| 摘要 |
A travel control device includes a side obstacle detection unit which divides a range from a lateral side to a rear side of a vehicle (1) into plural detection angle areas (KR1 to KR7), and detects, for each of the plural detection angle areas, an obstacle (61) entering the detection angle area and a distance to the obstacle (61); a rearward movement preparation detection unit which detects the vehicle (61) preparing to move rearward; a warning unit which provides warning about the obstacle (61); a warning control unit which controls the warning unit so that the warning is provided if the distance to the obstacle (61) is equal to or less than an activation threshold for the warning; and a threshold control unit which, if the vehicle (61) preparing to move rearward is detected and the obstacle (61) is detected in a predetermined detection angle area (KR6, KR7) including one or more rear side areas among the plural detection angle areas, before being detected in the other detection angle areas (KR1 to KR5), raises the activation threshold so that the timing of the warning becomes earlier than if the obstacle (61) is detected first in the other detection angle areas (KR1 to KR5). |
