An autonomous driving device 1 that successively determines a driving operation to be performed by an own vehicle in each of first prediction periods comprises a driving action determination unit 144 that performs an action determination process for determining a driving action to be performed by the own vehicle in one first prediction period on the basis of a potential field based on the state of the own vehicle and the positions of objects near the own vehicle, an update unit 146 that performs an update process for updating the state of the own vehicle and the positions of the nearby objects after the one first prediction period elapses on the basis of the driving action determined by the driving action determination unit 144, and a route generation unit 147 that causes the action determination process based on the updated state of the own vehicle and the updated positions of the objects and the update process for updating the state of the own vehicle and the positions of the objects after the next first prediction period elapses to be executed repeatedly, and thereby generates a route of the own vehicle throughout a second prediction period longer than the first prediction periods.
AUTOMATIC DRIVING DEVICE