A vehicle control device (170, 800) controlling a vehicle that is driven in a platoon with at least one other vehicle, the vehicle control device (170, 800) comprising: a communication portion configured to communicate with the at least one other vehicle (1010, 1020, 1030, 1040, 1050, 1060); and a control portion configured to, based on an arrangement pattern of the platoon, calculate at least one sensing range (1015, 1025, 1035, 1045, 1055, 1065), respectively, in the platoon, wherein the at least one sensing range is allocated to the at least one other vehicle so that the at least one other vehicle senses data around the at least one sensing range, wherein the arrangement pattern of the platoon is position relationships among vehicles forming the platoon on a road, wherein the communication portion is configured to: receive sensing performance from the at least one other vehicle; and receive the data sensed in the at least one sensing range (1015, 1025, 1035, 1045, 1055, 1065) from the at least one other vehicle; and wherein the control portion is configured to: generate a control signal for controlling at least one of the vehicles in the platoon based on the data sensed in the at least one sensing range, and calculate the at least one sensing range that is allocated to the at least one other vehicle in the platoon further based on the sensing performance for the at least one other vehicle, characterized in that the control portion is further configured to: change a position of the at least one other vehicle (1010, 1020) in the platoon based on the sensing performance for the at least one other vehicle; and generate a control signal for positioning the vehicle as a leader vehicle in an area of the platoon that has a smallest sensing range of the at least one sensing range allocated to the at least one other vehicle. a communication portion configured to communicate with the at least one other vehicle (1010, 1020, 1030, 1040, 1050, 1060); and a control portion configured to, based on an arrangement pattern of the platoon, calculate at least one sensing range (1015, 1025, 1035, 1045, 1055, 1065), respectively, in the platoon, wherein the at least one sensing range is allocated to the at least one other vehicle so that the at least one other vehicle senses data around the at least one sensing range, wherein the arrangement pattern of the platoon is position relationships among vehicles forming the platoon on a road, wherein the communication portion is configured to: receive sensing performance from the at least one other vehicle; and receive the data sensed in the at least one sensing range (1015, 1025, 1035, 1045, 1055, 1065) from the at least one other vehicle; and wherein the control portion is configured to: generate a control signal for controlling at least one of the vehicles in the platoon based on the data sensed in the at least one sensing range, and calculate the at least one sensing range that is allocated to the at least one other vehicle in the platoon further based on the sensing performance for the at least one other vehicle, characterized in that the control portion is further configured to: change a position of the at least one other vehicle (1010, 1020) in the platoon based on the sensing performance for the at least one other vehicle; and generate a control signal for positioning the vehicle as a leader vehicle in an area of the platoon that has a smallest sensing range of the at least one sensing range allocated to the at least one other vehicle. receive sensing performance from the at least one other vehicle; and receive the data sensed in the at least one sensing range (1015, 1025, 1035, 1045, 1055, 1065) from the at least one other vehicle; and wherein the control portion is configured to: generate a control signal for controlling at least one of the vehicles in the platoon based on the data sensed in the at least one sensing range, and calculate the at least one sensing range that is allocated to the at least one other vehicle in the platoon further based on the sensing performance for the at least one other vehicle, characterized in that the control portion is further configured to: change a position of the at least one other vehicle (1010, 1020) in the platoon based on the sensing performance for the at least one other vehicle; and generate a control signal for positioning the vehicle as a leader vehicle in an area of the platoon that has a smallest sensing range of the at least one sensing range allocated to the at least one other vehicle. generate a control signal for controlling at least one of the vehicles in the platoon based on the data sensed in the at least one sensing range, and calculate the at least one sensing range that is allocated to the at least one other vehicle in the platoon further based on the sensing performance for the at least one other vehicle, characterized in that the control portion is further configured to: change a position of the at least one other vehicle (1010, 1020) in the platoon based on the sensing performance for the at least one other vehicle; and generate a control signal for positioning the vehicle as a leader vehicle in an area of the platoon that has a smallest sensing range of the at least one sensing range allocated to the at least one other vehicle. change a position of the at least one other vehicle (1010, 1020) in the platoon based on the sensing performance for the at least one other vehicle; and generate a control signal for positioning the vehicle as a leader vehicle in an area of the platoon that has a smallest sensing range of the at least one sensing range allocated to the at least one other vehicle.