Vehicle travel support device

Abstract

To provide a vehicle travel support device which can suppress a proposal for changing a set vehicle speed unnecessary for an operator of an own vehicle so as to suppress deterioration in convenience of the operator by the proposal for the unnecessary change of the set vehicle speed.SOLUTION: A vehicle travel support device 10 performs a proposal for changing a set vehicle speed based on a traveling environment of an own vehicle 100 during execution of a constant speed travel control where traveling of the own vehicle is autonomously controlled to keep the travel speed of the own vehicle at the set vehicle speed. The vehicle travel support device determines whether or not the proposal is performed according to whether or not the set vehicle speed after the change is a prescribed vehicle speed threshold value or more. The prescribed vehicle speed threshold value is set by an operator of the own vehicle.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a vehicle driving assistance device. [Background technology]

[0002] There is known a vehicle driving assistance device that is configured such that, when a speed limit for the vehicle is recognized while executing following driving control that causes the vehicle to follow a preceding vehicle within a range of driving speeds below a set vehicle speed, the device proposes to the driver that the set vehicle speed be changed to the recognized speed limit, and if the driver accepts the proposal, the set vehicle speed is changed (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-163925 A Summary of the Invention

[0004] If a change to the set vehicle speed is proposed to the driver in a situation where the driver is unlikely to accept the change, the unnecessary proposal may cause the driver to feel annoyed. In addition, while the change is being proposed, the driver may not be able to perform other operations such as fine adjustment of the set vehicle speed, which may cause a decrease in convenience for the driver.

[0005] The object of the present invention is to provide a vehicle driving assistance device that can suppress the suggestion of changes to the set vehicle speed that are unnecessary for the operator of the vehicle, thereby suppressing the deterioration of convenience for the operator due to the suggestion of unnecessary changes to the set vehicle speed.

[0006] The vehicle driving assistance device according to the present invention includes a control device that proposes to change the set vehicle speed based on the driving environment of the vehicle during execution of a constant speed driving control that autonomously controls the driving of the vehicle so that the driving speed of the vehicle is maintained at a set vehicle speed. The control device is configured to determine whether to make the proposal based on whether the set vehicle speed after the change is equal to or greater than a predetermined vehicle speed threshold. The predetermined vehicle speed threshold is set by an operator of the vehicle.

[0007] According to the vehicle driving support device of the present invention, the predetermined vehicle speed threshold used for determining whether to make a suggestion is set by the operator of the vehicle, and therefore it is possible to suppress the suggestion of a change in the set vehicle speed that is unnecessary for the operator, thereby suppressing the deterioration of convenience for the operator due to the suggestion of an unnecessary change in the set vehicle speed.

[0008] In the vehicle driving assistance device according to the present invention, the changed set vehicle speed is, for example, a speed limit for the host vehicle.

[0009] According to the vehicle driving support device of the present invention, it is possible to determine whether or not to make a suggestion based on the speed limit for the host vehicle.

[0010] Furthermore, in the vehicle driving assistance device described in the present invention, the control device may be configured to make the proposal when the changed set vehicle speed is equal to or greater than the specified vehicle speed threshold, to not make the proposal when the changed set vehicle speed is lower than the specified vehicle speed threshold, and to change the set vehicle speed if the proposal is made and the operator approves the proposal.

[0011] According to the vehicle driving assistance device according to the present invention, it is possible to change the set vehicle speed while suppressing the suggestion of a change in the set vehicle speed that is unnecessary for the operator.

[0012] Furthermore, the vehicle driving assistance device according to the present invention includes a control device that, when a speed limit for the host vehicle is recognized during execution of a constant speed driving control that autonomously controls the driving of the host vehicle so that the driving speed of the host vehicle is maintained at a set vehicle speed, makes a proposal to change the set vehicle speed to the speed limit. The control device is configured to make the proposal when the speed limit is equal to or higher than a predetermined vehicle speed threshold, not to make the proposal when the speed limit is lower than the predetermined vehicle speed threshold, and to change the set vehicle speed to the speed limit if the proposal is made and the operator of the host vehicle accepts the proposal. The predetermined vehicle speed threshold can be set by the operator for each road having a different speed limit.

[0013] According to the vehicle driving support device of the present invention, the predetermined vehicle speed threshold used for determining whether to make a suggestion is set by the operator of the vehicle, and therefore it is possible to suppress the suggestion of a change in the set vehicle speed that is unnecessary for the operator, thereby suppressing the deterioration of convenience for the operator due to the suggestion of an unnecessary change in the set vehicle speed.

[0014] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram showing a vehicle driving support device according to an embodiment of the present invention. [Diagram 2] FIG. 2A is a diagram showing a situation where a preceding vehicle is present ahead of the host vehicle, and FIG. 2B is a diagram showing a situation where no preceding vehicle is present ahead of the host vehicle. [Diagram 3] FIG. 3 is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, a vehicle driving support device according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows a vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on a host vehicle 100. Hereinafter, the vehicle driving support device 10 will be described using as an example a case in which the operator of the host vehicle 100 is a person who gets in the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100).

[0017] However, the operator of the vehicle 100 may be a person who drives the vehicle 100 remotely without being in the vehicle 100 (i.e., a remote operator of the vehicle 100). When the operator of the vehicle 100 is a remote operator, the vehicle driving assistance device 10 is mounted on the vehicle 100 and on a remote operation facility installed outside the vehicle 100 in order to remotely drive the vehicle 100, and the functions of the vehicle driving assistance device 10 described below are shared between the vehicle driving assistance device 10 mounted on the vehicle 100 and the vehicle driving assistance device 10 mounted on the remote operation facility.

[0018] As shown in FIG. 1, the vehicle driving support device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a storage medium such as a ROM, a RAM, and a non-volatile memory, and an interface. The CPU executes instructions, programs, or routines stored in the storage medium to realize various functions. In particular, in this example, the vehicle driving support device 10 stores in the storage medium a program that realizes various controls executed by the vehicle driving support device 10.

[0019] In this example, the vehicle driving assistance device 10 has only one ECU 90, but it may also be configured to have multiple ECUs, with each ECU sharing the functions of the vehicle driving assistance device 10 described below.

[0020] Furthermore, the vehicle driving assistance device 10 may be configured so that the program stored in the storage medium can be updated via wireless communication with an external device (eg, Internet communication).

[0021] The host vehicle 100 is also equipped with a traveling device 20. The traveling device 20 includes a drive device 21, a braking device 22, and a steering device 23.

[0022] The drive device 21 is a device that outputs a drive torque (drive force) applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, etc. The drive device 21 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the drive torque output from the drive device 21 by controlling the operation of the drive device 21.

[0023] The braking device 22 is a device that outputs a braking torque (braking force) applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The vehicle driving support device 10 can control the braking torque output from the braking device 22 by controlling the operation of the braking device 22.

[0024] The steering device 23 is a device that outputs a steering torque (steering force) applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the steering torque output from the steering device 23 by controlling the operation of the steering device 23.

[0025] Furthermore, the host vehicle 100 is equipped with a notification device 30, a vehicle speed detection device 41, an operation device 42, a surrounding information acquisition device 50, and a host vehicle position acquisition device 60.

[0026] The notification device 30 is a device for providing various notifications to the driver. In this example, the notification device 30 includes a display device 31 and an audio device 32.

[0027] The display device 31 is a device that displays various images. The display device 31 includes, for example, a display. The display device 31 is electrically connected to the ECU 90.

[0028] The audio device 32 is a device that outputs various sounds. The audio device 32 includes, for example, a speaker. The audio device 32 is electrically connected to the ECU 90.

[0029] The vehicle speed detection device 41 is a device that detects the traveling speed of the host vehicle 100. The vehicle speed detection device 41 includes, for example, a wheel speed sensor. The vehicle speed detection device 41 is electrically connected to the ECU 90. The vehicle travel assistance device 10 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V by the vehicle speed detection device 41.

[0030] The operation device 42 is a device including a plurality of operation devices operated by the driver. The operation devices are, for example, operation buttons provided on a steering wheel of the host vehicle 100. Each operation device is electrically connected to the ECU 90.

[0031] The surrounding information acquisition device 50 is a device that detects, as surrounding information IS, information about the surroundings of the vehicle 100. In this example, the surrounding information acquisition device 50 includes an electromagnetic wave sensor 51 and an image sensor 52.

[0032] The electromagnetic wave sensor 51 is, for example, a radar sensor (such as a millimeter wave radar), a sound wave sensor such as an ultrasonic sensor (clearance sonar), or an optical sensor such as a laser radar (LiDAR), and is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires information about objects present around the host vehicle 100 (particularly, information about objects present in front of the host vehicle 100) using the electromagnetic wave sensor 51 as image information, which is one piece of surrounding information IS.

[0033] The image sensor 52 is, for example, a camera, and is electrically connected to the ECU 90. The vehicle driving support device 10 acquires information about an image of the surroundings of the vehicle 100 (particularly, information about an image ahead of the vehicle 100) by the image sensor 52 as target information, which is one piece of surrounding information IS.

[0034] The vehicle position acquisition device 60 is a device for acquiring the position and the like of the vehicle 100. In this example, the vehicle position acquisition device 60 includes a GPS signal receiver 61 and a map information database 62.

[0035] The GPS signal receiver 61 is a device that receives so-called GPS signals, and is electrically connected to the ECU 90. The vehicle driving assistance device 10 can acquire GPS signals via the GPS signal receiver 61, and identify (acquire) the position of the host vehicle 100 based on the acquired GPS signals.

[0036] The map information database 62 is a database that stores map information, and is electrically connected to the ECU 90. The vehicle driving assistance device 10 can know where the host vehicle 100 is located on the map indicated by the map information, based on the position of the host vehicle 100 identified from the GPS signal and the map information.

[0037] <Operation of vehicle driving support system> Next, the operation of the vehicle driving support device 10 will be described.

[0038] The vehicle driving support device 10 is configured to execute follow-up cruise control and constant speed cruise control as automatic driving control. The driver can request the vehicle driving support device 10 to execute follow-up cruise control by operating an operation device for requesting execution of follow-up cruise control among the operation devices of the operation device 42, and can request the vehicle driving support device 10 to execute constant speed cruise control by operating an operation device for requesting execution of constant speed cruise control among the operation devices of the operation device 42.

[0039] 2A, the following running control is a control that is performed when a preceding vehicle 200 is present ahead of the host vehicle 100, and is a control that autonomously controls the running of the host vehicle 100 so that the host vehicle 100 runs following the preceding vehicle 200. More specifically, the following running control is a control that autonomously controls the acceleration / deceleration of the host vehicle 100 when the preceding vehicle 200 is present ahead of the host vehicle 100, by autonomously controlling the operation of the drive device 21 and the braking device 22 so that the inter-vehicle distance D is maintained at a set inter-vehicle distance Dset within a range equal to or less than a set vehicle speed Vset.

[0040] Therefore, when following cruise control is being performed, if the inter-vehicle distance D becomes longer than the set inter-vehicle distance Dset, the host vehicle 100 is autonomously accelerated. On the other hand, when following cruise control is being performed, if the inter-vehicle distance D becomes shorter than the set inter-vehicle distance Dset, the host vehicle 100 is autonomously decelerated. Also, when following cruise control is being performed, if the host vehicle speed V becomes higher than the set vehicle speed Vset, the acceleration / deceleration of the host vehicle 100 is autonomously controlled so that the host vehicle speed V is maintained at the set vehicle speed Vset.

[0041] The preceding vehicle 200 is a vehicle traveling ahead of the host vehicle 100 within a predetermined distance Dth, and is recognized based on the surrounding information IS (particularly, target object information). The inter-vehicle distance D is the distance between the host vehicle 100 and the preceding vehicle 200, and is acquired based on the surrounding information IS (particularly, target object information). The set inter-vehicle distance Dset and the set vehicle speed Vset are each set by the driver. The driver can set the set inter-vehicle distance Dset and the set vehicle speed Vset by operating the operating devices of the operating device 42 for setting the set inter-vehicle distance Dset and the set vehicle speed Vset, respectively.

[0042] 2B, the constant speed traveling control is a control that is performed when there is no preceding vehicle 200 ahead of the host vehicle 100, and is a control that autonomously controls the traveling of the host vehicle 100 so that the host vehicle speed V is maintained at the set vehicle speed Vset. More specifically, when there is no preceding vehicle 200 ahead of the host vehicle 100, the constant speed traveling control autonomously controls the acceleration / deceleration of the host vehicle 100 by autonomously controlling the operation of the drive device 21 and the braking device 22 so that the host vehicle speed V is maintained at the set vehicle speed Vset.

[0043] Furthermore, when the vehicle driving support device 10 recognizes the speed limit Vlimit for the vehicle 100, the vehicle driving support device 10 implements a set vehicle speed change proposal that proposes changing the set vehicle speed Vset to the speed limit Vlimit, and when the driver accepts the set vehicle speed change proposal, the set vehicle speed Vset is set to the speed limit Vlimit. The vehicle driving support device 10 may be configured to implement a set vehicle speed change proposal that proposes changing the set vehicle speed Vset to a speed that is lower than the speed limit Vlimit by a predetermined value. In this case, the predetermined value may be a value determined in advance, or may be a value appropriately set by the driver.

[0044] In this example, the vehicle driving assistance device 10 executes the routine shown in FIG. 3 at predetermined time intervals to propose a change in the set vehicle speed when a predetermined condition is met, and if the driver approves the proposal to change the set vehicle speed, sets the set vehicle speed Vset to the speed limit Vlimit.

[0045] 3, the vehicle driving support device 10 proceeds to step S305 to determine whether or not the speed limit recognition condition C1 is satisfied. The speed limit recognition condition C1 is a condition that the vehicle driving support device 10 recognizes the speed limit Vlimit for the host vehicle 100.

[0046] The vehicle driving support device 10 can acquire the speed limit Vlimit based on the surrounding information IS. For example, the vehicle driving support device 10 recognizes a traffic sign installed on the road on which the host vehicle 100 is traveling and captured in an image acquired by the image sensor 52 based on image information, and recognizes the speed limit Vlimit from the traffic sign. Alternatively, when information regarding the speed limit Vlimit is stored in the map information database 62, the vehicle driving support device 10 recognizes the speed limit Vlimit for the host vehicle 100 from the map information database 62 based on the position of the host vehicle 100 acquired based on a GPS signal.

[0047] If the vehicle driving support device 10 determines "Yes" in step S305, the process proceeds to step S310, where it determines whether or not the driving road condition C2 is satisfied. In this example, the driving road condition C2 is a condition that the host vehicle 100 is driving on a motorway such as an expressway. The vehicle driving support device 10 determines whether or not the driving road condition C2 is satisfied based on, for example, the position of the host vehicle 100 acquired based on a GPS signal and the map information stored in the map information database 62.

[0048] If the vehicle driving support device 10 judges "Yes" in step S310, the process proceeds to step S315, where it judges whether or not the main line driving condition C3 is satisfied. In this example, the main line driving condition C3 is a condition that the host vehicle 100 is traveling on the main line of a highway for motor vehicles. The vehicle driving support device 10 judges whether or not the main line driving condition C3 is satisfied based on, for example, the position of the host vehicle 100 acquired based on a GPS signal and the map information stored in the map information database 62.

[0049] If the vehicle driving support device 10 judges "Yes" in step S315, the process proceeds to step S320, where it judges whether or not the main line vehicle speed condition C11 is satisfied. In this example, the main line vehicle speed condition C11 is a condition that the currently recognized speed limit Vlimit is equal to or greater than the main line speed threshold V11. The driver can appropriately set the main line speed threshold V11 using the operation device 42.

[0050] When the vehicle driving assistance device 10 judges "Yes" in step S320, the process proceeds to step S325, and a proposal to change the set vehicle speed is made. In this example, the proposal to change the set vehicle speed is made to the driver by the notification device 30. More specifically, the proposal to change the set vehicle speed is made by displaying an image proposing to set the set vehicle speed Vset to the currently recognized speed limit Vlimit on the display device 31, and by outputting a voice proposing to set the set vehicle speed Vset to the currently recognized speed limit Vlimit from the audio device 32.

[0051] Next, the vehicle driving support device 10 proceeds to step S330 to determine whether or not the approval condition C4 is satisfied. The approval condition C4 is a condition that the driver approves the setting of the set vehicle speed Vset to the currently recognized speed limit Vlimit. In this example, the approval condition C4 is a condition that the driver operates an operation device of the operation device 42 for approving the setting of the set vehicle speed Vset to the currently recognized speed limit Vlimit.

[0052] If the vehicle driving support device 10 determines "Yes" in step S330, the process proceeds to step S335, where the set vehicle speed Vset is changed (set) to the currently recognized speed limit Vlimit. After that, the vehicle driving support device 10 proceeds to step S395, where the process of this routine is temporarily terminated.

[0053] On the other hand, if the result of the determination in step S330 is "No," the vehicle driving support device 10 proceeds directly to step S395 and ends the processing of this routine for the time being. In this case, the vehicle driving support device 10 does not change the set vehicle speed Vset.

[0054] Also, if the determination in step S320 is "No," the vehicle driving support device 10 proceeds directly to step S395 and ends the processing of this routine for the time being. In this case, the vehicle driving support device 10 does not propose to change the set vehicle speed.

[0055] If the vehicle driving support device 10 determines "No" in step S315, the process proceeds to step S340, where it determines whether or not a non-main line vehicle speed condition C12 is satisfied. In this example, the non-main line vehicle speed condition C12 is a condition that the currently recognized speed limit Vlimit is equal to or greater than a non-main line speed threshold V12. The driver can use the operation device 42 to set the non-main line speed threshold V12 as appropriate.

[0056] If the vehicle driving assistance device 10 determines "Yes" in step S340, the process proceeds to step S345, and implements a vehicle speed set change proposal.

[0057] Next, the vehicle driving assistance device 10 advances the process to step S350, and determines whether or not the approval condition C4 is satisfied.

[0058] If the answer to the question "Yes" in step S350 is "Yes," the vehicle driving support device 10 advances the process to step S355, where it sets the set vehicle speed Vset to the currently recognized speed limit Vlimit. After that, the vehicle driving support device 10 advances the process to step S395, where it temporarily ends the process of this routine.

[0059] On the other hand, if the result of the determination in step S350 is "No," the vehicle driving support device 10 proceeds directly to step S395 and ends the processing of this routine for the time being. In this case, the vehicle driving support device 10 does not change the set vehicle speed Vset.

[0060] Also, if the determination in step S340 is "No," the vehicle driving support device 10 proceeds directly to step S395 and ends the processing of this routine for the time being. In this case, the vehicle driving support device 10 does not propose to change the set vehicle speed.

[0061] If the vehicle driving support device 10 judges "No" in step S310, the process proceeds to step S360, where it judges whether or not a general vehicle speed condition C13 is satisfied. In this example, the general vehicle speed condition C13 is a condition that the currently recognized speed limit Vlimit is equal to or greater than a general speed threshold V13. The driver can use the operation device 42 to set the general speed threshold V13 as appropriate.

[0062] The upper limit of the value that can be set as the general speed threshold V13 is smaller than the upper limit of the values ​​that can be set as the main line speed threshold V11 and the non-main line speed threshold V12.

[0063] If the vehicle driving assistance device 10 determines "Yes" in step S360, the process proceeds to step S365, and implements a proposal to change the set vehicle speed.

[0064] Next, the vehicle driving assistance device 10 advances the process to step S370, and determines whether or not the approval condition C4 is satisfied.

[0065] If the answer to step S370 is "Yes," the vehicle driving support device 10 advances the process to step S375, where it sets the set vehicle speed Vset to the currently recognized speed limit Vlimit. After that, the vehicle driving support device 10 advances the process to step S395, where it temporarily ends the process of this routine.

[0066] On the other hand, if the result of the determination in step S370 is "No," the vehicle driving support device 10 proceeds directly to step S395 and ends the processing of this routine for the time being. In this case, the vehicle driving support device 10 does not change the set vehicle speed Vset.

[0067] Also, if the determination in step S360 is "No," the vehicle driving support device 10 proceeds directly to step S395 and ends the processing of this routine for the time being. In this case, the vehicle driving support device 10 does not propose to change the set vehicle speed.

[0068] Furthermore, if the vehicle driving assistance device 10 determines "No" in step S305, the process proceeds directly to step S395, and the process of this routine is temporarily terminated.

[0069] The operation of the vehicle driving support device 10 has been described above.

[0070] According to the vehicle driving assistance device 10, when the speed limit Vlimit recognized when the vehicle 100 is traveling on a main lane of a motorway is lower than the main lane speed threshold V11, a proposal to change the set vehicle speed is not made, and the main lane speed threshold V11 is a threshold value set by the driver. Similarly, when the vehicle 100 is traveling on a motorway but traveling on a lane other than the main lane (for example, a junction of a motorway), a proposal to change the set vehicle speed is not made, and the non-main lane speed threshold V12 is a threshold value set by the driver. Similarly, when the speed limit Vlimit recognized when the vehicle 100 is traveling on a road other than a motorway (for example, a general road, etc.) is lower than the general speed threshold V13, a proposal to change the set vehicle speed is not made, and the general speed threshold V13 is a threshold value set by the driver.

[0071] That is, the vehicle driving assistance device 10 includes a control device (ECU 90) that proposes a change in the set vehicle speed Vset based on the driving environment of the vehicle 100 (an environment in which the vehicle 100 is driving on a main line of a motorway, an environment in which the vehicle 100 is driving on a motorway but not on a main line, and an environment in which the vehicle 100 is driving on a general road) during execution of a constant speed driving control that autonomously controls the driving of the vehicle 100 so that the driving speed (vehicle speed V) of the vehicle 100 is maintained at the set vehicle speed Vset. The control device is configured to determine whether or not to make the above proposal based on whether or not the set vehicle speed (speed limit Vlimit) after the change is equal to or greater than predetermined vehicle speed thresholds (main line speed threshold V11, non-main line speed threshold V12, and general speed threshold V13). The predetermined vehicle speed thresholds are set by the operator (driver) of the vehicle 100.

[0072] More specifically, the vehicle driving assistance device 10 includes a control device (ECU 90) that, when recognizing the speed limit Vlimit for the vehicle 100 during execution of a constant speed driving control that autonomously controls the driving of the vehicle 100 so that the driving speed (vehicle speed V) of the vehicle 100 is maintained at the set vehicle speed Vset, makes a proposal (set vehicle speed change proposal) to change the set vehicle speed Vset to the speed limit Vlimit. The control device is configured to make the proposal when the speed limit Vlimit is equal to or higher than a predetermined vehicle speed threshold (main line speed threshold V11, non-main line speed threshold V12, and general speed threshold V13), not to make the proposal when the speed limit Vlimit is lower than the predetermined vehicle speed threshold, and to change the set vehicle speed Vset to the speed limit Vlimit when the proposal is made and the operator (driver) of the vehicle 100 accepts the proposal. The predetermined vehicle speed threshold can be set by the operator (driver) of the vehicle 100 for each road having a different speed limit Vlimit.

[0073] In this way, according to the vehicle driving assistance device 10, the driver sets the predetermined vehicle speed threshold used to determine whether or not to propose a change to the set vehicle speed. Therefore, it is possible to suppress the proposal of a change to the set vehicle speed that is unnecessary for the driver, and thereby to suppress the deterioration of convenience for the driver due to the proposal of an unnecessary change to the set vehicle speed.

[0074] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0075] For example, the vehicle driving assistance device 10 may be configured to make a proposal to change the set vehicle speed when a predetermined condition is satisfied only when the driver requests that the proposal to change the set vehicle speed be made when a predetermined condition is satisfied. In this case, the operation device 42 is configured so that the driver can use the operation device 42 to request that the proposal to change the set vehicle speed be made when the predetermined condition is satisfied. [Explanation of symbols]

[0076] 10...vehicle driving support device, 30...notification device, 31...display device, 32...sound device, 42...operation device, 50...peripheral information acquisition device, 51...electromagnetic wave sensor, 52...image sensor, 60...own vehicle position acquisition device, 61...GPS signal receiver, 62...map information database, 90...ECU, 100...own vehicle

Claims

1. A vehicle driving support device including a control device that proposes a change in a set vehicle speed based on a driving environment of the host vehicle during execution of a constant speed driving control that autonomously controls driving of the host vehicle so that the driving speed of the host vehicle is maintained at a set vehicle speed, The control device is configured to determine whether or not to make the suggestion based on whether or not the changed set vehicle speed is equal to or greater than a predetermined vehicle speed threshold, The predetermined vehicle speed threshold is set by an operator of the host vehicle. Vehicle driving assistance device.

2. 2. The vehicle driving support device according to claim 1, The changed set vehicle speed is a speed limit for the host vehicle. Vehicle driving assistance device.

3. 2. The vehicle driving support device according to claim 1, The control device includes: When the changed set vehicle speed is equal to or greater than the predetermined vehicle speed threshold, the proposal is made. When the changed set vehicle speed is lower than the predetermined vehicle speed threshold, the suggestion is not made, When the suggestion is made and the operator approves the suggestion, the set vehicle speed is changed. It is configured as follows: Vehicle driving assistance device.

4. A vehicle driving support device including a control device that, when recognizing a speed limit for a host vehicle during execution of a constant speed driving control that autonomously controls driving of the host vehicle so that the driving speed of the host vehicle is maintained at a set vehicle speed, proposes changing the set vehicle speed to the speed limit, The control device includes: If the speed limit is equal to or greater than a predetermined vehicle speed threshold, the proposal is made. If the speed limit is lower than the predetermined vehicle speed threshold, the suggestion is not made; When the proposal is made and the operator of the vehicle accepts the proposal, the set vehicle speed is changed to the speed limit. It is structured as follows: The predetermined vehicle speed threshold can be set by the operator for each road having a different speed limit. Vehicle driving assistance device.

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