A vehicle control device including an obstacle monitoring device to be mounted on an autonomous travel haul vehicle (10, 71, 72) that autonomously travels at a predetermined travel speed on a predetermined travel path in a mine, the obstacle monitoring device comprising: a first object detecting section that, based on output data of a first moving-direction monitoring sensor which detects a first object located ahead in a moving direction of the haul vehicle (10, 71, 72), detects a relative position of the first object to the haul vehicle (10, 71, 72), a second object detecting section that is a second moving-direction monitoring sensor which detects a second object located ahead in the moving direction of the haul vehicle (10, 71, 72), has a higher spatial resolution than the first moving-direction monitoring sensor, and, based on output data of the second moving-direction monitoring sensor which detects a side nearer in the moving direction of the haul vehicle (10, 71, 72) than the first moving-direction monitoring sensor, detects a relative position of the second object to the haul vehicle (10, 71, 72) and a profile of the second object, an interference determination section that determines, based on the relative position of the first object, whether the haul vehicle (10, 71, 72) will interfere with the first object and also determines, based on the relative position of the first object and the relative position of the second object, identity between the first object and the second object, and a profile determination section that, if the interference determination section has determined that the first object and the second object are identical to each other, determines whether the profile of the second object will allow the haul vehicle (10, 71, 72) to pass over the second object, the vehicle control device further including a vehicle control section which performs control to decelerate the autonomous travel haul vehicle (10, 71, 72) if the interference determination section included in the obstacle monitoring device determines that the autonomous travel haul vehicle (10, 71, 72) will interfere with the first object, but which performs control to cancel the deceleration and to allow the autonomous travel haul vehicle (10, 71, 72) to return to the predetermined travel speed if after the deceleration, the profile determination section determines that the profile of the second object will allow the autonomous travel haul vehicle (10, 71, 72) to pass over the second object. a first object detecting section that, based on output data of a first moving-direction monitoring sensor which detects a first object located ahead in a moving direction of the haul vehicle (10, 71, 72), detects a relative position of the first object to the haul vehicle (10, 71, 72), a second object detecting section that is a second moving-direction monitoring sensor which detects a second object located ahead in the moving direction of the haul vehicle (10, 71, 72), has a higher spatial resolution than the first moving-direction monitoring sensor, and, based on output data of the second moving-direction monitoring sensor which detects a side nearer in the moving direction of the haul vehicle (10, 71, 72) than the first moving-direction monitoring sensor, detects a relative position of the second object to the haul vehicle (10, 71, 72) and a profile of the second object, an interference determination section that determines, based on the relative position of the first object, whether the haul vehicle (10, 71, 72) will interfere with the first object and also determines, based on the relative position of the first object and the relative position of the second object, identity between the first object and the second object, and a profile determination section that, if the interference determination section has determined that the first object and the second object are identical to each other, determines whether the profile of the second object will allow the haul vehicle (10, 71, 72) to pass over the second object, the vehicle control device further including a vehicle control section which performs control to decelerate the autonomous travel haul vehicle (10, 71, 72) if the interference determination section included in the obstacle monitoring device determines that the autonomous travel haul vehicle (10, 71, 72) will interfere with the first object, but which performs control to cancel the deceleration and to allow the autonomous travel haul vehicle (10, 71, 72) to return to the predetermined travel speed if after the deceleration, the profile determination section determines that the profile of the second object will allow the autonomous travel haul vehicle (10, 71, 72) to pass over the second object.