An in-vehicle control device, comprising: an object detection unit configured to detect 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 configured to store 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 configured to generate 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 configured to generate 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, wherein the information processing unit includes an object region extraction unit configured to extract a continuous part of the object occupied region from the pre-processing grid map, an object region distance calculation unit configured to calculate, when there is a plurality of the continuous parts, a distance between the continuous parts, and an adjacent object region complementing unit configured to generate, when the calculated distance is equal to or less than a threshold, the determination grid map in which the object unoccupied region sandwiched between both continuous parts is replaced with the object occupied region, and/or the information processing unit includes an object region extraction unit configured to extract a block of object occupied regions from the pre-processing grid map, an object region line segment calculation unit configured to calculate a representative line segment of each block when a plurality of the blocks exist, and an adjacent line segment interpolation means configured to generate, when a distance between the calculated representative line segments is equal to or less than a threshold and an angle formed by the calculated representative line segments is equal to or less than a threshold, the determination grid map in which the object unoccupied region between both representative line segments is replaced with the object occupied region. an object detection unit configured to detect 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 configured to store 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 configured to generate 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 configured to generate 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, wherein the information processing unit includes an object region extraction unit configured to extract a continuous part of the object occupied region from the pre-processing grid map, an object region distance calculation unit configured to calculate, when there is a plurality of the continuous parts, a distance between the continuous parts, and an adjacent object region complementing unit configured to generate, when the calculated distance is equal to or less than a threshold, the determination grid map in which the object unoccupied region sandwiched between both continuous parts is replaced with the object occupied region, and/or the information processing unit includes an object region extraction unit configured to extract a block of object occupied regions from the pre-processing grid map, an object region line segment calculation unit configured to calculate a representative line segment of each block when a plurality of the blocks exist, and an adjacent line segment interpolation means configured to generate, when a distance between the calculated representative line segments is equal to or less than a threshold and an angle formed by the calculated representative line segments is equal to or less than a threshold, the determination grid map in which the object unoccupied region between both representative line segments is replaced with the object occupied region.