Provided is a system of carrying out engagement of a pinion and a ring gear at optimal timing and suppressing a bite-in sound, in a vehicle including an idle stop system. In a vehicle control device including an automatic stop unit which automatically stops an engine on the basis of an operating state of a vehicle; an automatic start unit which controls a starter during a period until the engine completely stops after the automatic stop unit executes the automatic stop of the engine, and restarts the engine; and an engine rotation detection unit which detects or operates a crank phase or a rotation number of the engine, the automatic start unit determines a control command of the starter at an interval shorter than an update interval of a signal of the engine rotation detection unit.