Travel Control Device and Method for Vehicle

A travel control device comprising:

• a subject vehicle information acquisition unit configured to acquire subject vehicle information including a position of a subject vehicle;
• an object information acquisition unit configured to acquire object information including a position of a first avoidance object which the subject vehicle should avoid;
• a planning unit configured to plan a target route for avoiding the first avoidance object in accordance with the position of the subject vehicle and the position of the first avoidance object;
• a control unit configured to output command information for driving the subject vehicle on the target route;
• and
• a margin distance information acquisition unit configured to acquire information on a margin distance, the margin distance being a distance between the subject vehicle and a lane marker on a road on which the subject vehicle is traveling, the margin distance being along a width direction of the road,
• wherein the planning unit, when planning the target route, reduces a distance from the subject vehicle to a turning point as the margin distance decreases, the turning point being a point at which avoidance of the first avoidance object starts in a direction of deviating from the first avoidance object along the width direction.