TRAVEL PLAN GENERATION DEVICE, TRAVEL PLAN GENERATION METHOD, AND COMPUTER READABLE RECORDING MEDIUM

A cost storage unit stores costs corresponding to the travel state of a vehicle and road environment in which the vehicle travels. A plan management unit outputs route information indicating a route from a reference position to a destination. A plan generation unit generates a travel plan including a lane plan indicating lanes in which the vehicle travels in respective sections forming the route indicated by the route information output from the plan management unit based on the costs stored in the cost storage unit.