The present disclosure provides a vehicle collision avoidance control device including: at least one first sensor configured to sense a first direction of a driver vehicle and to sense a first target vehicle in the first direction of the driver vehicle; at least one second sensor configured to sense a second direction that is opposite to the first direction of the driver vehicle and to sense a second target vehicle in the second direction of the driver vehicle; and a controller configured to output a vehicle control signal at least partially on the basis of processing of the first sensor and the second sensor, wherein the controller is configured to generate a primary vehicle control signal for avoiding a primary collision when a primary collision with the first target vehicle is predicted according to a first direction sensing result by the at least one first sensor, to modify the primary vehicle control signal into a secondary vehicle control signal on the basis of a result of sensing the second target vehicle by the at least one second sensor, and to output the secondary vehicle control signal.