a vehicle-driving environment information acquiring unit configured to acquire information about vehicle-driving environment ahead of the vehicle;

an intersection detecting unit configured to detect an intersection in the information about the vehicle-driving environment;

a right/left turn determining unit configured to determine whether the vehicle makes the right-hand turn or the left-hand turn at the intersection when the intersection is detected by the intersection detecting unit;

a projected course setting unit configured to set a projected course of the vehicle when the right/left turn determining unit determines that the vehicle makes the right-hand turn or the left-hand turn at the intersection;

a moving object recognizing unit configured to recognize, based on the information about the vehicle-driving environment, a moving object ahead in a direction in which the vehicle making the right-hand turn or the left-hand turn is headed;

a movement vector calculating unit configured to calculate a movement vector from positional changes of the moving object recognized by the moving object recognizing unit;

a meeting point calculating unit configured to calculate a meeting point of a path of the moving object in a direction of the movement vector calculated by the movement vector calculating unit and the projected course set by the projected course setting unit; and

a halt control unit configured to determine that there is a possibility of interference between the vehicle and the moving object and to bring the vehicle to a halt before reaching the meeting point when an interval between a first time at which the vehicle reaches the meeting point and a second time at which the moving object reaches the meeting point is determined to fall within a predetermined range, the first time and the second time being calculated by the meeting point calculating unit,

wherein the halt control unit is further configured to: