Travel trajectory generation device and travel trajectory generation method

A travel trajectory generation device is provided with an information acquisition unit (41), a road determination unit (42), and a trajectory generation unit (43). If the road determination unit determines that a curved path is present, when generating a scheduled travel trajectory, the trajectory generation unit generates the scheduled travel trajectory by correcting a lane travel path such that the radius of curvature of each cornering line is greater than the radius of curvature of the respectively corresponding curved path.