Vehicle travel assistance device

Abstract

The present invention pertains to a vehicle travel assistance device that, while executing constant-speed travel control for autonomously controlling the travel of a host vehicle so as to maintain the travel speed of the host vehicle at a set vehicle speed, suggests a change in the set vehicle speed on the basis of the travel environment of the host vehicle. The vehicle travel assistance device determines whether or not to make a suggestion on the basis of whether or not the changed set vehicle speed is equal to or greater than a predetermined vehicle speed threshold value. The predetermined vehicle speed threshold value is set by an operator of the vehicle.

Description

Technical Field

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

[0002] A vehicle driving assistance device is known, which is configured to, when a speed limit for the vehicle is identified during the execution of a following driving control that causes the vehicle to follow a leading vehicle within a range of driving speeds below a set speed, suggest to the driver to change the set vehicle speed to the identified speed limit, and when the driver agrees to the suggestion, change the set vehicle speed (for example, refer to Japanese Patent Laid-Open No. 2020-163925). Summary of the invention

[0003] If the driver is advised to change the speed setting in a scenario where the driver is unlikely to agree to the change, the driver may be troubled by the unnecessary advice. In addition, during the period of suggesting the change, the driver may not be able to perform other operations such as fine adjustment of the speed setting, which may deteriorate the convenience for the driver.

[0004] An object of the present invention is to provide a vehicle driving assistance device capable of suppressing unnecessary suggestion of a change in a vehicle speed setting for an operator of a host vehicle, thereby suppressing deterioration of operator convenience caused by unnecessary suggestion of a change in the vehicle speed setting.

[0005] The vehicle driving assistance device of the present invention includes a control device, which recommends changing the set vehicle speed based on the driving environment of the vehicle while executing constant speed driving control for autonomously controlling the driving of the vehicle so as to maintain the driving speed of the vehicle at the set vehicle speed.

[0006] The control device is configured to determine whether to make the recommendation based on whether the changed set vehicle speed is equal to or greater than a predetermined vehicle speed threshold.

[0007] Furthermore, the predetermined vehicle speed threshold is set by an operator of the host vehicle.

[0008] According to the vehicle driving assistance device of the present invention, the predetermined vehicle speed threshold for determining whether to make a recommendation is set by the operator of the vehicle. Therefore, it is possible to suppress the recommendation of a change in the set vehicle speed that is unnecessary for the operator, thereby suppressing the deterioration of the operator's convenience caused by the recommendation of an unnecessary change in the set vehicle speed.

[0009] Furthermore, in the vehicle driving assistance device of the present invention, the set vehicle speed after the change is, for example, a speed limit for the host vehicle.

[0010] According to the vehicle driving assistance device of the present invention, it is possible to determine whether to issue advice based on the speed limit for the host vehicle.

[0011] In addition, in the vehicle driving assistance device described in the present invention, the control device may be configured as follows:

[0012] When the set vehicle speed after the change is equal to or greater than the predetermined vehicle speed threshold, the suggestion is made;

[0013] When the changed set vehicle speed is lower than the predetermined vehicle speed threshold, no recommendation is made;

[0014] When the operator agrees to the suggestion when the suggestion is made, the set vehicle speed is changed.

[0015] According to the vehicle driving assistance device of the present invention, it is possible to change the set vehicle speed while suppressing a suggestion to change the set vehicle speed that is unnecessary for the operator.

[0016] Moreover, the vehicle driving assistance device of the present invention includes a control device, which, when identifying a speed limit for the vehicle during the execution of constant speed driving control for autonomously controlling the driving of the vehicle in such a manner as to maintain the driving speed of the vehicle at a set speed, recommends changing the set speed to the speed limit.

[0017] The control device is configured as follows:

[0018] When the speed limit is above a predetermined vehicle speed threshold, the suggestion is made;

[0019] When the speed limit is lower than the predetermined vehicle speed threshold, no suggestion is made;

[0020] When the suggestion is made, if the operator of the host vehicle agrees to the suggestion, the set vehicle speed is changed to the speed limit.

[0021] Furthermore, the predetermined vehicle speed threshold value can be set by the operator for each road where the speed limit is different.

[0022] According to the vehicle driving assistance device of the present invention, the predetermined vehicle speed threshold for determining whether to make a recommendation is set by the operator of the vehicle. Therefore, it is possible to suppress the recommendation of a change in the set vehicle speed that is unnecessary for the operator, thereby suppressing the deterioration of the operator's convenience caused by the recommendation of an unnecessary change in the set vehicle speed.

[0023] 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 additional advantages of the present invention will be easily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

[0025] Figure 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention;

[0026] Figure 2A is a diagram showing a scene in which there is a preceding vehicle in front of the host vehicle;

[0027] Figure 2B is a diagram showing a scene in which there is no preceding vehicle in front of the host vehicle; and

[0028] Figure 3 This is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0029] Hereinafter, a vehicle driving assistance device according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 A vehicle driving assistance device 10 according to an embodiment of the present invention is shown. The vehicle driving assistance device 10 is mounted on a host vehicle 100. The vehicle driving assistance device 10 is described below by taking the case where the operator of the host vehicle 100 is a person who rides in the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100) as an example.

[0030] However, the operator of the vehicle 100 may be a person who drives the vehicle 100 remotely without riding 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 respectively mounted on the vehicle 100 and a remote operation device provided outside the vehicle 100 for remotely driving the vehicle 100. The functions of the vehicle driving assistance device 10 described below are respectively shared and performed by the vehicle driving assistance device 10 mounted on the vehicle 100 and the vehicle driving assistance device 10 mounted on the remote operation device.

[0031] like Figure 1As shown, the vehicle driving assistance device 10 has an ECU (electronic control unit) 90 as a control device. The ECU 90 has 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, etc. The CPU implements various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving assistance device 10 stores programs for implementing various controls performed by the vehicle driving assistance device 10 in the storage medium.

[0032] In this example, the vehicle driving assistance device 10 includes only one ECU 90 , but may be configured to include a plurality of ECUs, with the functions of the vehicle driving assistance device 10 described below being shared by the respective ECUs.

[0033] Furthermore, the vehicle driving assistance device 10 may be configured to be able to update the program stored in the storage medium through wireless communication (for example, Internet communication) with an external device.

[0034] Furthermore, a travel device 20 is mounted on the vehicle 100 . The travel device 20 includes a drive device 21 , a brake device 22 , and a steering device 23 .

[0035] The drive device 21 is a device that outputs a driving torque (driving force) applied to the vehicle 100 in order to drive the vehicle 100, such as an internal combustion engine and a motor. The drive device 21 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the driving torque output from the drive device 21 by controlling the operation of the drive device 21.

[0036] The brake device 22 is a device that outputs a braking torque (braking force) applied to the vehicle 100 in order to brake the vehicle 100, and is, for example, a hydraulic brake device. The brake device 22 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the braking torque output from the brake device 22 by controlling the operation of the brake device 22.

[0037] The steering device 23 is a device that outputs a steering torque (steering force) applied to the vehicle 100 in order to steer the 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.

[0038] 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 .

[0039] The notification device 30 is a device for making various notifications to the driver. In this example, the notification device 30 includes a display device 31 and an audio device 32 .

[0040] 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 .

[0041] 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 .

[0042] The vehicle speed detection device 41 is a device for detecting the travel 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 driving assistance device 10 obtains the travel speed of the host vehicle 100 as the host vehicle speed V through the vehicle speed detection device 41.

[0043] The operating device 42 is a device including a plurality of operating devices operated by the driver. The operating devices are, for example, operating buttons provided on the steering wheel of the vehicle 100. Each operating device is electrically connected to the ECU 90.

[0044] The surrounding information acquisition device 50 is a device that detects information about the surroundings of the host vehicle 100 as surrounding information IS. In this example, the surrounding information acquisition device 50 includes an electromagnetic wave sensor 51 and an image sensor 52.

[0045] The electromagnetic wave sensor 51 is, for example, a radar sensor (millimeter wave radar, etc.), 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 obtains information about objects existing around the host vehicle 100 (particularly, information about objects existing in front of the host vehicle 100) through the electromagnetic wave sensor 51 as image information, which is one of the surrounding information IS.

[0046] The image sensor 52 is, for example, a camera and is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains information about the image of the surroundings of the host vehicle 100 (particularly, information about the image in front of the host vehicle 100) through the image sensor 52 as object information which is one of the surrounding information IS.

[0047] The vehicle position acquisition device 60 is a device for acquiring the position of the vehicle 100 , etc. In this example, the vehicle position acquisition device 60 includes a GPS signal receiver 61 and a map information database 62 .

[0048] The GPS signal receiver 61 is a device that receives a so-called GPS signal, and is electrically connected to the ECU 90. The vehicle driving support device 10 can acquire the GPS signal via the GPS signal receiver 61 and identify (acquire) the position of the host vehicle 100 based on the acquired GPS signal.

[0049] The map information database 62 is a database storing map information, and is electrically connected to the ECU 90. The vehicle driving support 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 determined by the GPS signal and the map information.

[0050] Operation of vehicle driving assistance devices

[0051] Next, the operation of the vehicle driving assistance device 10 will be described.

[0052] The vehicle driving assistance device 10 performs the following driving control and the constant speed driving control as the automatic driving control. The driver can request the vehicle driving assistance device 10 to perform the following driving control by operating the operator for requesting the execution of the following driving control among the operators of the operating device 42. In addition, the driver can request the vehicle driving assistance device 10 to perform the constant speed driving control by operating the operator for requesting the execution of the constant speed driving control among the operators of the operating device 42.

[0053] like Figure 2A As shown, the following travel control is a control performed when there is a leading vehicle 200 in front of the host vehicle 100, and is a control for autonomously controlling the travel of the host vehicle 100 in such a manner that the host vehicle 100 follows the leading vehicle 200. More specifically, the following travel control is a control in which, when there is a leading vehicle 200 in front of the host vehicle 100, the operation of the driving device 21 and the braking device 22 is autonomously controlled in such a manner that the inter-vehicle distance D is maintained at the set inter-vehicle distance Dset within a range below the set vehicle speed Vset, thereby autonomously controlling the acceleration and deceleration of the host vehicle 100.

[0054] Therefore, when the vehicle distance D is longer than the set vehicle distance Dset during the following travel control, the vehicle 100 accelerates autonomously. On the other hand, when the vehicle distance D is shorter than the set vehicle distance Dset during the following travel control, the vehicle 100 decelerates autonomously. In addition, when the vehicle speed V is higher than the set vehicle speed Vset during the following travel control, the acceleration and deceleration of the vehicle 100 are autonomously controlled so that the vehicle speed V is maintained at the set vehicle speed Vset.

[0055] In addition, the leading vehicle 200 is a vehicle traveling ahead within a predetermined distance Dth from the host vehicle 100, and is identified based on the surrounding information IS (particularly object information). In addition, the inter-vehicle distance D is the distance between the host vehicle 100 and the leading vehicle 200, and is obtained based on the surrounding information IS (particularly object information). In addition, the set inter-vehicle distance Dset and the set vehicle speed Vset are set by the driver, respectively. The driver can set the set inter-vehicle distance Dset and the set vehicle speed Vset, respectively, by operating the operating device 42, which is used to set the set inter-vehicle distance Dset and the set vehicle speed Vset, respectively.

[0056] On the other hand, Figure 2B As shown, the constant speed travel control is a control performed when there is no preceding vehicle 200 in front of the host vehicle 100, and is a control for autonomously controlling the travel of the host vehicle 100 in such a manner as to maintain the host vehicle speed V at the set vehicle speed Vset. More specifically, the constant speed travel control is a control as follows: when there is no preceding vehicle 200 in front of the host vehicle 100, the operation of the drive device 21 and the brake device 22 is autonomously controlled in such a manner as to maintain the host vehicle speed V at the set vehicle speed Vset, thereby autonomously controlling the acceleration and deceleration of the host vehicle 100.

[0057] Moreover, when the vehicle driving assistance device 10 recognizes the speed limit Vlimit for the vehicle 100, it implements a suggestion for changing the set speed Vset to the speed limit Vlimit. When the driver agrees to the suggestion for changing the set speed, the vehicle driving assistance device 10 sets the set speed Vset to the speed limit Vlimit. In addition, the vehicle driving assistance device 10 may also be configured to implement a suggestion for changing the set speed Vset to a speed that is a predetermined value less than the speed limit Vlimit. In this case, the predetermined value may be either a predetermined value or a value appropriately set by the driver.

[0058] In this example, the vehicle driving assistance device 10 executes Figure 3 The routine shown in FIG. 1 is used to implement the vehicle speed setting change suggestion when a predetermined condition is satisfied. When the driver agrees to the vehicle speed setting change suggestion, the vehicle driving assistance device 10 sets the vehicle speed setting Vset to the speed limit Vlimit.

[0059] Therefore, when a predetermined timing is reached, the vehicle driving assistance device 10 Figure 3The routine shown starts processing at S300 and proceeds to S305 to determine whether a 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.

[0060] The vehicle driving assistance device 10 can obtain the speed limit Vlimit based on the surrounding information IS. For example, the vehicle driving assistance device 10 identifies a traffic sign that is a traffic sign set on the road on which the host vehicle 100 is traveling and is reflected in the image obtained by the image sensor 52 based on the image information, and identifies the speed limit Vlimit from the traffic sign. Alternatively, when information related to the speed limit Vlimit is stored in the map information database 62, the vehicle driving assistance device 10 identifies the speed limit Vlimit for the host vehicle 100 from the map information database 62 based on the position of the host vehicle 100 obtained based on the GPS signal.

[0061] When the determination result in S305 is "Yes", the vehicle driving assistance device 10 proceeds to S310 to determine whether the driving road condition C2 is satisfied. In this example, the driving road condition C2 is the condition that the host vehicle 100 is driving on a motor vehicle-only road such as an expressway. The vehicle driving assistance device 10 determines whether the driving road condition C2 is satisfied based on the position of the host vehicle 100 obtained based on the GPS signal and the map information stored in the map information database 62.

[0062] If the determination result in S310 is "yes", the vehicle driving assistance device 10 proceeds to S315 to determine whether the main lane driving condition C3 is satisfied. In this example, the main lane driving condition C3 is the condition that the host vehicle 100 is driving in the main lane of the motor vehicle-only road. The vehicle driving assistance device 10 determines whether the main lane driving condition C3 is satisfied based on the position of the host vehicle 100 obtained based on the GPS signal and the map information stored in the map information database 62.

[0063] If the determination result in S315 is "yes", the vehicle driving assistance device 10 proceeds to S320 to determine whether the main lane speed condition C11 is satisfied. In this example, the main lane speed condition C11 is a condition that the currently recognized speed limit Vlimit is greater than the main lane speed threshold V11. The driver can use the operating device 42 to appropriately set the main lane speed threshold V11.

[0064] When the determination in S320 is "yes", the vehicle driving assistance device 10 advances the processing to S325 to implement the set speed change suggestion. In this example, the set speed change suggestion is made to the driver by the notification device 30. More specifically, the set speed change suggestion is made by displaying an image suggesting that the set speed Vset be set to the currently recognized speed limit Vlimit on the display device 31. The set speed change suggestion is made by outputting a sound suggesting that the set speed Vset be set to the currently recognized speed limit Vlimit from the audio device 32.

[0065] Next, the vehicle driving assistance device 10 advances the process to S330 to determine whether the approval condition C4 is satisfied. The approval condition C4 is a condition that the driver agrees to set the vehicle speed Vset to the currently recognized speed limit Vlimit. In this example, the approval condition C4 is a condition that the operator of the operator 42 for agreeing to set the vehicle speed Vset to the currently recognized speed limit Vlimit is operated.

[0066] When the determination in S330 is YES, the vehicle driving assistance device 10 advances the process to S335 to change (set) the set vehicle speed Vset to the currently recognized speed limit Vlimit. Thereafter, the vehicle driving assistance device 10 advances the process to S395 to temporarily terminate the process of this routine.

[0067] On the other hand, when the determination in S330 is "No", the vehicle driving assistance device 10 directly proceeds to S395 and temporarily terminates the processing of this routine. In this case, the vehicle driving assistance device 10 does not change the set vehicle speed Vset.

[0068] In addition, when the determination result in S320 is "NO", the vehicle driving assistance device 10 directly proceeds to S395 and temporarily terminates the processing of this routine. In this case, the vehicle driving assistance device 10 does not make a recommendation to change the set vehicle speed.

[0069] In addition, if the determination result in S315 is "No", the vehicle driving assistance device 10 proceeds to S340 to determine whether the non-main lane speed condition C12 is satisfied. In this example, the non-main lane speed condition C12 is a condition that the currently recognized speed limit Vlimit is greater than the non-main lane speed threshold V12. The driver can use the operating device 42 to appropriately set the non-main lane speed threshold V12.

[0070] When the determination in S340 is YES, the vehicle driving assistance device 10 advances the process to S345 to implement the recommendation to change the set vehicle speed.

[0071] Next, the vehicle driving assistance device 10 advances the process to S350 to determine whether the approval condition C4 is satisfied.

[0072] When the determination in S350 is "YES", the vehicle driving assistance device 10 advances the process to S355 to set the set vehicle speed Vset to the currently recognized speed limit Vlimit. Thereafter, the vehicle driving assistance device 10 advances the process to S395 to temporarily terminate the process of this routine.

[0073] On the other hand, when the determination in S350 is "NO", the vehicle driving assistance device 10 directly proceeds to S395 and temporarily terminates the processing of this routine. In this case, the vehicle driving assistance device 10 does not change the set vehicle speed Vset.

[0074] In addition, when the determination result in S340 is "NO", the vehicle driving assistance device 10 directly proceeds to S395 and temporarily terminates the processing of this routine. In this case, the vehicle driving assistance device 10 does not make a recommendation to change the set vehicle speed.

[0075] In addition, when the determination result in S310 is "No", the vehicle driving assistance device 10 advances the processing to S360 to determine whether the 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 greater than the general speed threshold value V13. The driver can use the operating device 42 to appropriately set the general speed threshold value V13.

[0076] Furthermore, the upper limit value that can be set as the general speed threshold value V13 is smaller than the upper limits that can be set as the main lane speed threshold value V11 and the non-main lane speed threshold value V12 .

[0077] When the determination in S360 is YES, the vehicle driving assistance device 10 advances the process to S365 to implement the recommendation to change the vehicle speed setting.

[0078] Next, the vehicle driving assistance device 10 advances the process to S370 to determine whether the approval condition C4 is satisfied.

[0079] When the determination in S370 is YES, the vehicle driving assistance device 10 advances the process to S375 to set the set vehicle speed Vset to the currently recognized speed limit Vlimit. Thereafter, the vehicle driving assistance device 10 advances the process to S395 to temporarily terminate the process of this routine.

[0080] On the other hand, when the determination in S370 is “NO”, the vehicle driving assistance device 10 directly proceeds to S395 and temporarily terminates the processing of this routine. In this case, the vehicle driving assistance device 10 does not change the set vehicle speed Vset.

[0081] When the determination result in S360 is "NO", the vehicle driving assistance device 10 directly proceeds to S395 and temporarily terminates the processing of this routine. In this case, the vehicle driving assistance device 10 does not make a recommendation to change the set vehicle speed.

[0082] Furthermore, when the determination in S305 is “NO”, the vehicle driving assistance device 10 directly proceeds to S395 and temporarily ends the processing of this routine.

[0083] The above is the operation of the vehicle driving assistance device 10 .

[0084] According to the vehicle driving assistance device 10, when the vehicle 100 is traveling on the main lane of the motor vehicle-only road, the speed limit Vlimit recognized is lower than the main lane speed threshold V11, and the vehicle speed change suggestion is not set. In this case, the main lane speed threshold V11 is a threshold set by the driver. Similarly, when the vehicle 100 is traveling on the motor vehicle-only road but traveling on a lane other than the main lane (for example, an intersection of the motor vehicle-only road, etc.), the speed limit Vlimit recognized is lower than the non-main lane speed threshold V12, and the vehicle speed change suggestion is not set. In this case, the non-main lane speed threshold V12 is a threshold set by the driver. Similarly, when the vehicle 100 is traveling on a road other than the motor vehicle-only road (for example, a general road, etc.), the speed limit Vlimit recognized is lower than the general speed threshold V13, and the vehicle speed change suggestion is not set. In this case, the general speed threshold V13 is a threshold set by the driver.

[0085] That is, the vehicle driving assistance device 10 includes a control device (ECU 90) that, while executing the constant speed driving control for autonomously controlling the driving of the host vehicle 100 so as to maintain the driving speed (host vehicle speed V) of the host vehicle 100 at the set vehicle speed Vset, makes a suggestion for changing the set vehicle speed Vset based on the driving environment of the host vehicle 100. The driving environment of the host vehicle 100 is an environment in which the host vehicle 100 is driving on the main lane of the motor vehicle-only road, an environment in which the host vehicle 100 is driving on the motor vehicle-only road but driving outside the main lane, and an environment in which the host vehicle 100 is driving on a general road. In addition, the control device is configured to determine whether to make the above suggestion based on whether the set vehicle speed (speed limit Vlimit) after the change is greater than or equal to a predetermined vehicle speed threshold (main lane speed threshold V11, non-main lane speed threshold V12, and general speed threshold V13). In addition, the predetermined vehicle speed threshold is set by the operator (driver) of the host vehicle 100.

[0086] More specifically, the vehicle driving assistance device 10 includes a control device (ECU 90) that, when a speed limit Vlimit for the host vehicle 100 is recognized during the execution of the constant speed driving control for autonomously controlling the driving of the host vehicle 100 so as to maintain the driving speed (host vehicle speed V) at the set speed Vset, makes a suggestion to change the set speed Vset to the speed limit Vlimit (set speed change suggestion). Furthermore, the control device makes the above suggestion when the speed limit Vlimit is above a predetermined speed threshold (main lane speed threshold V11, non-main lane speed threshold V12, and general speed threshold V13). When the speed limit Vlimit is lower than the predetermined speed threshold, the above suggestion is not made. It is configured that when the operator (driver) of the host vehicle 100 agrees with the suggestion when making the above suggestion, the set speed Vset is changed to the speed limit Vlimit. Furthermore, the predetermined speed threshold can be set by the operator (driver) of the host vehicle 100 for each road where the speed limit Vlimit is different from each other.

[0087] In this way, according to the vehicle driving assistance device 10, the predetermined vehicle speed threshold for determining whether to make a recommendation for a change in the set vehicle speed is set by the driver. Therefore, it is possible to suppress the recommendation for a change in the set vehicle speed that is unnecessary for the driver, thereby suppressing the deterioration of the driver's convenience caused by the recommendation for an unnecessary change in the set vehicle speed.

[0088] In addition, the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0089] For example, the vehicle driving assistance device 10 may be configured to make a suggestion to change the vehicle speed when the predetermined condition is satisfied only when the driver requests that the suggestion to change the vehicle speed be made when the predetermined condition is satisfied. In this case, the operating device 42 is configured so that the driver can use the operating device 42 to request that the suggestion to change the vehicle speed be made when the predetermined condition is satisfied.

Claims

1. A vehicle driving assistance device, comprising a control device, wherein during a period of executing a constant speed driving control for autonomously controlling the driving of the host vehicle so as to maintain the driving speed of the host vehicle at a set vehicle speed, the control device recommends a change in the set vehicle speed based on the driving environment of the host vehicle, The control device is configured to determine whether to make the recommendation based on whether 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.

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

3. The vehicle driving assistance device according to claim 1, The control device is configured as follows: When the set vehicle speed after the change is equal to or greater than the predetermined vehicle speed threshold, the suggestion is made; When the changed set vehicle speed is lower than the predetermined vehicle speed threshold, no recommendation is made; When the operator agrees to the suggestion when the suggestion is made, the set vehicle speed is changed.

4. A vehicle driving assistance device, comprising a control device, wherein when a speed limit for the host vehicle is recognized during a period of executing a constant speed driving control for autonomously controlling the driving of the host vehicle so as to maintain the driving speed of the host vehicle at a set speed, the control device recommends changing the set speed to the speed limit, The control device is configured as follows: When the speed limit is above a predetermined vehicle speed threshold, the suggestion is made; When the speed limit is lower than the predetermined vehicle speed threshold, no suggestion is made; When the suggestion is made, if the operator of the host vehicle agrees to the suggestion, the set vehicle speed is changed to the speed limit; The predetermined vehicle speed threshold value can be set by the operator for each road where the speed limit is different from one another.

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