Patent ID: 10775798

Abstract:
A running track determining device capable of appropriately determining a running track of a subject vehicle in the future in a speedy manner and an automatic driving apparatus including the running track determining device is provided. A running track determining device (1) includes an ECU (2). The ECU (2) calculates a risk potential (Prisk) representing an area having a possibility of the presence of a traffic participant from the present to the future in surroundings of the subject vehicle (3) in accordance with surrounding status data (D_info) detected by a status detecting device (4), calculates a benefit potential (Pbnf) representing an ideal running area in the future in which the subject vehicle (3) should run, and determines a running track (Tr_sk) of the subject vehicle (3) in the future by using the risk potential (Prisk) and the benefit potential (Pbnf).