An onboard processing device capable of setting a drive-out path (DR1A, DR1B, DR2A) for a target vehicle from a parking place (PK), comprising: an information obtaining unit configured to obtain a parking path (DR, DR1, DR2) when the target vehicle enters the parking place and a parking map (DM) configured to specify a position of a driving affecting object that exists on a periphery of the parking place when the target vehicle enters the parking place; a periphery detection unit configured to detect a peripheral environment of the target vehicle; a vehicle position estimation unit configured to estimate a vehicle position of the target vehicle on the parking map based on the peripheral environment detected; and a path setting unit configured to set a drive-out path when the target vehicle drives out from the parking place based on the vehicle position estimated, the parking path, and the peripheral environment detected, wherein the path setting unit sets, as the drive-out path, a shift reverse reproduction drive-out path (DR1A) in which the target vehicle is driven in a reverse direction along the parking path or another drive-out path in which the target vehicle is driven along the parking path after the target vehicle drives off from the parking path, and wherein the path setting unit determines whether there exists an open space (SC) where to enable the target vehicle to perform a direction changing operation in which a direction of the target vehicle is changed to a reverse direction on a periphery of the target vehicle and sets the shift reverse reproduction drive-out path if the path setting unit determines that the open space does not exist. an information obtaining unit configured to obtain a parking path (DR, DR1, DR2) when the target vehicle enters the parking place and a parking map (DM) configured to specify a position of a driving affecting object that exists on a periphery of the parking place when the target vehicle enters the parking place; a periphery detection unit configured to detect a peripheral environment of the target vehicle; a vehicle position estimation unit configured to estimate a vehicle position of the target vehicle on the parking map based on the peripheral environment detected; and a path setting unit configured to set a drive-out path when the target vehicle drives out from the parking place based on the vehicle position estimated, the parking path, and the peripheral environment detected, wherein the path setting unit sets, as the drive-out path, a shift reverse reproduction drive-out path (DR1A) in which the target vehicle is driven in a reverse direction along the parking path or another drive-out path in which the target vehicle is driven along the parking path after the target vehicle drives off from the parking path, and wherein the path setting unit determines whether there exists an open space (SC) where to enable the target vehicle to perform a direction changing operation in which a direction of the target vehicle is changed to a reverse direction on a periphery of the target vehicle and sets the shift reverse reproduction drive-out path if the path setting unit determines that the open space does not exist. <EOS>