Vehicle control device

A vehicle control device comprising:

• at least one processor and memory, wherein
• the memory is configured to store static object information acquired in advance and reliability of the static object information in association with each other, and
• the memory comprises computer instructions that are configured to, when executed by the at least one processor, cause the at least one processor to:
• detect, based on an output of at least one sensor, an object around a vehicle as a detection result;
• acquire calculation load information of the vehicle control device;
• decide a reliability threshold to be small with respect to an increase in a calculation load based on the calculation load information;
• select the static object information associated with reliability equal to or greater than the reliability threshold decided from the static object information stored in the memory;
• decide a tracking target around the vehicle by comparing the detection result and the static object information selected to each other;
• and
• track the tracking target decided as a tracking result;
• and
• perform traveling control based on the tracking result.