An occlusion control device , characterized by comprising: a vehicle control unit that performs traveling control of a host vehicle ; and a scene understanding unit that determines a coping behavior of the host vehicle , wherein the scene understanding unit includes a map obtaining unit that obtains map data according to a scheduled traveling route; a route calculator that either calculates or obtains the scheduled traveling route; a close observation frame obtaining unit that obtains data on a position and a size of observation regions on the map, the observation regions being regions in which presence or absence of a moving object should be observed; a sensing range calculator that calculates a sensing range on the map based on a position and an orientation of the host vehicle ; a blind spot calculator that calculates as a blind spot of the host vehicle a region of the sensing range that overlaps with the blind spot of the host vehicle created by obstacles; a proportion calculator that calculates a proportion of the observation regions overlapping the blind spot for the host vehicle with respect to the entire area of the observation regions; and; a behavior determining unit that decides to start blind spot coping behavior to decelerate the host vehicle to zero speed when the proportion becomes greater than a predetermined starting threshold; wherein the vehicle control unit controls the speed of the host vehicle so as to decelerate the host vehicle to zero speed when the behavior determining unit decides to start the blind spot coping behavior, the map obtaining unit uses the data obtained by the close observation frame obtaining unit on the observation regions and the obtained map data to generate map data in which the observation regions are set, and the proportion calculator calculates the proportion if the observation regions and the blind spot of the host vehicle overlap. a vehicle control unit that performs traveling control of a host vehicle ; and a scene understanding unit that determines a coping behavior of the host vehicle , wherein the scene understanding unit includes a map obtaining unit that obtains map data according to a scheduled traveling route; a route calculator that either calculates or obtains the scheduled traveling route; a close observation frame obtaining unit that obtains data on a position and a size of observation regions on the map, the observation regions being regions in which presence or absence of a moving object should be observed; a sensing range calculator that calculates a sensing range on the map based on a position and an orientation of the host vehicle ; a blind spot calculator that calculates as a blind spot of the host vehicle a region of the sensing range that overlaps with the blind spot of the host vehicle created by obstacles; a proportion calculator that calculates a proportion of the observation regions overlapping the blind spot for the host vehicle with respect to the entire area of the observation regions; and; a behavior determining unit that decides to start blind spot coping behavior to decelerate the host vehicle to zero speed when the proportion becomes greater than a predetermined starting threshold; wherein the vehicle control unit controls the speed of the host vehicle so as to decelerate the host vehicle to zero speed when the behavior determining unit decides to start the blind spot coping behavior, the map obtaining unit uses the data obtained by the close observation frame obtaining unit on the observation regions and the obtained map data to generate map data in which the observation regions are set, and the proportion calculator calculates the proportion if the observation regions and the blind spot of the host vehicle overlap. <EOS>