Travel control device, vehicle, driving assistance device, and travel control method

A driving assistance apparatus, comprising:

• a connection section connected by an in-vehicle network to an engine control section that controls an engine installed in a vehicle;
• and
• an automatic travel control section that performs, when an automatic travel function is enabled in travel control of the vehicle, a process for calculating a target output torque of the engine by a feedback calculation based on a difference between a target value of a control parameter related to the automatic travel function and an actual value of the control parameter, and outputting the target output torque from the connection section via the in-vehicle network to the engine control section,
• wherein the automatic travel control section lowers the target output torque according to a generation state of an auxiliary machine drive torque of the engine, and outputs the lowered target output torque.

A travel control method, comprising:

• performing, when an automatic travel function is enabled in travel control of a vehicle, a process for calculating a target output torque of an engine by a feedback calculation based on a difference between a target value of a control parameter related to the automatic travel function and an actual value of the control parameter, and outputting the target output torque, the engine being installed in the vehicle;
• and
• controlling the engine so that an output torque of the engine matches the target output torque having been output,
• wherein, in the process for calculating a target output torque, the target output torque is lowered according to a generation state of an auxiliary machine drive torque of the engine.