VEHICLE CONTROL DEVICE

Provided is a vehicle control device capable of more reliably avoiding a collision between an obstacle and a vehicle or reducing a collision damage by more accurately estimating a type and a risk of the obstacle than a conventional vehicle control device. A vehicle control device is a control device mounted on a vehicle V, and includes a three-dimensional object information generation unit , a damage degree map generation unit , and a travel control unit . The three-dimensional object information generation unit detects an object around the vehicle V and generates three-dimensional object information based on external environment information output from the external sensor V mounted on the vehicle V. The damage degree map generation unit generates information on a plurality of split regions obtained by splitting a target region including the object in each of a longitudinal direction and a height direction based on the generated external environment information, and sets damage degrees respectively to the plurality of split regions depending on magnitudes of damage at a time of collision of the vehicle V. The travel control unit controls travel of the vehicle V to minimize a collision damage degree corresponding to the damage degree set in the split region.