A vehicle control device capable of obtaining the sufficient effect of vehicle control is provided. A vehicle control device 1 outputs a control signal to a vehicle on the basis of the height of the center of gravity based on the behavior of the vehicle at the time of rolling or pitching or the correlation value correlated with the height of the center of gravity, and the control signal is calculated on the basis of acceleration of the vehicle in which a rolling angle or a pitch angle is reflected. The operation device calculates the height of the center of gravity or the vehicle weight on the basis of acceleration of the vehicle in which the rolling angle or the pitch angle is reflected and calculates a control signal on the basis of the height of the center of gravity or the vehicle weight. Thus, since the vehicle control device 1 can calculate the control signal on the basis of the acceleration of the vehicle in which the rolling angle or the pitch angle is reflected, it is possible to perform accurate vehicle control according to the rolling angle or the pitch angle at the time of rolling or pitching of the vehicle.