Abstract: A route planner detects a pedestrian from surrounding data representing a situation of surroundings of a vehicle, identifies a position of a pause-by object in the surroundings of the vehicle prompting the pedestrian to pause, creating a travel route over which the vehicle will travel when the pedestrian is detected, assuming the pedestrian will enter a road on which the vehicle will travel when the identified position of the pause-by object is not in the vicinity of the pedestrian, and assuming the pedestrian will not enter the road when the identified position of the pause-by object is in the vicinity of the pedestrian.

Abstract: A motion prediction device detecting, from surrounding data representing a situation in a predetermined range of surroundings of a vehicle, a traffic participant existing in the predetermined range, determining whether there is a blind area not represented in the surrounding data in the predetermined range, when it is determined that there is a blind area presuming that there is a virtual traffic participant in the blind area, and predicting motion of the traffic participant caused by the presence of the virtual traffic participant.

Abstract: The driver assistance system of the present disclosure is configured to execute processing comprising following four processes. The first process is to extract risk target information related to a risk target that causes a collision risk to a vehicle from information related to a peripheral situation of the vehicle. The second process is to obtain natural phenomenon information related to a natural phenomenon that affects the risk target. The third process is to determine a risk parameter that quantifies the collision risk based on the risk target information and the natural phenomenon information. The fourth process is to determine a manipulated variable of an actuator for controlling movement of the vehicle to reduce the collision risk based on the risk parameter.