| 摘要 |
An own-vehicle-path determining method includes calculating a first evaluation value of each of plural predicted own-vehicle-path candidates, calculating a second evaluation value of each of the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high first evaluation values from the plural own-vehicle-path candidates, selecting own-vehicle-path candidates with high second evaluation values as appropriate own-vehicle-path candidates from the selected own-vehicle-path candidates, and selecting any one of the appropriate own-vehicle-path candidates as an own-vehicle path.
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