A vehicle control device includes an external situation recognition unit configured to recognize a crossing person who crosses over a path of a vehicle and acquire information on the crossing person and information on an environment where the crossing person crosses, a scheduled departure time deciding unit configured to decide a scheduled departure time of the vehicle based on the information on the crossing person and the environment where the crossing person crosses when the crossing person is recognized by the external situation recognition unit, and an informing controller configured to perform a control to inform an outside of the vehicle of the scheduled departure time. The scheduled departure time deciding unit predicts a crossing completion time at which the crossing person recognized by the external situation recognition unit completes the crossing and decides the scheduled departure time based on the crossing completion time.