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,
• the main motor drive control section reduces main motor torque, which is the torque of the main motor, before a range switching completion based on a detected value of the sensor unit.