PROBLEM TO BE SOLVED: To suppress a decrease in traffic flow when a vehicle stopped in front of an intersection is started. SOLUTION: A vehicle detection data acquisition unit acquires vehicle detection data including a type, a position, and a speed classified by a start acceleration time for each vehicle traveling on an inflow road. For each vehicle traveling on the inflow path, the prediction unit predicts the position at the set temporary switching timing and the dilemma zone using the vehicle detection data of the vehicle. The first determination unit determines for each vehicle traveling on the inflow path whether or not the predicted position is within the dilemma zone of the vehicle. The second determination unit determines the leading vehicle that stops before the intersection. The determination unit determines the switching timing based on the determination result of the first determination unit and the determination result of the second determination unit. [Selection diagram] Fig. 4
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