TRAJECTORY GENERATION DEVICE, TRAJECTORY GENERATION METHOD, AND COMPUTER PROGRAM PRODUCT

A trajectory generation device configured to generate a branch trajectory as a trajectory of a first vehicle traveling from a main lane to a branch lane includes a determination unit and an adjustment unit. The determination unit is configured to determine whether a second vehicle different from the first vehicle is present in the branch lane. The adjustment unit is configured to adjust a sharpness of the branch trajectory based. The branch trajectory in a scene where it is determined that the second vehicle is present in the branch lane is a branch following trajectory. The branch trajectory in a scene where it is determined that the second vehicle is not present in the branch lane is a branch release trajectory. The branch release trajectory guides the first vehicle to the branch lane less sharply than the branch following trajectory.