VEHICLE TRAVEL CONTROL DEVICE

A travel control device includes a travel environment recognizer recognizing travel environment information around a vehicle, an obstacle recognizer recognizing an obstacle possibly colliding with the vehicle, and a travel controller performing emergency braking when a first parameter becomes a first threshold value or smaller and causing the vehicle to start moving again when a second parameter reaches a second threshold value or larger. The obstacle recognizer recognizes a group of moving objects expressing similar behaviors based on the travel environment information, and recognizes the moving-object group as an obstacle if located closer to the vehicle than other objects. The travel controller calculates an expectation value based on each moving-object's behavior when the vehicle makes an emergency stop, and allows the vehicle to start moving again when the expectation value reaches a threshold value or larger even if the second parameter is smaller than the second threshold value.