Travel area determination device and travel area determination method

A travel area determination device comprising:

• a processor to execute a program;
• and
• a memory to store the program which, when executed by the processor, performs processes of, determining an area type of a surrounding area of a subject mobile object based on measurement information from a surrounding monitoring sensor installed in the subject mobile object and creating travel area information including information about the area type;
• integrating surrounding travel area information including the information about the area type of a surrounding area of a surrounding mobile object, which is determined based on a measurement result of the surrounding monitoring sensor installed in the surrounding mobile object which is a mobile object present around the subject mobile object and the travel area information;
• determining an autonomous travelable area, where the subject mobile object is autonomously travelable, based on the integrated travel area information, wherein;
• determining a free space being an area between the subject mobile object and an obstacle as a travelable area where the subject mobile object is travelable based on a position of the obstacle existing around the subject mobile object measured by the surrounding monitoring sensor installed in the subject mobile object;
• determining a travelable area where the surrounding mobile object is travelable, which is determined based on the measurement result of the surrounding monitoring sensor installed in the surrounding mobile object, as a surrounding travelable area where the subject mobile object is travelable, and
• integrating the travelable area and the travel area information;
• determining the travelable area and the surrounding travelable area of the subject mobile object as the autonomous travelable areas;
• and
• a travel route the subject mobile object autonomously travels being created in the autonomous travelable area.