Abstract: In a vehicle control device, detection of an object around a vehicle is performed, in a case where it is determined that there is a possibility that the vehicle may collide with the object, whether or not a collision can be avoided by braking control of the vehicle is determined, and in a case where it is determined that a collision cannot be avoided by the braking control, steering and braking control to avoid a collision by both steering of the vehicle and braking of the vehicle is performed, flashing of a direction indicator is started, and in a case where the vehicle has stopped, flashing of hazard flashing indicators is performed.

Abstract: A collision avoidance control system includes an ECU, and the ECU calculates an own vehicle course as a course along which an own vehicle is expected to proceed during a first transfer prediction time, and time-dependent own vehicle positions on the own vehicle course, and calculates an oncoming vehicle course as a course along which an oncoming vehicle is expected to proceed during a second transfer prediction time, and time-depending oncoming vehicle positions on the oncoming vehicle course.