VEHICLE CONTROL DEVICE

The present disclosure provides a vehicle control device capable of preventing an erroneous operation of an advanced driving assistance system while ensuring safety. A vehicle control device includes a course prediction unit F, a collision prediction unit F, a vehicle control unit F, and a control intervention adjustment unit F. The course prediction unit F predicts a turning course of a vehicle as a steady circular turning course based on a steering angle θ. The collision prediction unit F calculates a collision margin time (TTC) between a target detected by an external environment sensor of the vehicle and the vehicle that travels on the steady circular turning course, and calculates a predicted collision lateral position CLL of the target with respect to a vehicle width center position of the vehicle. The vehicle control unit F performs collision avoidance control of a vehicle when the collision margin time is shorter than a control intervention threshold value TH. The control intervention adjustment unit F adjusts the control intervention threshold value TH. The control intervention adjustment unit F reduces the control intervention threshold value when the predicted collision lateral position CLL with respect to the vehicle width center position of the vehicle is in a direction opposite to a direction of a steering angular speed which is a time change rate of the steering angle θ.