Abstract: In order to make it possible to carry out communication while identifying a vehicle of an intended condition, a server apparatus (1) includes: a reception means (11) for receiving, from a first vehicle (31), a communication request message using wireless communication, the communication request message designating a selection condition for selecting another vehicle; a selection means (12) for selecting a second vehicle (33, 34) that satisfies the selection condition; and a transmission means (13) for transmitting the communication request message to the second vehicle (33, 34).

Abstract: A driving assistance device that performs steering operation of a vehicle. The device includes a travel track creation device having a curvature waveform creator that creates a waveform representing a curvature of a reference travel track. A first changer changes first and second edge portions of the waveform to a ramp shape and provides the waveform with first and second ramp-shaped portions. A second changer changes each of the first and second ramp-shaped portions to a curve and provides the waveform with first, second, third, and fourth curve portions. A travel track creator creates the travel track based on the waveform. A controller provides a steering signal according to the travel track.

Abstract: A travel track creation device includes: a curvature waveform creator that creates a waveform representing a curvature of a reference travel track that is a track on which a vehicle travels along a road and includes an inlet straight track, an arc track continuous to the inlet straight track, and an outlet straight track continuous to the arc track; a first changer that changes each of first and second edge portions that are two edges of the waveform to a ramp shape and provides the waveform with first and second ramp-shaped portions; a second changer that changes each end of each of the first and second ramp-shaped portions to a curve and provides the waveform with first, second, third, and fourth curve portions; and a travel track creator that creates the travel track based on the waveform.