A vehicle control device is capable of first control that performs traveling with a first stop position as a target position and that includes a transition from the first mode to the second mode, and second control that travels from a second stop position to a target position and that includes a transition from the second mode to the first mode, the first control is control that starts traveling by the first mode, switches a reference map from the first map to the second map, and transitions to the second mode at a point where a distance to the first stop position is equal to or less than a predetermined distance, and the second control is control that starts traveling by the second mode, switches the reference map from the second map to the first map, and transitions to the first mode at a predetermined point registered in advance.