a judgment value to judge a detection accuracy level of the position of the own vehicle the position accuracy judgment part of own vehicle 22 judges that the detection accuracy of the position of the own vehicle is low the order of the first threshold for a detection value is set to the order of several centimeters and the order of the second threshold for a detection value is set to the order of several meters a sequence of autonomous driving control according to embodiment 2 will be explained with reference to the flowchart of fig1 the sequence in the flowchart of fig1 additionally includes steps s 201 to s 203 in addition to the sequence in the flowchart of fig2 and therefore overlapping explanations of steps s 101 to s 112 are omitted the steps s 201 and s 202 estimate the detection accuracy of a position of the own vehicle and judges the accuracy the step s 203 determines a driving strategy according to a recognition level of peripheral information and the detection accuracy of the position of the own vehicle as a concrete example combinational control of avoiding an avoidance object according to the detection accuracy of the position of the own vehicle and a recognition level of the avoidance object and guiding the own vehicle to a destination will be explained a system reconfiguration to realize such combinational control will also.