A vehicle control device includes a peripheral image acquisition unit adapted to acquire peripheral image data including a lane marking on a road in a travel direction of a host vehicle, a lane marking recognition unit adapted to recognize the lane marking from the image data, and a specified region determining unit adapted to determine, within the image data, the presence or absence of a specified region where continuity of the road is interrupted. In the case that the specified region exists, the lane marking recognition unit performs recognition of the lane marking on a side closer to the host vehicle than the specified region.