To provide a device that enables inexpensive light distribution control or inexpensive vehicle traveling control by highly accurately detecting a state of a preceding vehicle or an oncoming vehicle, or a state of a road environment while using a simple camera or a simple image processor that does not require a high-cost device.

A vehicle controller is provided with an on-vehicle image pickup device for imaging a view in front of one's own vehicle, an image processing part for dividing a captured image into the upper image region and the lower image region, and a control part that controls at least either of light distribution of headlights and a vehicle traveling state corresponding to luminance of light spots detected from the upper image region and the lower image region. The lower image region is set at a position that allows it to image vehicles in front of one's own vehicle while the upper image region is set at a position that allows it to image streetlights in front of one's own vehicle. Reference thresholds for detecting targets detected in both image regions are different from each other.