| 摘要 |
PROBLEM TO BE SOLVED: To provide a target travel trajectory production unit capable of producing a proper target travel trajectory according to a travel situation of a vehicle.SOLUTION: A target travel trajectory production unit that produces a target travel trajectory along which an own vehicle is caused to travel acquires a sideways position in a lane of the own vehicle and a vehicle speed thereof, changes and designates a start point on the basis of the sideways position of the own vehicle according to whether the own vehicle is traveling inside a first travel path, which has a first travel width, with the center of the lane as a reference, designates a target point according to the vehicle speed and sideways position of the own vehicle and a curve radius in a case of a curved path, and designates the target travel trajectory on the basis of the start point and target point. |
