A travel control device comprising: an ultrasonic obstacle detection unit (13e to 13h) which detects an obstacle entering a rear side of a vehicle and a distance to the obstacle by using ultrasonic waves; an image capture unit which captures an image of a range including the rear side of the vehicle; an image obstacle detection unit which detects the obstacle entering the rear side of the vehicle by using the image captured by the image capture unit; a rearward movement preparation detection unit which detects the vehicle preparing to move rearward; a warning unit (27, 30, 33, 36) which issues a warning about the obstacle detected by the ultrasonic obstacle detection unit (13e to 13h); and a warning control unit (25, 26, 28, 29, 31, 32, 34, 35) which controls the warning unit (27, 30, 33, 36) so that the warning is issued if the distance to the obstacle detected by the ultrasonic obstacle detection unit (13e to 13h) is equal to or less than an activation threshold for warning; characterized by a threshold control unit which controls the activation threshold according to the vehicle speed of the vehicle so that the higher the vehicle speed of the vehicle, the larger the activation threshold, and in that, if the rearward movement preparation detection unit detects the vehicle preparing to move rearward and the image obstacle detection unit detects the obstacle, the threshold control unit performs control to set the activation threshold to a constant value regardless of the vehicle speed of the vehicle so as to make the warning more likely to be issued than when controlling the activation threshold according to the vehicle speed of the vehicle. an ultrasonic obstacle detection unit (13e to 13h) which detects an obstacle entering a rear side of a vehicle and a distance to the obstacle by using ultrasonic waves; an image capture unit which captures an image of a range including the rear side of the vehicle; an image obstacle detection unit which detects the obstacle entering the rear side of the vehicle by using the image captured by the image capture unit; a rearward movement preparation detection unit which detects the vehicle preparing to move rearward; a warning unit (27, 30, 33, 36) which issues a warning about the obstacle detected by the ultrasonic obstacle detection unit (13e to 13h); and a warning control unit (25, 26, 28, 29, 31, 32, 34, 35) which controls the warning unit (27, 30, 33, 36) so that the warning is issued if the distance to the obstacle detected by the ultrasonic obstacle detection unit (13e to 13h) is equal to or less than an activation threshold for warning; a threshold control unit which controls the activation threshold according to the vehicle speed of the vehicle so that the higher the vehicle speed of the vehicle, the larger the activation threshold, and in that, if the rearward movement preparation detection unit detects the vehicle preparing to move rearward and the image obstacle detection unit detects the obstacle, the threshold control unit performs control to set the activation threshold to a constant value regardless of the vehicle speed of the vehicle so as to make the warning more likely to be issued than when controlling the activation threshold according to the vehicle speed of the vehicle.