Provided is a vehicle control device which generates a speed pattern of a vehicle and controls traveling of the vehicle based on the speed pattern, including: rear vehicle travel situation checking means for checking a travel situation of a rear vehicle which travels behind the vehicle; wave-like travel speed pattern generating means for generating a wave-like travel speed pattern where acceleration travel and free run travel are alternately repeated based on the travel situation of the rear vehicle; and control means for controlling the traveling of the vehicle based on the wave-like travel speed pattern.