DRIVING CONTROL DEVICE

A driving control device has: a deciding section that decides a first weighting coefficient and a second weighting coefficient in an evaluation function including, as variables, a lateral deviation of a vehicle, speed deviation of the vehicle, an azimuth deviation of the vehicle, an acceleration/deceleration instruction value and a steering angle instruction value; 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.