A vehicle collision avoidance control device comprising: a first sensor configured to sense objects in a first direction of a host vehicle, wherein the first sensor is further configured to sense a first peripheral object traveling in a first adjacent travel path that is adjacent to the travel path of the host vehicle; a second sensor configured to sense objects in a second direction of the host vehicle, the second direction being opposite to the first direction; and a controller (10; 230) configured to receive detecting data from the first and second sensors; determine a probability of a primary collision with a first object based on detecting data from the first sensor; generate, if the determined probability of the primary collision is greater than a first threshold, a primary control signal for reducing a speed of the host vehicle to avoid a primary collision, modify, in response to a detection of a second object in the second direction based on detecting data from the second sensor and a probability of a second collision with the second object if the host vehicle is controlled according to the primary control signal is greater than a second threshold, the primary control signal into a secondary control signal, further modify the secondary control signal in response to a determination that the first peripheral object is present in the first adjacent travel path, and output the modified secondary control signal to control the host vehicle, wherein the modified secondary control signal comprises a steering control signal for moving the host vehicle from the travel path to the first adjacent travel path, characterized in that the modified secondary control signal comprises a speed control signal for changing a speed of the host vehicle to a speed for avoiding a collision with the first peripheral object. a first sensor configured to sense objects in a first direction of a host vehicle, wherein the first sensor is further configured to sense a first peripheral object traveling in a first adjacent travel path that is adjacent to the travel path of the host vehicle; a second sensor configured to sense objects in a second direction of the host vehicle, the second direction being opposite to the first direction; and a controller (10; 230) configured to receive detecting data from the first and second sensors; determine a probability of a primary collision with a first object based on detecting data from the first sensor; generate, if the determined probability of the primary collision is greater than a first threshold, a primary control signal for reducing a speed of the host vehicle to avoid a primary collision, modify, in response to a detection of a second object in the second direction based on detecting data from the second sensor and a probability of a second collision with the second object if the host vehicle is controlled according to the primary control signal is greater than a second threshold, the primary control signal into a secondary control signal, further modify the secondary control signal in response to a determination that the first peripheral object is present in the first adjacent travel path, and output the modified secondary control signal to control the host vehicle, wherein the modified secondary control signal comprises a steering control signal for moving the host vehicle from the travel path to the first adjacent travel path, characterized in that the modified secondary control signal comprises a speed control signal for changing a speed of the host vehicle to a speed for avoiding a collision with the first peripheral object. receive detecting data from the first and second sensors; determine a probability of a primary collision with a first object based on detecting data from the first sensor; generate, if the determined probability of the primary collision is greater than a first threshold, a primary control signal for reducing a speed of the host vehicle to avoid a primary collision, modify, in response to a detection of a second object in the second direction based on detecting data from the second sensor and a probability of a second collision with the second object if the host vehicle is controlled according to the primary control signal is greater than a second threshold, the primary control signal into a secondary control signal, further modify the secondary control signal in response to a determination that the first peripheral object is present in the first adjacent travel path, and output the modified secondary control signal to control the host vehicle, wherein the modified secondary control signal comprises a steering control signal for moving the host vehicle from the travel path to the first adjacent travel path, characterized in that the modified secondary control signal comprises a speed control signal for changing a speed of the host vehicle to a speed for avoiding a collision with the first peripheral object.