TRAVEL CONTROL DEVICE AND TRAVEL CONTROL METHOD

摘要

This travel control device has: a side obstacle detection sensor (19c) for dividing a range including a side (SB) of an automobile (1) and widening to the rear of the automobile (1) into a plurality of detection angle areas (KR1-KR7), and detecting an obstacle (61) entering the plurality of detection angle areas (KR1-KR7) as well as the distance to the obstacle (61) in each of the detection angle areas (KR1-KR7); a relative speed estimation part (38) for estimating the relative speed with the obstacle (61) from the distance to the obstacle (61) detected by the side obstacle detection sensor (19c); and a warning part for issuing a warning relating to the obstacle (61) detected by the side obstacle detection sensor (19c). Warnings from the warning part are suppressed in cases in which preparations for the automobile (1) moving in reverse are detected, the side obstacle detection sensor (19c) detects an obstacle in a predetermined angle range (RDR) and in a predetermined proximity state established based on the relative speed estimated by the relative speed estimation part (38), and there is a long distance to the obstacle (61) detected by the side obstacle detection sensor (19c).