A vehicle control device that controls a vehicle system, the device comprising: a control unit that has a first state machine and a second state machine that are hierarchized, and at least one intermediate layer provided between the first state machine and the second state machine; and a storage unit that stores a plurality of state transition tables provided for the first state machine and the second state machine, current states of the first state machine and the second state machine, states to transition, conditions of state transition being described in the state transition tables, wherein the first state machine receives an event input from the vehicle system, refers to the state transition table, and outputs the state of the first state machine to the at least one intermediate layer, the at least one intermediate layer divides the state of the first state machine for each function of the vehicle system in association with the state of the first state machine, and outputs the state to the second state machine, the state transition table corresponding to the second state machine includes, as the condition of the state transition of the second state machine, the current state of the first state machine or the state to transition, and the second state machine receives the state of the first state machine input from the at least one intermediate layer, refers to the state transition table, and outputs a signal for controlling the vehicle system, wherein the vehicle system includes a sensor, and the first state machine receives the event from the sensor, wherein the at least one intermediate layer divides the state of the first state machine for each direction of the sensor in the vehicle system or each target object targeted by the sensor, and outputs the state of the first state machine to the second state machine, wherein the vehicle is divided into a plurality of sides, said plurality of sides comprising left and right sides with an axis extending along a traveling direction as a center, wherein the at least one intermediate layer is divided corresponding to at least one of said plurality of sides, and an event from a sensor located on said at least one side or having a detection direction of the sensor on said at least one side of the vehicle is input to an intermediate layer corresponding to said at least one side. a control unit that has a first state machine and a second state machine that are hierarchized, and at least one intermediate layer provided between the first state machine and the second state machine; and a storage unit that stores a plurality of state transition tables provided for the first state machine and the second state machine, current states of the first state machine and the second state machine, states to transition, conditions of state transition being described in the state transition tables, wherein the first state machine receives an event input from the vehicle system, refers to the state transition table, and outputs the state of the first state machine to the at least one intermediate layer, the at least one intermediate layer divides the state of the first state machine for each function of the vehicle system in association with the state of the first state machine, and outputs the state to the second state machine, the state transition table corresponding to the second state machine includes, as the condition of the state transition of the second state machine, the current state of the first state machine or the state to transition, and the second state machine receives the state of the first state machine input from the at least one intermediate layer, refers to the state transition table, and outputs a signal for controlling the vehicle system, wherein the vehicle system includes a sensor, and the first state machine receives the event from the sensor, wherein the at least one intermediate layer divides the state of the first state machine for each direction of the sensor in the vehicle system or each target object targeted by the sensor, and outputs the state of the first state machine to the second state machine, wherein the vehicle is divided into a plurality of sides, said plurality of sides comprising left and right sides with an axis extending along a traveling direction as a center, wherein the at least one intermediate layer is divided corresponding to at least one of said plurality of sides, and an event from a sensor located on said at least one side or having a detection direction of the sensor on said at least one side of the vehicle is input to an intermediate layer corresponding to said at least one side.