Patent attributes
A first convergent computation section 25 for deriving a running locus by a convergent computation such as to achieve a first constraint condition based on a target passing time ts and a road boundary of a road D and a running locus deriving section 26 for deriving a running locus by a convergent computation of an evaluation function J3 for preferring a predetermined driving condition in a state achieving the first constraint condition are provided, a running locus is convergently computed such as to satisfy the first constraint condition set according to the target passing time ts and the road boundary of the road D, and a running locus is derived by convergently computing an evaluation function J3 for preferring a predetermined driving condition in a state satisfying the first constraint condition.
