A vehicle control device includes a processor (200). The processor (200) is configured to receive a first requested value of acceleration acting on a vehicle (1) from a first system configured to request holding a stopped state of the vehicle (1). The processor (200) is configured to receive a second requested value of the acceleration from a second system. The processor (200) is configured to select one of the first requested value and the second requested value as an arbitration result. The processor (200) is configured to set a priority for selecting the first requested value lower than a priority for selecting the second requested value when the processor (200) acquires predetermined information from one of the first system and the second system while the vehicle (1) is stopped.
