TRAVEL CONTROL DEVICE FOR VEHICLE

Provided is a travel control device for a vehicle such that comfortable and safe control for the vehicle is possible without disturbing the driver. The travel control device (100) for the vehicle (1) is provided with a control command computation unit for calculating a steering assist amount for assisting the steering of the vehicle and an acceleration command value for controlling braking and driving forces of the vehicle. The control command computation unit calculates an estimated lateral position of the vehicle (1) at a gaze distance ahead of the vehicle (1); calculates a lateral displacement amount (Xdiffz(n)) of the vehicle (1) at the estimated lateral position from a target traveling path T and a lateral displacement speed; calculates a steering assist amount on the basis of the lateral displacement amount (Xdiffz(n)) and the lateral displacement speed; calculates a lateral acceleration and lateral jerk generated by the vehicle (1) according to the steering assist amount; and calculates an acceleration command value based on the lateral acceleration and the lateral jerk.