A vehicular control device includes (i) situation detection units that detect situation of the vehicle, occupants, or a surrounding area; (ii) a storage unit for storing a model representing association between variables indicating the situation and variables indicating presence or absence of operation needs for each in-vehicle unit, (iii) an inference execution unit that determines presence or absence of the operation needs for each in-vehicle unit using the stored model; (iv) a control unit that controls each in-vehicle unit based on a result of determination by the inference execution unit; (v) an operation detection unit that detects the operation of each in-vehicle unit; and (vi) a model learning unit that learns the stored model using the detected situation when the operation of each in-vehicle unit is detected by the operation detection unit, and an event involving the presence of operation needs for the in-vehicle unit.