A traveling lane planning device has a processor configured to determine whether or not a branching terrain exists that has a first lane and a second lane adjacent to the first lane wherein the first lane branches into a third lane and a fourth lane at a branching start location in the traveling direction of the vehicle within a driving zone, when the branching terrain exists and the vehicle is located before the branching start location, to acquire lane movement information for movement between the first lane and second lane came off in the past, and based on the lane movement information, to select one lane from among the third lane and fourth lane as the lane to be taken at the branching start location and generate a traveling lane plan that indicates a scheduled traveling lane for traveling of the vehicle in the driving zone.
TRAVELING LANE PLANNING DEVICE, STORAGE MEDIUM STORING COMPUTER PROGRAM FOR TRAVELING LANE PLANNING, AND TRAVELING LANE PLANNING METHOD
2023-03-16
Patent
Electronic Resource
English
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