PROBLEM TO BE SOLVED: To properly set a course on which an own vehicle travels out of courses which are created by a plurality of different techniques.SOLUTION: A course setting device for setting a course of an own vehicle comprises: a first course creation part for creating a first course of the own vehicle on assumption that all of obstacles around the own vehicle are stationary obstacles; a second course creation part for creating a second course of the own vehicle when assuming that a moving obstacle independently moves; a third course creation part for creating a third course of the own vehicle when assuming that the moving obstacle moves while mutually cooperating with at least one of the other obstacle and the own vehicle; a reliability calculation part for calculating the reliability of the second course and the reliability of the third course; and a course setting part for setting a course on which the own vehicle travels out of the first course, the second course and the third course on the basis of the reliability of the second course and the reliability of the third course.SELECTED DRAWING: Figure 2
展开▼
