Lane production methods and lane generation device

Running locus line generation method for generating a future running locus of a driven by a hybrid scheme vehicle, having a constraint condition generating step of the convergent calculating a constraint condition that includes at least one road boundary condition, and an evaluation function calculating step of deriving a running locus by a convergent calculation using an evaluation function including at least one evaluation of a power balance in a hybrid system, if the current balance is positive in a state in which the constraint condition is satisfied in the constraint condition calculating step.