VEHICLE CONTROL DEVICE

To provide art that can ensure the safety of vehicles.SOLUTION: A vehicle control device 110, which controls a vehicle equipped with a camera 122 capable of photographing the front of the vehicle 10 and an object sensor 124 capable of measuring the distance between a plurality of objects that exist in a detection range that at least partially overlaps the photographic range of the camera 122, includes: an image capture information acquisition unit 111 that uses the camera to acquire image capture information in a target lane, which is one of the lanes around the lane in which the vehicle is traveling; a distance measurement information acquisition unit 112 that acquires distance measurement information including the distance to one or more objects in the target lane by using an object sensor; a determination unit 113 that determines whether or not to integrate the image capture information and distance measurement information based on the image capture information and the distance measurement information; and a control unit 114 that controls the vehicle to move away from the target lane when the determination unit determines that the image capture information and the distance measurement information are not integrated.SELECTED DRAWING: Figure 1 【課題】車両の安全性を担保できる技術を提供する。【解決手段】車両１０の前方を撮影できるカメラ１２２とカメラ１２２の撮影範囲と少なくとも一部が重複する検知範囲に存在する複数の物体との距離を測定することができる物体センサ１２４とを備える車両を制御する車両制御装置１１０は、カメラを用いて車両が走行している車線の周辺の車線の一つである対象車線における撮像情報を取得する撮像情報取得部１１１と、物体センサを用いて対象車線における１以上の物体との距離を含む測距情報を取得する測距情報取得部１１２と、撮像情報と測距情報とに基づいて、撮像情報と測距情報とを統合するか否かを判定する判定部１１３と、判定部が撮像情報と測距情報とを統合しないと判定した場合に、車両を対象車線から離れさせる制御を行う制御部１１４と、を備える。【選択図】図１