The vehicle control device includes a target detection sensor and a control device that controls the operation of actuators. The target detection sensor can detect the relative speed of a target, positioned in a detectable area, with respect to the vehicle but cannot detect the relative speed when the target exists in a short distance area. The control device calculates the change amount of the relative speed per unit time. When the target enters the short-distance region, the control device calculates the estimated relative speed based on the elapsed time from the last acquisition time, which is the time when the relative speed of the target was last acquired from the target detection sensor, to the current time, the last acquired relative speed that is the relative speed of the target at the last acquisition time, and the time rate of change.