A vehicle control device (20) includes: an acquisition unit (21) that acquires detection information from a probe device (31) on the basis of reflected waves thereof; an object information detection unit (22) that detects the position (Pr) of an object; an object path estimation unit (23) that estimates the path of the object; a host vehicle path estimation unit (24) that estimates the path of thehost vehicle (CS); a collision determination unit (25) that determines whether the host vehicle and the object will collide; a vehicle control unit (26) that, if a collision is determined, executes avehicle control; and an area setting unit (27) that sets an inoperative area (F1) for the vehicle control. The area setting unit sets, as the inoperative area, a predetermined range in the lateral direction perpendicular to the advancing direction of the host vehicle, using a position where the object was detected as a reference.