TRAVEL CONTROL DEVICE AND TRAVEL CONTROL METHOD

摘要

A travel control device includes rear obstacle detection sensors (13e to 13h); side obstacle detection sensors (19a to 19d); a rearward movement preparation detection unit (9); a warning unit which provides warning about an obstacle detected by the sensors (19a to 19h); and a control unit which controls the warning unit so that the warning is provided if a distance to an obstacle (61) detected by the rear obstacle detection sensors (13e to 13h) is equal to or less than a first risk, or if a parameter based on a distance to the obstacle (61) detected by the side obstacle detection sensors (19a to 19d) is equal to or less than a second risk. If a vehicle (1) is detected preparing to move rearward and the parameter based on the distance to the obstacle detected by the side obstacle detection sensors (19a to 19d) is greater than the second risk, the control unit increases a first warning threshold until a hold time elapses after the side obstacle detection sensors (19a to 19d) become unable to detect the obstacle.