To provide a course prediction device achieving both of reduction in a calculation load and quick collision determination.
A one's own vehicle course candidate calculation part 10 predicts a course of one's own vehicle based on moving states of the own vehicle and another vehicle detected by an one's own vehicle state detection part 2 and an exterior environment detection part 3, and an other vehicle course prediction part 11 predicts a course of the other vehicle. A one's own vehicle course selection part 18 determines collision possibility between the own vehicle and the other vehicle from the courses of them and selects a safe course, and travel of the vehicle is controlled by a vehicle control part 4. In this process, respective prediction time setting parts 12 and 15 set a period to perform course prediction depending on a velocity of the vehicle.
Yoshiki Kuroki
Hikaru Suzuki