VEHICLE-MOUNTED CONTROL DEVICE

The present invention clearly and easily determines the region in which a vehicle can travel without changing the clarity in the position information of the object detected by a sensor. An in-vehicle control device includes an object detection unit that detects a position of an object in front of an own vehicle from image information captured by an image pickup device, an object information storage unit that stores a pre-processing grid map in which a position where the object detection unit has detected an object is set as an object occupied region and a position where no object has been detected is as an object unoccupied region, an information processing unit that generates a determination grid map in which a part of the object unoccupied region of the pre-processing grid map is replaced with the object occupied region, and a road surface region determination unit that generates an automatic driving grid map in which a closed space surrounded by the object occupied region of the determination grid map is set as a road surface region.