COURSE SETTING DEVICE AND COURSE SETTING METHOD

PROBLEM TO BE SOLVED: To properly set a course on which an own vehicle travels out of courses which are created by a plurality of different techniques.SOLUTION: A course setting device for setting a course of an own vehicle comprises: a first course creation part for creating a first course of the own vehicle on assumption that all of obstacles around the own vehicle are stationary obstacles; a second course creation part for creating a second course of the own vehicle when assuming that a moving obstacle independently moves; a third course creation part for creating a third course of the own vehicle when assuming that the moving obstacle moves while mutually cooperating with at least one of the other obstacle and the own vehicle; a reliability calculation part for calculating the reliability of the second course and the reliability of the third course; and a course setting part for setting a course on which the own vehicle travels out of the first course, the second course and the third course on the basis of the reliability of the second course and the reliability of the third course.SELECTED DRAWING: Figure 2 【課題】異なる複数の手法で生成された経路の中から自車両の走行する進路を適切に設定する。【解決手段】自車両の進路を設定する進路設定装置であって、自車両の周囲の障害物を全て静止障害物と仮定して自車両の第１の経路を生成する第１の経路生成部と、移動障害物が独立して移動すると仮定した場合における自車両の第２の経路を生成する第２の経路生成部と、移動障害物が他の障害物及び自車両の少なくとも一方と相互作用しながら移動を行うと仮定した場合における自車両の第３の経路を生成する第３の経路生成部と、第２の経路の信頼度及び第３の経路の信頼度を演算する信頼度演算部と、第２の経路の信頼度及び第３の経路の信頼度に基づいて、第１の経路、第２の経路、及び第３の経路の中から自車両の走行する進路を設定する進路設定部と、を備える。【選択図】図２