A vehicle control device for setting a target traveling course (R) in a lane along which a vehicle is traveling, wherein: the target traveling course (R) includes sets of a target position and a target vehicle speed; and the vehicle control device is configured to, when there is an obstacle in the lane , execute traveling course correction processing (S15) of setting a speed distribution zone defining a distribution of an allowable upper limit (V lim ) of a relative speed of the vehicle with respect to the obstacle between the obstacle and the vehicle , and calculating a corrected target traveling course (Rc1, Rc2, Rc3) by correcting the target traveling course (R) so as to prevent the relative speed of the vehicle from exceeding the allowable upper limit (V lim ) and enable the vehicle to avoid the obstacle , wherein the traveling course correction processing (S15) includes restriction processing (S27) of calculating the corrected target traveling course such that a lateral avoidance distance (L2_r, L3_r) of the corrected target traveling course with respect to the target traveling course (R) is set to be smaller when a border line of the lane is not detected than when the border line of the lane is detected, wherein the vehicle control device is configured to allow a driver to select one of plural avoidance modes set to be different from each other in terms of the lateral avoidance distance, and to execute the traveling course correction processing (S15) such that, when the border line is detected, the corrected target traveling course is calculated according to the selected avoidance mode, and, when the border line is not detected, the corrected target traveling course (Rc1_r) is calculated according to one of the avoidance modes which is smallest in terms of the lateral avoidance distance, irrespective of the selected avoidance mode. the target traveling course (R) includes sets of a target position and a target vehicle speed; and the vehicle control device is configured to, when there is an obstacle in the lane , execute traveling course correction processing (S15) of setting a speed distribution zone defining a distribution of an allowable upper limit (V lim ) of a relative speed of the vehicle with respect to the obstacle between the obstacle and the vehicle , and calculating a corrected target traveling course (Rc1, Rc2, Rc3) by correcting the target traveling course (R) so as to prevent the relative speed of the vehicle from exceeding the allowable upper limit (V lim ) and enable the vehicle to avoid the obstacle , wherein the traveling course correction processing (S15) includes restriction processing (S27) of calculating the corrected target traveling course such that a lateral avoidance distance (L2_r, L3_r) of the corrected target traveling course with respect to the target traveling course (R) is set to be smaller when a border line of the lane is not detected than when the border line of the lane is detected, wherein the vehicle control device is configured to allow a driver to select one of plural avoidance modes set to be different from each other in terms of the lateral avoidance distance, and to execute the traveling course correction processing (S15) such that, when the border line is detected, the corrected target traveling course is calculated according to the selected avoidance mode, and, when the border line is not detected, the corrected target traveling course (Rc1_r) is calculated according to one of the avoidance modes which is smallest in terms of the lateral avoidance distance, irrespective of the selected avoidance mode. <EOS>