US Patent 11320282 Driving control method and driving control device

A driving control method includes referring to map information including a first map that includes identification information of a travel lane and a second map that does not include the identification information of the travel lane; when calculating a route from the current position of a vehicle to a destination, calculating the route so as to achieve a predetermined relationship between a first travel cost for traveling along a first route that belongs to the first map and a second travel cost for traveling along a second route that belongs to the second map; creating a driving plan for the vehicle to travel along the route; and causing a vehicle controller to execute the driving plan.