In the present invention, sign information displayed on road signs installed above a road are associated with lanes more accurately. This vehicle control device 1 acquires the number of lanes, in the direction of movement of a host vehicle, on a road on which the host vehicle is traveling, and assigns a lane sequence code indicating the layout sequence to each of the lanes indicated by the number of lanes. The vehicle control device 1 acquires the position of a road sign installed above the road and sign information displayed on the road sign from a captured image of the road sign, and, if there are two or more items of sign information, assigns a sign information sequence code indicating the layout sequence to each of the items of sign information on the basis of the position of the road sign. The vehicle control device 1 then associates the lane and the item of sign information for which the layout sequence indicated by the lane sequence code and the layout sequence indicated by the sign information sequence code match.