A vehicle control device includes a plurality of imaging units that images an outside world of a vehicle, a surrounding screen image composition unit that combines a plurality of captured images captured by the plurality of imaging units to generate a surrounding screen image, a collision determination unit that determines whether an obstacle is present on a traveling route of the vehicle, an alarm screen image generation unit that selects, from a plurality of captured images, a captured image in which the obstacle is imaged to generate an alarm screen image including the selected captured image, and a display screen image switching unit that performs a process of displaying the surrounding screen image when the collision determination unit determines that the obstacle is not present, and displaying the alarm screen image when the collision determination unit determines that the obstacle is present.