Driving assistance method and driving assistance device for vehicle

A driving assistance device for a vehicle, comprising:

• a control unit configured to execute autonomous lane change control under autonomous travel control to change lanes from a subject vehicle lane to another lane, the vehicle traveling in the subject vehicle lane;
• and
• a determination unit configured to suspend the autonomous lane change control when a driver's steering operation input during execution of the autonomous lane change control satisfies a predetermined suspension condition, the determination unit further configured to:
• when the autonomous lane change control needs to be executed for traveling along a travel route to head for a set destination, determine whether or not a traveling direction in which the vehicle heads when traveling along the subject vehicle lane before a lane change is different from a traveling direction in which the vehicle heads when traveling along another lane after the lane change;
• when a determination is made that the traveling direction before the lane change is different from the traveling direction after the lane change, set the predetermined suspension condition for a first autonomous lane change control for changing thea traveling direction before and after the lane change;
• when a determination is made that the traveling direction before the lane change is not different from the traveling direction after the lane change, set the predetermined suspension condition for a second autonomous lane change control in which the traveling direction before and after the lane change is not changed;
• and
• set the predetermined suspension condition for the first autonomous lane change control to a condition under which the autonomous lane change control is more readily suspended than under the predetermined suspension condition for the second autonomous lane change control.