A vehicle control device includes: a first behavior mode recognition unit that executes a first behavior mode recognition process of recognizing a first behavior mode of a target person based on an image captured by a first camera having a first resolution; a second behavior mode recognition unit that, when a distance between the vehicle and the target person is equal to or less than a predetermined distance, recognizes a second behavior mode of the target person based on an image captured by a second camera having a second resolution higher than the first resolution; a target person behavior recognition unit that recognizes a behavior of the target person against a vehicle based on the first behavior mode and the second behavior mode; and a control unit that executes predetermined control on the vehicle based on the behavior of the target person.