Vehicle control device

A vehicle control device that assists blind spot monitoring of an own vehicle, the own vehicle equipped with a radar sensor that is configured to transmit a radar wave toward an object and receive a reflected wave that is reflected from the object, the vehicle control device comprising:

• a position estimation unit configured to estimate a lateral position of an other vehicle indicating a position in a width direction of a road, wherein the lateral position is estimated based on a reflected wave of the radar wave that is emitted from the radar sensor of the own vehicle;
• an SN index calculation unit configured to, based on the reflected wave of the radar wave emitted from the own vehicle to the surroundings, calculate an SN index indicating a relationship between level of a signal and level of a noise in the reflected wave;
• a lane determination unit configured to, in response to determining a lane in which the other vehicle is traveling based on information on the lateral position of the other vehicle estimated by the position estimation unit, perform a determination on the lane in which the other vehicle is traveling based on the SN index calculated by the SN index calculation unit;
• and
• an alarm determination unit configured to, based on a result of determination by the lane determination unit, determine whether a condition for issuing an alarm about the other vehicle is satisfied.