To calculate the track with a small calculation amount considering obstacles at low cost.

The position of each obstacle recognized by an obstacle recognition means of a track planning unit 8 of a vehicle 1 is referred to. If any obstacle is detected on a track connecting an arc of the vehicle turning radius at the designated starting position to an arc of the vehicle turning radius at the target position by a line in contact with both arcs, an extraction means of the track planning unit 8 extracts the distance between obstacles having the length allowing the vehicle 1 to pass through out of various kinds of distances between the detected obstacle and each peripheral obstacle, and a setting means of the track planning unit 8 sets an obstacle avoiding circle for avoiding any collision for each opposing obstacle of each distance between obstacles extracted by the extraction means. If both obstacle avoiding circles do not overlap, a track calculation means of the track planning unit 8 calculates the track reaching the target position from the starting position via a relay point while the relay point is an intersection between any one of the obstacle avoiding circles with the distance line between the obstacles.