TRAVEL CONTROLLER AND METHOD FOR TRAVEL CONTROL

A travel controller executes travel control of a vehicle including collision avoidance control, based on environmental information including control information received from a control device and environmental data outputted from an environmental sensor mounted on the vehicle, each indicating conditions around the vehicle. The travel controller regulates the speed of the vehicle when a delay time in receiving the control information exceeds a delay threshold. The travel controller sets the delay threshold to a first threshold when an estimated avoidance difficulty from the environmental information is less than a difficulty threshold; and sets the delay threshold to a second threshold less than the first threshold when the estimated avoidance difficulty is greater than the difficulty threshold.