A vehicle control device configured to perform a deceleration control of a vehicle for reducing or avoiding collision damage between the vehicle and an obstacle ahead of the vehicle , the vehicle control device comprising: a travelability determination unit configured to determine whether or not the vehicle is travelable in an area disposed ahead of the vehicle on left and right sides of the vehicle ; a deflection estimation unit configured to estimate deflection of the vehicle due to generation of a brake force applied to the vehicle (1; and a braking control unit configured to calculate deceleration and deceleration start timing based on a distance between the vehicle and an obstacle ahead of the vehicle and a relative speed of the vehicle to the obstacle , and configured to change at least one of the deceleration and the deceleration start timing based on a travelability determination result acquired from the travelability determination unit and a deflection estimation result acquired from the deflection estimation unit ; wherein the braking control unit includes: a deceleration limit releasing calculation unit configured to calculate limit deceleration for suppressing the occurrence of the deflection of the vehicle which leads to the entry of the vehicle into a non-travelable area which is not determined to be travelable by the travelability determination result acquired from the travelability determination unit , based on the travelability determination result acquired from the travelability determination unit and a deflection estimation result acquired from the deflection estimation unit ; and an emergency brake deceleration calculation unit configured to calculate a deceleration basic value based on a distance between the vehicle and the obstacle ahead of the vehicle and the relative speed, and to set either one of the deceleration basic value and the limit deceleration which takes a smaller value as the deceleration used in a deceleration control of the vehicle . a travelability determination unit configured to determine whether or not the vehicle is travelable in an area disposed ahead of the vehicle on left and right sides of the vehicle ; a deflection estimation unit configured to estimate deflection of the vehicle due to generation of a brake force applied to the vehicle (1; and a braking control unit configured to calculate deceleration and deceleration start timing based on a distance between the vehicle and an obstacle ahead of the vehicle and a relative speed of the vehicle to the obstacle , and configured to change at least one of the deceleration and the deceleration start timing based on a travelability determination result acquired from the travelability determination unit and a deflection estimation result acquired from the deflection estimation unit ; wherein the braking control unit includes: a deceleration limit releasing calculation unit configured to calculate limit deceleration for suppressing the occurrence of the deflection of the vehicle which leads to the entry of the vehicle into a non-travelable area which is not determined to be travelable by the travelability determination result acquired from the travelability determination unit , based on the travelability determination result acquired from the travelability determination unit and a deflection estimation result acquired from the deflection estimation unit ; and an emergency brake deceleration calculation unit configured to calculate a deceleration basic value based on a distance between the vehicle and the obstacle ahead of the vehicle and the relative speed, and to set either one of the deceleration basic value and the limit deceleration which takes a smaller value as the deceleration used in a deceleration control of the vehicle . <EOS>