A travel trajectory preparation device (2) is provided with a travel trajectory preparation unit (42) for preparing a travel trajectory that includes a linear approach section, a clothoid approach section in which a first group of clothoid curves are connected, an arc section, an escape clothoid section in which a second group of clothoid curves are connected, and a linear escape section, the travel trajectory preparation unit (42) including: an arc preparation unit (42a) for preparing an arc section that is positioned closer to the anticenter side of an arc interval than a passing target point that is separated by a predetermined distance on the anticenter side of the arc interval from the inner edge of the arc interval, the arc section having as large a radius as possible; and a clothoidpreparation unit (42b) for preparing a clothoid approach section having the radius of the arc section as the radius of a final tangential arc, the starting point being in contact with the linear approach section, and the direction angle of the linear approach section being used as the direction angle of the starting point, and an escape clothoid section having the radius of the arc section as theradius of a final tangential arc, being in contact with the linear escape section, and having the direction angle of the linear escape section as the direction angle of the starting point.

本发明提供具备生成行驶轨道的行驶轨道生成部(42)的行驶轨道生成装置(21)。行驶轨道包括：驶入直线轨道、第一组回旋曲线连结而成的驶入回旋轨道、圆弧轨道、第二组回旋曲线连结而成的驶出回旋轨道、以及驶出直线轨道。行驶轨道生成部(42)包括：圆弧生成部(42a)，生成位于比从圆弧部内缘朝圆弧部中心相反侧离开预定距离的通过目标点更靠近圆弧部中心相反侧的位置，半径尽可能大的圆弧轨道；以及回旋线生成部(42b)，生成以圆弧轨道的半径为最终切圆弧的半径、起点与驶入直线轨道相切、以驶入直线轨道的方向角为起点的方向角的驶入回旋轨道，以及以圆弧轨道的半径为最终切圆弧的半径、与驶出直线轨道相切、以驶出直线轨道的方向角为起点的方向角的驶出回旋轨道。