Travel assistance device

A travel assistance device comprising:

• an actuator;
• and
• at least one electronic control unit configured to
• predict a future position of a vehicle and a future position of an object,
• set an assistance range around the vehicle based on the future position of the vehicle,
• determine whether an avoidance start condition is satisfied, the avoidance start condition being a condition that the object is positioned in the assistance range within a predetermined time,
• determine, when the object is detected, in which of a first roadway area, a second roadway area, and a sidewalk area the object is positioned, the first roadway area being included in a roadway and corresponding to a traveling lane in which the vehicle travels, the second roadway area being included in the roadway and corresponding to a traveling lane in which the vehicle does not travel, the sidewalk area corresponding to a sidewalk,
• set at least one of the avoidance start condition and a movement range of the object, in such a way that the avoidance start condition is more easily determined to be satisfied when the object is determined to be positioned in the first roadway area than when the object is determined to be positioned in the second roadway area, and in such a way that the avoidance start condition is more easily determined to be satisfied when the object is determined to be positioned in the second roadway area than when the object is determined to be positioned in the sidewalk area, the movement range of the object being assumed by the at least one electronic control unit when the future position of the object is predicted, and
• perform a collision avoidance operation to avoid collision between the vehicle and the object, by using the actuator, when the avoidance start condition is determined to be satisfied.