An in-vehicle control device includes a first sensor that acquires obstacle information in a first detection range, a second sensor that acquires obstacle information in a second detection range, the second detection range is nearer to a host vehicle than the first detection range, and a processor configured to perform predetermined control for preventing collision with an obstacle or for reducing damage at collision time based on the obstacle information received from the first sensor and the second sensor and, when the obstacle is not detected by the first sensor and the second sensor after starting the predetermined control based on the obstacle information received from the first sensor, uses positional relation information to determine whether the predetermined control is to be continued wherein the positional relation information indicates a height-direction positional relation between a predetermined part of the obstacle and the first detection range or the second detection range.