Abstract: Provided is a route determination device including a recognition unit that recognizes peripheral circumstances of a host vehicle (121); and an evaluation unit (123C) that evaluates each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on peripheral circumstances of the host vehicle recognized by the recognition unit, and selects one or more routes from the plurality of routes based on an evaluation result. Each of the plurality of routes is generated by joining at least two of a plurality of edges. Each of the plurality of edges is generated by connecting two virtual nodes among a plurality of virtual nodes. The plurality of virtual nodes is located with space in each of a forward moving direction and a road width direction.

Abstract: A vehicle control device is installed in a host vehicle and is configured to be capable of performing automatic driving or providing a driving support. The vehicle control device includes a left/right boundary line generating unit that calculates left and right boundary lines of a travel path on which the host vehicle travels. Further, the vehicle control device includes an ideal travel route generating unit that sets constraint points through which the host vehicle passes within a range of the left and right boundary lines, and furthermore, calculates an ideal travel route in which a curvature with the constraint points serving as a constraint condition, a travel distance, and a difference from a center line are minimized.

Abstract: Provided is a route determination device including a recognition unit that recognizes peripheral circumstances of a host vehicle (121); and an evaluation unit (123C) that evaluates each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on peripheral circumstances of the host vehicle recognized by the recognition unit, and selects one or more routes from the plurality of routes based on an evaluation result. Each of the plurality of routes is generated by joining at least two of a plurality of edges. Each of the plurality of edges is generated by connecting two virtual nodes among a plurality of virtual nodes. The plurality of virtual nodes is located with space in each of a forward moving direction and a road width direction.

Abstract: A vehicle control device is installed in a host vehicle and is configured to be capable of performing automatic driving or providing a driving support. The vehicle control device includes a left/right boundary line generating unit that calculates left and right boundary lines of a travel path on which the host vehicle travels. Further, the vehicle control device includes an ideal travel route generating unit that sets constraint points through which the host vehicle passes within a range of the left and right boundary lines, and furthermore, calculates an ideal travel route in which a curvature with the constraint points serving as a constraint condition, a travel distance, and a difference from a center line are minimized.