An on-vehicle control device includes: an image acquiring unit that acquires a captured image from an image-capturing device, the image-capturing device capturing an image of surroundings of a vehicle; a judged range dividing unit that divides a predetermined judged range of an image-capturing range of the image-capturing device into a plurality of regions; a feature point extracting unit that extracts a feature point having predetermined characteristics in the surroundings of the vehicle from the image acquired by the image acquiring unit; a point accumulating unit that accumulate points for a region where there is the feature point extracted by the feature point extracting unit, among the plurality of regions, for a plurality of images acquired by the image acquiring unit in time series; and a judging unit that judges whether a foreign matter is adhered to the image-capturing device based on scores resulting from accumulating points of the plurality of regions.