  Given a vector $F=(F_1,\dots,F_m)$ of Poisson functionals $F_1,\dots,F_m$, we
investigate the proximity between $F$ and an $m$-dimensional centered Gaussian
random vector $N_\Sigma$ with covariance matrix $\Sigma\in\mathbb{R}^{m\times
m}$. Apart from finding proximity bounds for the $d_2$- and $d_3$-distances,
based on classes of smooth test functions, we obtain proximity bounds for the
$d_{convex}$-distance, based on the less tractable test functions comprised of
indicators of convex sets. The bounds for all three distances are shown to be
of the same order, which is presumably optimal. The bounds are multivariate
counterparts of the univariate second order Poincar\'e inequalities and, as
such, are expressed in terms of integrated moments of first and second order
difference operators. The derived second order Poincar\'e inequalities for
indicators of convex sets are made possible by a new bound on the second
derivatives of the solution to the Stein equation for the multivariate normal
distribution. We present applications to the multivariate normal approximation
of first order Poisson integrals and of statistics of Boolean models.
