| 摘要 |
<p>A travel control device includes ultrasonic obstacle detection sensors (13e to 13h) which detect an obstacle entering a rear side of a vehicle (1) and a distance to the obstacle by using ultrasonic waves, and an image obstacle detection unit (44) which detects the obstacle entering the rear side of the vehicle (1) by using an image of a range including the rear side of the vehicle (1). If a distance (DOD) to the obstacle detected by the ultrasonic obstacle detection sensors (13e to 13h) is equal to or less than an activation threshold (SSV) for warning, the travel control device issues a warning, and sets the activation threshold (SSV) larger as the vehicle speed of the vehicle (1) becomes higher. If the vehicle (1) is detected preparing to move rearward and the image obstacle detection unit (44) detects the obstacle, the travel control device performs control to set the activation threshold (SSV) to a constant value regardless of the vehicle speed of the vehicle (1).</p> |
