The purpose of the present invention is to provide a system in which the reliability of an automatic driving system can be excellently complemented by a different control system while the automatic driving system is effectively used. The vehicle control device outputs to a drive device one of a first control signal generated on the basis of automatic driving control information, and a second control signal generated on the basis of the relative information between a vehicle and a surrounding object. If an abnormality is detected in the automatic driving control information, the second control signal is output to the drive device in place of the first control signal.