TRAVEL CONTROL DEVICE AND METHOD FOR VEHICLE

A travel control device (100) is provided which executes a subject vehicle information acquisition function to acquire subject vehicle information including the position of a subject vehicle (V1), an object information acquisition function to acquire object information including the position of an avoidance object which the subject vehicle (V1) should avoid, a planning function to plan a target route for avoiding the avoidance object in accordance with the position of the subject vehicle (V1) and the position of the avoidance object, and a control function to output command information for driving the subject vehicle (V1) on the target route. The planning function is used to reduce the distance from the subject vehicle (V1) to a turning point as a margin distance decreases. The margin distance is the distance the subject vehicle (V1) and a lane marker on a road on which the subject vehicle (V1) is traveling. The margin distance is along a width direction of the road. The turning point is a point at which the location of the target route along the width direction varies by a predetermined distance or more.