PROBLEM TO BE SOLVED: To provide a route generation device, a route generation system, a route generation method, and a route generation program which can generate an appropriate route even when there are a plurality of travel directions.SOLUTION: A route generation device (2) includes an instruction acceptance unit (21) which accepts an instruction of changing a travel direction of a vehicle from a passenger, a vehicle state acquisition unit (22) which acquires a state of the vehicle, a map information acquisition unit (24) which acquires map information around the vehicle, and a candidate selection unit (25) which selects one of a plurality of travel directions as a candidate on the basis of the state of the vehicle and the map information, when the instruction of changing the travel direction is accepted.SELECTED DRAWING: Figure 2
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