Vehicle control device

A vehicle control device comprising:

• an external environment recognition unit that acquires external environment information at least in front of a host vehicle;
• a control unit that controls the host vehicle based on the external environment information acquired by the external environment recognition unit;
• and
• a storage unit that stores detection information of a moving object acquired by the external environment recognition unit when the host vehicle overtakes the moving object, wherein
• the external environment recognition unit reads past detection information of the moving object stored in the storage unit when a course change of the host vehicle is predicted, determines a possibility of collision between the host vehicle and the moving object, sets, as prediction recognition information, a moving object having a high possibility of colliding with the host vehicle at the course change of the host vehicle, based on the possibility of the collision, and determines whether or not detection information of a moving object detected by the external environment recognition unit when the host vehicle changes a course is same as past detection information of the moving object included in the prediction recognition information.