In the present invention, a crossing detection unit (21) detects a pedestrian who is trying to cross a roadway on which a vehicle (100) is travelling. A behavior detection unit (22) detects the behavior of a nearby vehicle travelling nearby the vehicle (100). A stop determination unit (23) determines whether to stop the vehicle (100), according to the detection by the crossing detection unit (21)of a pedestrian trying to cross the roadway and the behavior of a nearby vehicle detected by the behavior detection unit (22). If a determination to stop is made by the stop determination unit, a vehicle control unit (24) causes the vehicle (100) to stop at a position in front of the pedestrian.