overtaking is possible. The controlling the traveling of the own vehicle comprises executing the passing or the overtaking or another travel control in accordance with whether the passing is possible and whether the overtaking is possible.