A vehicle control device, comprising: - an other vehicle information acquisition unit configured to acquire information of another vehicle by vehicle-to-vehicle communication (C2C) and road-to-vehicle communication (C2I), and - an exterior recognition unit configured to carry out recognition of the exterior of a host vehicle by sensing, wherein the exterior recognition unit is configured to sense the other vehicle and a space in the vicinity of the other vehicle by using the information of the other vehicle acquired by the other vehicle information acquisition unit, wherein the other vehicle is a vehicle travelling on a road to merge with a road on which the host vehicle travels or on a lane adjacent to a lane on which the host vehicle travels, wherein an entry space into which the host vehicle may enter is determined on the basis of a result of the sensing, wherein the other vehicle information acquisition unit is further configured to change the degree of intensiveness of the sensing of the exterior recognition unit by increasing the frequency of processing or by changing resources of detection processing, wherein the sensing for the other vehicles is performed with less intensiveness when the information of the other vehicle is acquired by both vehicle-to-vehicle communication (C2C) and road-to-vehicle communication (C2I) than when the information of the other vehicle is acquired by road-to-vehicle communication (C2I) alone, wherein the sensing for space in the vicinity of the other vehicle is performed with higher intensiveness when said other vehicle is not detected by the other vehicle information acquisition unit. - an other vehicle information acquisition unit configured to acquire information of another vehicle by vehicle-to-vehicle communication (C2C) and road-to-vehicle communication (C2I), and - an exterior recognition unit configured to carry out recognition of the exterior of a host vehicle by sensing, wherein the exterior recognition unit is configured to sense the other vehicle and a space in the vicinity of the other vehicle by using the information of the other vehicle acquired by the other vehicle information acquisition unit, wherein the other vehicle is a vehicle travelling on a road to merge with a road on which the host vehicle travels or on a lane adjacent to a lane on which the host vehicle travels, wherein an entry space into which the host vehicle may enter is determined on the basis of a result of the sensing, wherein the other vehicle information acquisition unit is further configured to change the degree of intensiveness of the sensing of the exterior recognition unit by increasing the frequency of processing or by changing resources of detection processing, wherein the sensing for the other vehicles is performed with less intensiveness when the information of the other vehicle is acquired by both vehicle-to-vehicle communication (C2C) and road-to-vehicle communication (C2I) than when the information of the other vehicle is acquired by road-to-vehicle communication (C2I) alone, wherein the sensing for space in the vicinity of the other vehicle is performed with higher intensiveness when said other vehicle is not detected by the other vehicle information acquisition unit.