In an obstacle detecting control device A installed in a vehicle body and includes a millimeter-wave radar 5 detecting an obstacle in front of the vehicle and an operation control portion 48 controlling a bake device 8 and seatbelt pre-tensioner 90 according to detection results of the obstacle by the radar 5 , there are provided a detection frequency determining portion 43 determining that a detection frequency of obstacle by the radar 5 within a specified period of time exceeds a first frequency, an excessive frequency determining portion 45 determining that a frequency of the above determination by the detection frequency determining portion 43 exceeds a second frequency, and an indication portion 13 and a warning buzzer 15 to warn a passenger of a change of radar axis of the radar 5 when the above determination by the excessive frequency determining portion 45 is made.