Provided is a technique for controlling a vehicle according to a group type for a target group moving object. Provided are: a group detection unit 102 that detects a group based on signals from sensors 101; an environment information collection unit 105 that collects information on a surrounding environment of a host vehicle; a group type determination unit 103 that determines a group type based on a feature of the group detected by the group detection unit 102 and environment information collected by the environment information collection unit 105; and a risk level determination unit 104 that determines a risk level based on the group type determined by the group type determination unit 103, a speed of the host vehicle and a distance to a group moving object. A warning or vehicle control is performed based on the risk level determined by the risk level determination unit 104.