A pre-crash control device comprising: target information acquisition units each of which is configured to acquire target information that can identify a position of a target with respect to a host vehicle (SV) each time a predetermined time elapses; and an electric control unit configured to estimate the moving direction of the target based on history of a recognized position, the electric control unit being configured to determine whether a collision probability is high based on the recognized position and the moving direction, the collision probability being a probability that the target collides with the host vehicle (SV), the electric control unit being configured to perform pre-crash control in order to avoid collision with the target when the electric control unit determines that the collision probability is high and a time to collision becomes equal to or smaller than a threshold execution time, the time to collision being a time for the target to collide with the host vehicle (SV), the electric control unit being configured to estimate a currently predicted position of the target based on the recognized position last updated, the electric control unit being configured to update the recognized position each time the target information is newly acquired, based on the currently predicted position and an acquired position, which is a position of the target identified by the target information that is newly acquired, when the time to collision is greater than a predetermined first threshold switching time, and the electric control unit being configured to update the recognized position to the acquired position, each time the target information is newly acquired, when the time to collision becomes equal to or smaller than the predetermined first threshold switching time. target information acquisition units each of which is configured to acquire target information that can identify a position of a target with respect to a host vehicle (SV) each time a predetermined time elapses; and an electric control unit configured to estimate the moving direction of the target based on history of a recognized position, the electric control unit being configured to determine whether a collision probability is high based on the recognized position and the moving direction, the collision probability being a probability that the target collides with the host vehicle (SV), the electric control unit being configured to perform pre-crash control in order to avoid collision with the target when the electric control unit determines that the collision probability is high and a time to collision becomes equal to or smaller than a threshold execution time, the time to collision being a time for the target to collide with the host vehicle (SV), the electric control unit being configured to estimate a currently predicted position of the target based on the recognized position last updated, the electric control unit being configured to update the recognized position each time the target information is newly acquired, based on the currently predicted position and an acquired position, which is a position of the target identified by the target information that is newly acquired, when the time to collision is greater than a predetermined first threshold switching time, and the electric control unit being configured to update the recognized position to the acquired position, each time the target information is newly acquired, when the time to collision becomes equal to or smaller than the predetermined first threshold switching time. <EOS>