Abstract: An apparatus for assigning priorities to traffic lanes detects a plurality of lanes reachable by a vehicle from a travel lane of the vehicle without straddling a lane line, and assigns a higher priority to at least one of the plurality of lanes than to the plurality of lanes except the at least one lane in the case that the plurality of lanes is included in the same road, that the at least one of the plurality of lanes adjoins a lane included in the road other than the plurality of lanes with a lane line in between, and that the plurality of lanes except the at least one lane does not adjoin any lane included in the road other than the plurality of lanes with a lane line in between.

Abstract: An apparatus for setting a planned trajectory includes a processor configured to identify a travel lane on which a vehicle is traveling, detect, as a specific section, a section lacking at least one of left and right lane lines of the travel lane of the vehicle in a planned travel section, set at least one candidate of a planned trajectory to be traveled by the vehicle in the specific section, the at least one candidate including a candidate based on an existing one of the lane lines or a road edge, and set, of the set candidate, a candidate having a minimum variation in curvature or a minimum offset distance in a direction perpendicular to a travel direction of the vehicle at parts connected to the planned trajectory in sections ahead of and behind the specific section as the planned trajectory of the specific section.