Setting device and setting method of traveling route

A setting device of a traveling route, the setting device configured to set the traveling route of a vehicle along a node between a departure point and a destination point, the setting device comprising:

• a memory that stores map information having position information of the node in a two-dimensional coordinate system;
• and
• a processor configured to execute processing of calculating a segmented route between a plurality of the nodes that are adjacent to each other based on the map information, wherein
• in the processing of calculating the segmented route, the processor is configured to
• determine whether a target route indicating the segmented route that is a target of the processing of calculating the segmented route is curved based on the map information,
• determine whether a radius of curvature of the target route is less than a minimum turning radius of the vehicle when the target route is determined to be curved,
• determine whether a preceding segmented route that is connected to a starting end of the target route exists before the starting end when the radius of curvature is determined to be less than the minimum turning radius,
• set an arc having a sector shape, including coordinates of the starting end of the target route as a starting end of the arc and being curved in the same direction as a curved direction of the target route when the preceding segmented route is determined to exist,
• calculate an end-to-end distance from coordinates of a terminating end of the target route to coordinates of the terminating end of the arc in a direction of a coordinate axis in which the preceding segmented route extends,
• cause the entire arc to slide by an amount corresponding to the end-to-end distance in a direction parallel to the coordinate axis and in a direction from a terminating end of the preceding segmented route toward a starting end of the preceding segmented route,
• set the entire slid arc as a new segmented route in place of the target route, and
• change the coordinates of the terminating end of the preceding segmented route to the coordinates of the starting end of the slid arc, and wherein
• a radius of the sector shape is equal to the minimum turning radius,
• a center of the sector shape is positioned on a reference line that passes through the coordinates of the starting end of the target route and central coordinates of a circle having the radius of curvature as a radius, and
• a central angle of the sector shape is equal to an angle between the reference line and a straight line that passes through the coordinates of the terminating end of the target route and the central coordinates.