Vehicle travel assist device

A vehicle travel assist device installed on a vehicle, comprising:

• a processor programmed to:
• control travel of the vehicle;
• acquire travel state information indicating a travel state of the vehicle;
• detect that a first wheel of the vehicle stops at a difference-in-level and then climbs over the difference-in-level, based on the acquired travel state information;
• acquire a first driving force required for the first wheel to climb over the difference-in-level or a change in the travel state when the first wheel passes the difference-in-level, as reference information, based on the acquired travel state information;
• estimate a second driving force required for a second wheel of the vehicle to climb over the difference-in-level, based on the reference information;
• generate the estimated second driving force when the second wheel passes the difference-in-level after the first wheel;
• when the first wheel reaches and stops at the difference-in-level, increase a driving force at a first increase rate;
• and
• when the second wheel reaches and stops at the difference-in-level, increase the driving force to the second driving force at a second increase rate higher than the first increase rate.