A vehicle control device comprising: a main processing unit configured to repeatedly generate a main manipulated variable being control data used to control automated driving; a sub processing unit configured to repeatedly generate a sub manipulated variable being control data used to control the automated driving; a main bus connected to the main processing unit; a sub bus connected to the sub processing unit; and a plurality of control execution units connected to both the main bus and the sub bus, each of the plurality of the control execution units including: an execution unit configured to execute vehicle control according a selected manipulated variable, the selected manipulated variable being either the main manipulated variable or the sub manipulated variable; and a selection unit (533: S410, S460, S470, S500) configured to switch over the selected manipulated variable from the main manipulated variable to the sub manipulated variable when communication performed via the main bus satisfies one of preset switchover conditions, wherein in an initial state, the main manipulated variable is set to the selected manipulated variable, wherein the main processing unit includes a command notification unit configured to transmit a switchover command via the main bus when one of preset command conditions is satisfied; and one of the switchover conditions used in the selection unit included in each of the plurality of control execution units is receipt of the switchover command via the main bus. a main processing unit configured to repeatedly generate a main manipulated variable being control data used to control automated driving; a sub processing unit configured to repeatedly generate a sub manipulated variable being control data used to control the automated driving; a main bus connected to the main processing unit; a sub bus connected to the sub processing unit; and a plurality of control execution units connected to both the main bus and the sub bus, each of the plurality of the control execution units including: an execution unit configured to execute vehicle control according a selected manipulated variable, the selected manipulated variable being either the main manipulated variable or the sub manipulated variable; and a selection unit (533: S410, S460, S470, S500) configured to switch over the selected manipulated variable from the main manipulated variable to the sub manipulated variable when communication performed via the main bus satisfies one of preset switchover conditions, wherein in an initial state, the main manipulated variable is set to the selected manipulated variable, wherein the main processing unit includes a command notification unit configured to transmit a switchover command via the main bus when one of preset command conditions is satisfied; and one of the switchover conditions used in the selection unit included in each of the plurality of control execution units is receipt of the switchover command via the main bus. an execution unit configured to execute vehicle control according a selected manipulated variable, the selected manipulated variable being either the main manipulated variable or the sub manipulated variable; and a selection unit (533: S410, S460, S470, S500) configured to switch over the selected manipulated variable from the main manipulated variable to the sub manipulated variable when communication performed via the main bus satisfies one of preset switchover conditions, wherein in an initial state, the main manipulated variable is set to the selected manipulated variable, wherein the main processing unit includes a command notification unit configured to transmit a switchover command via the main bus when one of preset command conditions is satisfied; and one of the switchover conditions used in the selection unit included in each of the plurality of control execution units is receipt of the switchover command via the main bus.