A vehicle control device includes a first detector configured to detect a behavior of a vehicle, a second detector configured to detect a peripheral situation of the vehicle, a storage configured to store a control logic that outputs information indicating a behavior of the vehicle when at least information indicating a peripheral situation of the vehicle is input to the control logic, a deriver configured to execute the control logic to derive a behavior of the vehicle based on at least the peripheral situation of the vehicle detected by the second detector, and a determinator configured to compare a first behavior of the vehicle detected by the first detector at a certain reference time with a second behavior of the vehicle derived by the deriver based on the peripheral situation detected by the second detector at the reference time to determine whether or not the control logic is accurately operated.