Driving control device

A driving control device comprising:

• an acquiring section that acquires:
• a lateral deviation which is a difference between a position where a vehicle is travelling and a target travelling position of the vehicle in a direction orthogonal to an advancing direction of the vehicle;
• a speed deviation which is a difference between a speed of the vehicle and a target speed of the vehicle at the position where the vehicle is travelling;
• and an azimuth deviation which is a difference between an azimuth of the vehicle and a target azimuth of the vehicle at the position where the vehicle is travelling;
• a deciding section that decides a first weighting coefficient of the speed deviation and a second weighting coefficient of the lateral deviation in an evaluation function including, as variables, the lateral deviation, the speed deviation, the azimuth deviation, an acceleration/deceleration instruction value and a steering angle instruction value, on a basis of a situation around the position where the vehicle is travelling, the situation influencing at least any one of a travelling speed and a travelling position of the vehicle;
• a calculating section that calculates the acceleration/deceleration instruction value and the steering angle instruction value for a time of a next period for minimizing or maximizing an output value of the evaluation function, by periodically inputting the lateral deviation, the speed deviation and the azimuth deviation to the evaluation function;
• and
• a travel control section that causes the vehicle to travel on a basis of the acceleration/deceleration instruction value and the steering angle instruction value calculated by the calculating section.