A vehicle controller includes a first abrupt deceleration determining unit configured to determine an abrupt deceleration state of a vehicle in a first manner, and a second abrupt deceleration determining unit configured to determine the generation of the abrupt deceleration state of the vehicle in a second manner having a required time for the determination shorter in comparison with that of the first manner, wherein any one of the first manner and the second manner is selected according to a vehicle speed of the vehicle or a road surface friction coefficient and used for determining the abrupt deceleration of the vehicle, the second manner is used in a region where the vehicle speed or the road surface friction coefficient is lower, and the first manner is used in a region where the vehicle speed or the road surface friction coefficient is higher.