object position information acquisition circuitry to acquire obstacle position information showing a position of at least one obstacle existing around a vehicle and vehicle position information showing a position of the vehicle;

obstacle potential map generation circuitry to generate an obstacle potential map of risk of a traffic accident for the at least one obstacle based on the obstacle position information;

obstacle moving route prediction circuitry to predict a moving route of the at least one obstacle based on the obstacle potential map and to generate obstacle moving route prediction information; and

vehicle potential map generation circuitry to generate, based on the vehicle position information and the obstacle moving route prediction information, a dynamic potential map of risk of a traffic accident for the vehicle in a case where the at least one obstacle moves along the predicted moving route shown by the obstacle moving route prediction information, wherein

the object position information acquisition circuitry acquires, as the obstacle position information, position information including stationary obstacle position information showing a position of at least one stationary obstacle out of the at least one obstacle and moving obstacle position information showing a position of at least one moving obstacle out of the at least one obstacle,

the obstacle potential map generation circuitry generates, as the obstacle potential map, a moving obstacle potential map of risk of a traffic accident for the at least one moving obstacle based on the moving obstacle position information,

the obstacle moving route prediction circuitry generates, as the obstacle moving route prediction information, moving obstacles' moving route prediction information predicting a moving route of the at least one moving obstacle based on the moving obstacle potential map, and

the vehicle potential map generation circuitry comprises