In an apparatus for controlling a vehicle equipped with a radar device and an imaging device to detect an object around the vehicle. In the apparatus, an identity determiner is configured to, based on a first predicted time to collision with a first target and a second predicted time to collision with a second target, perform an identity determination as to whether or not the first target and the second target correspond to the same object. A scene determiner is configured to determine whether or not one of at least one specific scene where large calculation errors in the second predicted time may be generated is matched depending on the calculation method corresponding to the second predicted time to collision. A determination aspect setter is configured to, based on the calculation method and a result of determination by the scene determiner, set an aspect of the identity determination.