Own vehicle route determination method and own vehicle route determination device

摘要

To realize determination of an own-vehicle path from plural predicted own-vehicle-path candidates while harmonizing safety and driving efficiency, a safety evaluation value which indicates an evaluation of safety of the own vehicle and an efficiency evaluation value which indicates an evaluation of driving efficiency are calculated for each of the plural predicted own-vehicle-path candidates (steps S403, S409), an own-vehicle-path candidate whose safety evaluation value satisfies a safety condition by exceeding a predetermined value (Yes in step S412) and which has a maximum efficiency evaluation value (Yes in step S413) is selected from the plural own-vehicle-path candidates as a drivable path of the own vehicle (step S414). Through appropriate setting of the predetermined value for an acceptance of the safety evaluation value (step S401), for example, a selection of a passing path can be accepted so that the own vehicle arrives a destination faster though the safety slightly lowers within a range satisfying a safety standard.