TRAVEL ASSISTANCE METHOD AND TRAVEL ASSISTANCE DEVICE

This disclosures: a travel assistance method to be executed by a processor (180), comprising: acquiring, from a device (120) for storing map information, information on static traveling path boundaries between a traveling path of a subject vehicle and other than the traveling path; acquiring, from a sensor (140) for detecting surrounding environment of the subject vehicle, information on dynamic traveling path boundaries different from the static traveling path boundaries; generating, based on the information on the static traveling path boundaries, a static traveling path on which the subject vehicle can travel; generating, based on the information on the static traveling path and the dynamic traveling path boundaries, a dynamic traveling path which is shorter than the static traveling path and corresponds to the surrounding environment; and controlling the subject to travel along a traveling path including the static traveling path and the dynamic traveling path.