To provide a configuration in which a driving authority can be shared between a driving support control system intending to decelerate a vehicle on the basis of the prediction of a potential risk during traveling of the vehicle, and a driver.SOLUTION: An apparatus according to the present invention comprises: an active pedal which is operated by a driver, and which controls braking and driving force in such a manner as to accelerate a vehicle when the amount of manipulation exceeds a first prescribed value, and to decelerate the vehicle when the amount of manipulation is less than a second prescribed value; means for detecting a potential risk area, such as a blind spot area, in which a pedestrian or the like entering the scheduled travel route of the vehicle is likely to be present; means for determining, on the basis of a positional relationship between the vehicle and the potential risk area, a standard speed which is set so as to be able to avoid a collision between the vehicle and the pedestrian or the like when it is assumed that the pedestrian or the like enters the scheduled travel route of the vehicle from the detected potential risk area; and means for applying, to the active pedal, support reaction force in such a direction as to reduce the amount of manipulation when a current speed of the vehicle exceeds the standard speed.SELECTED DRAWING: Figure 7

【課題】 車両の走行中の潜在リスクの予測に基づき車両の減速を意図する運転支援制御システムと運転者との運転権限の共有が可能である構成を提供すること。【解決手段】 本発明の装置は、運転者により操作され、操作量が第一の所定値を上回っているときに車両を加速させ、操作量が第二の所定値を下回っているときに車両を減速させるよう制駆動力を制御するアクティブペダルと、死角領域など、車両の走行予定路へ進入する歩行者等が存在する可能性のある潜在リスク領域を検出する手段と、検出された潜在リスク領域からの歩行者等の車両の走行予定経路への進入を仮定したときに車両と歩行者等との衝突を回避できるよう設定された規範速度を車両と潜在リスク領域との位置関係に基づいて決定する手段と、車両の現在速度が規範速度を上回っているときにアクティブペダルに対して操作量を低減する方向の支援反力を付与する手段と含む。【選択図】 図７