Vehicle control device

A vehicle control device, comprising:

• an in-vehicle sensor information acquisitor that acquires information from an in-vehicle sensor that is provided in a vehicle to detect an obstacle around the vehicle;
• a roadside sensor information acquisitor that acquires information from a roadside sensor that is placed on a roadside to detect an obstacle therearound;
• a vehicle position information acquisitor that acquires position information of the vehicle;
• a map information acquisitor that acquires map information around the vehicle on a basis of the position information of the vehicle acquired by the vehicle position information acquisitor;
• an obstacle information generator that generates obstacle information including information of at least one of a position, a size and a speed of the obstacle and information of a type of the obstacle, on a basis of in-vehicle sensor information as the information acquired by the in-vehicle sensor information acquisitor, roadside sensor information as the information acquired by the roadside sensor information acquisitor, and vehicle position information as the information acquired by the vehicle position information acquisitor;
• and
• an obstacle responsive controller that determines whether or not to execute obstacle responsive control, on a basis of the obstacle information generated by the obstacle information generator and at least one obstacle-presence possibility list in which obstacle presence possibilities are assigned to respective types of obstacles, and then, when determined to execute the obstacle responsive control, controls the vehicle in response to the obstacle.