Travel control device

A travel control device which controls the travel of a vehicle, the travel control device comprising:

• an acquisition unit which acquires a stability speed limit pattern indicating an upper speed limit, within which the vehicle is travelable without departing from a scheduled travel road;
• an operation unit which inputs driving conditions desired by a driver;
• a travel control unit which performs intervention control such that a difference between a target speed derived using a taragt speed pattern and a requested speed of the driver decreases;
• and
• a travel control adjustment unit which adjusts travel control using the target speed pattern indicating the target speed on the basis of the stability speed limit pattern and an actual speed,
• wherein the target speed pattern is generated using an ideal speed pattern satisfying the driving conditions input by the operation unit, and
• wherein the travel control unit performs intervention control with a discrimination threshold value and a time-series discrimination threshold value as an intervention gain, and the travel control unit performs control such that a vehicle speed becomes as close to the target speed within a range such that a variation in the speed or acceleration due to intervention control does not exceed the discrimination threshold value and a differential amount of the speed or acceleration due to intervention control does not exceed the time series discrimination threshold value.