PROBLEM TO BE SOLVED: To allow a vehicle to pass an intersection safely. SOLUTION: When a vehicle receives an intersection signal (S1) and receives a permit for entering the intersection ahead of the vehicle (S2), whether it can pass the intersection while the permit for entry is valid or not is determined based on a distance L up to the intersection, remaining duration time T of a permit signal for entering the intersection, and a vehicle speed v (S3 to S6). When it is determined that the vehicle can pass the intersection, the instruction for passing the intersection is given to a driver (S7), and when it is determined that the vehicle cannot pass the intersection, the instruction for stopping in front of the intersection is given to the driver (S20). Moreover, when receiving the intersection signal (S1) and the permit for entering the intersection is not given (S2), the instruction for stopping in front of the intersection is given to the driver (S19).
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