In the vehicle control device mounted on the vehicle, the information acquisition unit 11 acquires a vehicle information data group representing vehicle information regarding the behavior of the vehicle 2, a road environment data group 32 representing road environment information regarding the environment of the road on which the vehicle 2 is traveling, and a sensor recognition data group 33 representing sensor recognition information regarding the surrounding environment of the vehicle 2 recognized by the external sensor group 4 mounted on the vehicle 2. Based on the road environment data group 32 and the sensor recognition data group 33, the apparent obstacle prediction unit 12 predicts the future behavior of the apparent obstacle that may hinder the traveling of the vehicle 2. The lane risk map generation unit 15 generates a lane risk map representing the collision risk between the vehicle 2 and the obstacle for each lane of the road based on the vehicle information data group 31 and the future behavior of the apparent obstacle predicted by the apparent obstacle prediction unit 12.