Using abnormalities with user and electronic parking brake data for vehicle control

A vehicle control device for controlling a vehicle, the vehicle including a wheel to be driven by a drive device, a brake device configured to brake the wheel, and an electric parking brake device configured to fix the wheel by electronic control,

• the vehicle control device comprising circuitry configured to:
• recognize a surrounding condition of the vehicle;
• control acceleration, deceleration, and steering of the vehicle based on a recognition result of the surrounding condition of the vehicle;
• detect an abnormality in a driver of the vehicle;
• and
• a vehicle abnormality detection unit configured to detect an abnormality in the electric parking brake device, wherein,
• when an abnormality in the driver is detected during traveling of the vehicle, the circuitry performs control to decelerate the vehicle to a predetermined speed greater than zero by braking by the brake device, and,
• in a case where an abnormality in the electric parking brake device is detected before the vehicle is decelerated to the predetermined speed or at a time the vehicle is decelerated to the predetermined speed, the circuitry causes the vehicle to perform traveling along a traveling road until a preceding vehicle is recognized after the vehicle is decelerated to the predetermined speed.