In-vehicle electronic control device

An in-vehicle electronic control device comprising a processing device that acquires object information of an object detected by each of a plurality of external sensors mounted on a host vehicle and executes an integration process to integrate a plurality of pieces of the object information acquired, wherein the processing device

• recognizes a travelable area on a road surface around the host vehicle that the host vehicle enters, based on a result of the integration process,
• predicts whether the host vehicle and the object will collide, based on the object information,
• sets an avoidance target for avoiding a collision with the object predicted to collide when a collision between the host vehicle and the object is predicted,
• generates an avoidance route in the travelable area, the avoidance route leading to the avoidance target,
• sets an entering object detection area around the host vehicle to detect entry of the object, and
• detects the object having entered the entering object detection area based on the object information of the object before the integration process, the object having been detected by the plurality of external sensors, and determines whether to execute an avoidance operation along the avoidance route based on a result of the detection.