AUTONOMOUS DRIVING DEVICE

An autonomous driving device is configured to set a target route to merge into a first main line L from a branch line L based on waypoints P set in a lane. If it is determined by the merge determination unit that the merge is not easy, the target route setting unit is configured to select the waypoint P on the branch line L set at the position on an end edge E side of the branch line L as the end edge waypoint Pa closest to the end edge E side on the branch line L to be selected for setting the target route, compared to a case where it is determined that the merge is easy.