SCENE ASCERTAINMENT DEVICE

摘要

A scene ascertainment device acquires map data in which one or more obstacle detection frames 42 having a shape that corresponds to a road structure are set in advance in order to detect obstacles at specific points on a road at which vehicles or a vehicle and a person will intersect. The scene ascertainment device also determines whether or not an obstacle is present in the obstacle detection frames 42 at the specific points along the scheduled travel path 51 of a vehicle, and calculates the degree of risk at the specific points on the basis of the determination results pertaining to the presence/absence of obstacles.