Vehicle control device

A vehicle control device for controlling a vehicle drive system, the vehicle drive system including a main motor as a driving source of the vehicle, a parking lock mechanism having a parking gear connected to an axle and a parking lever configured to be engaged with the parking gear so that an engagement of the parking gear and the parking lever allows the axle to be locked, and an actuator configured to drive the parking lever, the vehicle control device comprising:

• an actuator drive control section configured to control a drive of the actuator;
• a main motor drive control section configured to control a drive of the main motor;
• and a stagnation determination section configured to determine a stagnation of the actuator based on a detected value of a sensor unit that detects a physical quantity that changes according to a drive state of the actuator, wherein when a meshing surface pressure reduction control is performed to reduce a meshing surface pressure generated at a meshing point between the parking gear and the parking lever by driving the main motor at a torque, the main motor drive control section reduces the main motor torque before a range switching completion based on a detected value of the sensor unit.