a target determination circuitry to calculate a target speed of an own vehicle and a target distance being a target value of an inter-vehicle distance between the own vehicle and a target vehicle based on target vehicle speed information on a speed of the target vehicle;

a plan generation circuitry to generate a distance plan being a temporal change in the inter-vehicle distance until the inter-vehicle distance reaches the target distance based on the target distance, and to generate a speed plan being a temporal change in a speed of the own vehicle until the inter-vehicle distance reaches the target distance based on the target speed and the target distance; and

a vehicle control circuitry to generate an acceleration command for the own vehicle based on the distance plan and the speed plan, and to supply the generated acceleration command to a driving/braking control device of the own vehicle,

wherein the plan generation circuitry is configured to generate the distance plan and the speed plan through use of a three-stage moving average filter being a filter including a first moving average filter, a second moving average filter, and a third moving average filter which are connected sequentially and in series to each other.