Vehicle control device and vehicle control method

A vehicle control device for a vehicle that calculates an absolute velocity of an object from a vehicle velocity and a relative velocity of the object, and performs collision avoidance control with respect to the object based on the absolute velocity, comprising:

• a memory;
• a processor communicable to the memory;
• and
• a set of computer-executable instructions stored on the memory that cause the processor to implement:
• determining whether a brake device in the vehicle has been activating in a period during which the absolute velocity is calculated;
• and
• after activation of the brake device, calculating a current value of the vehicle velocity based on a previous value of the vehicle velocity and an assumed deceleration amount determined from an assumed activation amount that can be generated by the brake device.