Vehicle driving assistance device

Abstract

To provide a vehicle driving assistance device capable of maintaining the vehicle speed of the own vehicle at the vehicle speed equal to or less than the limited speed when the limited speed applied to the own vehicle becomes small.SOLUTION: A vehicle driving assistance device 10 maintains the vehicle speed of the own vehicle 100 at a set vehicle speed when the vehicle speed of the own vehicle becomes greater than the set vehicle speed in a case of maintaining an inter-vehicle distance at a set inter-vehicle distance. The vehicle driving assistance device executes deceleration assistance control to decelerate the own vehicle when the vehicle speed of the own vehicle becomes greater than a predetermined upper limit vehicle speed. The vehicle driving assistance device, during execution of follow-up travel control, if a limited speed condition that the limited speed applied to the own vehicle becomes small is satisfied, when a set vehicle speed changing condition including at least such a condition that a response possible condition that the vehicle speed of the own vehicle can be maintained at the vehicle speed equal to or less than the limited speed through the deceleration assistance control is not satisfied is satisfied, changes the set vehicle speed to the vehicle speed equal to or less than the limited speed.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device.

Background Art

[0002] There is known a vehicle driving support device that executes a follow-up driving control for maintaining an inter-vehicle distance, which is the distance between the host vehicle and the preceding vehicle, at a set inter-vehicle distance. Also, there is known a vehicle driving support device that executes a deceleration support control for decelerating the host vehicle when the vehicle speed of the host vehicle becomes greater than a predetermined upper limit vehicle speed when the host vehicle travels on a curved road during the execution of the follow-up driving control (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] When executing the follow-up driving control, the restricted speed applied to the host vehicle may become low. When the restricted speed applied to the host vehicle thus becomes low, if the above deceleration support control is executed, the host vehicle will be decelerated, but there is a possibility that the vehicle speed of the host vehicle will not be maintained below the restricted speed.

[0005] An object of the present invention is to provide a vehicle driving support device capable of maintaining the vehicle speed of the host vehicle below the restricted speed when the restricted speed applied to the host vehicle becomes low.

[0006] The vehicle driving support device according to the present invention includes a control device that executes a follow-up driving control for maintaining a vehicle-to-vehicle distance, which is the distance between the host vehicle and the preceding vehicle, at a set vehicle-to-vehicle distance. When executing the follow-up driving control, the control device is configured to maintain the vehicle speed of the host vehicle at the set vehicle speed when the vehicle speed of the host vehicle becomes greater than the set vehicle speed when the vehicle-to-vehicle distance is maintained at the set vehicle-to-vehicle distance. Further, the control device is configured to execute a deceleration support control for decelerating the host vehicle when the vehicle speed of the host vehicle becomes greater than a predetermined upper limit vehicle speed. And when executing the follow-up driving control, when a set vehicle speed change condition including at least a condition that a condition that the applicable speed limit of the host vehicle becomes smaller is established and a condition that a condition that the vehicle speed of the host vehicle cannot be maintained at a speed equal to or lower than the applicable speed limit by the deceleration support control is not established is established, the control device is configured to change the set vehicle speed to a speed equal to or lower than the applicable speed limit.

[0007] According to the vehicle driving support device of the present invention, when it is predicted that the applicable speed limit of the host vehicle will become smaller and the vehicle speed of the host vehicle cannot be maintained at a speed equal to or lower than the applicable speed limit by the deceleration support control, the set vehicle speed is changed to a speed equal to or lower than the applicable speed limit. Therefore, even when the applicable speed limit of the host vehicle becomes smaller, the vehicle speed of the host vehicle can be maintained at a speed equal to or lower than the applicable speed limit.

[0008] In the vehicle driving support device according to the present invention, the deceleration support control is, for example, control for decelerating the host vehicle when the vehicle speed of the host vehicle becomes greater than the predetermined upper limit vehicle speed when the host vehicle is traveling on a curved road. In this case, the applicable speed limit condition includes, for example, a condition that the current set vehicle speed is greater than the applicable speed limit. And in this case, the control device can be configured to determine that the applicable speed limit of the host vehicle becomes smaller when there is a possibility that the host vehicle is traveling on a curved road and the curved road is a deceleration required section where a speed limit smaller than the speed limit currently applied to the host vehicle is applied to the host vehicle.

[0009] According to the vehicle driving support device of the present invention, when executing the follow - up driving control, there is a possibility that the host vehicle may drive on a curved road. When the host vehicle enters the curved road, the speed limit applied to the host vehicle becomes lower. At this time, the vehicle speed of the host vehicle cannot be maintained at a speed equal to or lower than the speed limit by the deceleration support control. Moreover, when the current set vehicle speed is higher than the speed limit, the set vehicle speed is changed to a speed equal to or lower than the speed limit. Therefore, even if the host vehicle enters a curved road and the speed limit applied to the host vehicle becomes lower, the vehicle speed of the host vehicle can be maintained at a speed equal to or lower than the speed limit.

[0010] Also, in the vehicle driving support device according to the present invention, when the host vehicle finishes driving through the deceleration required section, the control device may be configured to return the set vehicle speed to the set vehicle speed before the host vehicle enters the deceleration required section.

[0011] According to the vehicle driving support device of the present invention, after the host vehicle finishes driving through the deceleration required section, the set vehicle speed is returned to the original set vehicle speed. Therefore, the host vehicle can be driven using an appropriate set vehicle speed.

[0012] 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 attendant advantages of the present invention will be readily understood from the description of the embodiments of the present invention.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Best Mode for Carrying Out the Invention

[0014] Hereinafter, with reference to the drawings, a vehicle driving support device according to an embodiment of the present invention will be described. In FIG. 1, a vehicle driving support device 10 according to an embodiment of the present invention is shown. The vehicle driving support device 10 is mounted on the host vehicle 100. Hereinafter, the case where the operator of the host vehicle 100 is a person who rides on the host vehicle 100 and drives the host vehicle 100 (that is, the driver of the host vehicle 100) will be taken as an example to describe the vehicle driving support device 10.

[0015] However, the operator of the host vehicle 100 may be a person who remotely drives the host vehicle 100 without riding on the host vehicle 100 (that is, the remote operator of the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the vehicle driving support device 10 is mounted on each of the host vehicle 100 and remote operation equipment installed outside the host vehicle 100 for remotely driving the host vehicle 100. The functions of the vehicle driving support device 10 described below will be shared by the vehicle driving support device 10 mounted on the host vehicle 100 and the vehicle driving support device 10 mounted on the remote operation equipment.

[0016] As shown in FIG. 1, the vehicle driving support device 10 includes an ECU 90 as a control device. The ECU is an electronic control device. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a computer-readable storage medium such as a CPU, ROM, RAM, and non-volatile memory, and an interface. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving support device 10 stores a program for realizing various controls executed by the vehicle driving support device 10 in the storage medium.

[0017] Furthermore, in this example, the vehicle driving support device 10 includes only one ECU 90, but it may be configured to include a plurality of ECUs and divide the functions of the vehicle driving support device 10 described below among the respective ECUs.

[0018] Alternatively, the vehicle driving support device 10 may be configured to be able to update (update) a program stored in a storage medium by wireless communication (for example, Internet communication) with an external device.

[0019] As shown in FIG. 1, a driving device 20, a braking device 30, and a notification device 40 are mounted on the host vehicle 100.

[0020] The driving device 20 is a device that generates a driving force applied to the host vehicle 100. The driving device 20 includes, for example, an internal combustion engine and / or an electric motor. The driving device 20 is electrically connected to the ECU 90. The vehicle driving support device 10 can control the driving force applied to the host vehicle 100 by controlling the operation of the driving device 20, and accelerate or decelerate the host vehicle 100.

[0021] The braking device 30 is a device that applies a braking force to the host vehicle 100. The braking device 30 includes, for example, a hydraulic braking device. The braking device 30 is electrically connected to the ECU 90. The vehicle driving support device 10 can apply a braking force to the host vehicle 100 by controlling the operation of the braking device 30, and decelerate the host vehicle 100.

[0022] The notification device 40 is a device that performs various notifications to the driver of the host vehicle 100. In this example, the notification device 40 includes a display 41 and a speaker 42.

[0023] The display 41 is a device that displays various images. The display 41 is electrically connected to the ECU 90. The vehicle driving support device 10 can display various images on the display 41.

[0024] Speaker 42 is a device that outputs various sounds. Speaker 42 is electrically connected to ECU 90. The vehicle driving support device 10 can cause Speaker 42 to output various sounds.

[0025] In addition, the host vehicle 100 is equipped with an approval operation device 50, a vehicle speed detection device 60, a surrounding information acquisition device 70, and a road information acquisition device 80.

[0026] The approval operation device 50 is a device operated by the driver of the host vehicle 100. For example, it is attached to the steering wheel of the host vehicle 100. The driver can perform an approval operation, which will be described later, by operating the approval operation device 50. The approval operation device 50 is electrically connected to ECU 90. When the approval operation device 50 is operated, the vehicle driving support device 10 determines that an approval operation has been performed.

[0027] The vehicle speed detection device 60 is a device that detects the vehicle speed of the host vehicle 100. The vehicle speed detection device 60 is, for example, a wheel speed sensor attached to each wheel of the host vehicle 100. The vehicle speed detection device 60 is electrically connected to ECU 90. The vehicle driving support device 10 acquires the vehicle speed of the host vehicle 100 as the own vehicle speed V by means of the vehicle speed detection device 60.

[0028] The surrounding information acquisition device 70 is a device that acquires information regarding the situation around the host vehicle 100. In this example, the surrounding information acquisition device 70 includes an electromagnetic wave sensor 71 and an image sensor 72.

[0029] The electromagnetic wave sensor 71 is a sensor that acquires information regarding an object existing around the host vehicle 100. The electromagnetic wave sensor 71 is, for example, a millimeter wave radar. The electromagnetic wave sensor 71 is electrically connected to ECU 90. The vehicle driving support device 10 acquires information regarding an object (e.g., a preceding vehicle) existing around the host vehicle 100 as surrounding information IS (sensor information Isensor) by means of the electromagnetic wave sensor 71.

[0030] The image sensor 72 is a sensor that captures an image of the surroundings of the host vehicle 100 to obtain an image. The image sensor 72 is, for example, a camera. The image sensor 72 is electrically connected to the ECU 90. The vehicle driving support device 10 obtains an image of the surroundings of the host vehicle 100 by the image sensor 72 as surrounding information IS (image information IScamera).

[0031] The road information acquisition device 80 is a device that acquires information about the road in the surroundings of the host vehicle 100 (for example, the speed limit applied to the host vehicle 100). In this example, the road information acquisition device 80 includes a GPS signal receiver 81 and a map database 82.

[0032] The GPS signal receiver 81 is a device that receives a GPS signal. The GPS signal receiver 81 is electrically connected to the ECU 90. The vehicle driving support device 10 receives a GPS signal via the GPS signal receiver 81 and acquires the current position of the host vehicle 100 based on the received GPS signal.

[0033] The map database 82 is a device that stores map information. The map database 82 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires information about the road ahead of the host vehicle 100 (for example, the speed limit applied to the host vehicle 100) as surrounding information IS (road information ISroad) from the current position of the host vehicle 100 acquired as described above and the map information stored in the map database 82.

[0034] <Operation of Vehicle Driving Support Device> Next, the operation of the vehicle driving support device 10 will be described.

[0035] The vehicle driving support device 10 is configured to execute driving support control as automatic driving control. In this example, the driving support control is follow - up driving control (adaptive cruise control), constant - speed driving control (cruise control), and deceleration support control.

[0036] As shown in FIG. 2, the follow - up running control is a control for automatically accelerating or decelerating the host vehicle 100 so that the distance (inter - vehicle distance D) between the host vehicle 100 and the preceding vehicle 200 is maintained at a predetermined distance (set inter - vehicle distance Dset) when the preceding vehicle 200 exists. That is, the follow - up running control is a control for maintaining the inter - vehicle distance D, which is the distance between the host vehicle 100 and the preceding vehicle 200, at the set inter - vehicle distance Dset.

[0037] On the other hand, as shown in FIG. 3, the constant - speed running control is a control for automatically accelerating or decelerating the host vehicle 100 so that the host vehicle speed V is maintained at a predetermined vehicle speed (set vehicle speed Vset) when the preceding vehicle 200 does not exist.

[0038] When the vehicle driving support device 10 executes the follow - up running control, if the inter - vehicle distance D becomes larger than the set inter - vehicle distance Dset, the vehicle driving support device 10 accelerates the host vehicle 100. On the other hand, when the vehicle driving support device 10 executes the follow - up running control, if the inter - vehicle distance D becomes smaller than the set inter - vehicle distance Dset, the vehicle driving support device 10 decelerates the host vehicle 100. Thus, the vehicle driving support device 10 maintains the inter - vehicle distance D at the set inter - vehicle distance Dset.

[0039] In addition, when the vehicle driving support device 10 executes the follow - up running control, when the host vehicle speed V reaches the set vehicle speed Vset, the vehicle driving support device 10 automatically accelerates or decelerates the host vehicle 100 so that the host vehicle speed V is maintained at the set vehicle speed Vset. For example, when the vehicle driving support device 10 is accelerating the host vehicle 100 during the execution of the follow - up running control and the host vehicle speed V reaches the set vehicle speed Vset, the vehicle driving support device 10 automatically accelerates or decelerates the host vehicle 100 so that the host vehicle speed V is maintained at the set vehicle speed Vset. Therefore, when the vehicle driving support device 10 executes the follow - up running control and the host vehicle speed V becomes larger than the set vehicle speed Vset when the inter - vehicle distance D is maintained at the set inter - vehicle distance Dset, the vehicle driving support device 10 is configured to maintain the host vehicle speed V at the set vehicle speed Vset.

[0040] Further, when the vehicle driving support device 10 executes the constant speed driving control, if the own vehicle speed V becomes lower than the set vehicle speed Vset, the own vehicle 100 is accelerated. On the other hand, when the vehicle driving support device 10 executes the constant speed driving control, if the own vehicle speed V becomes higher than the set vehicle speed Vset, the own vehicle 100 is decelerated. Thus, the vehicle driving support device 10 maintains the own vehicle speed V at the set vehicle speed Vset.

[0041] In addition, the vehicle driving support device 10 is configured to be able to determine whether or not a preceding vehicle 200 exists based on the surrounding information IS (particularly, the sensor information Isensor). Further, the vehicle driving support device 10 acquires the inter-vehicle distance D based on the surrounding information IS (particularly, the sensor information Isensor).

[0042] Further, the deceleration support control is a control for autonomously decelerating the own vehicle 100 so that the own vehicle speed V is maintained at or below a predetermined upper limit vehicle speed Vupper when the own vehicle 100 is traveling on a curved road.

[0043] When the own vehicle speed V reaches the predetermined upper limit vehicle speed Vupper while the vehicle driving support device 10 is traveling on a curved road, the vehicle driving support device 10 autonomously decelerates the own vehicle 100 so that the own vehicle speed V is maintained at or below the upper limit vehicle speed Vupper.

[0044] That is, the deceleration support control is a control for decelerating the own vehicle 100 when the own vehicle speed V becomes higher than the predetermined upper limit vehicle speed Vupper while the own vehicle 100 is traveling on a curved road. In the present invention, the deceleration support control may also be a control for decelerating the own vehicle 100 when the own vehicle speed V becomes higher than the predetermined upper limit vehicle speed Vupper even when the own vehicle 100 is not traveling on a curved road. That is, the deceleration support control may simply be a control for decelerating the own vehicle 100 when the own vehicle speed V becomes higher than the predetermined upper limit vehicle speed Vupper.

[0045] The still-to-be-determined upper limit vehicle speed Vupper is the upper limit value of the vehicle speed V at which the host vehicle 100 can stably travel on the curved road on which the host vehicle 100 is traveling, taking into account the curvature of the curved road. The vehicle driving support device 10 is configured to be able to acquire the curvature of the curved road on which the host vehicle 100 is traveling based on the surrounding information IS (particularly, the image information IScamera) and / or the road information ISroad.

[0046] Furthermore, the vehicle driving support device 10 is adapted to execute the routine shown in FIG. 4 at predetermined time intervals. By executing the routine shown in FIG. 4, when a predetermined condition is satisfied, the vehicle driving support device 10 makes a proposal to reduce the set vehicle speed Vset to the driver of the host vehicle 100, and when the driver performs an approval operation in response to the proposal, the set vehicle speed Vset is reduced.

[0047] At a predetermined timing, the vehicle driving support device 10 starts processing from step S400 of the routine shown in FIG. 4, advances the processing to step S405, and determines whether or not the driving support control is being executed.

[0048] When the driving support control is not being executed, the vehicle driving support device 10 determines "No" at step S405, directly advances the processing to step S495, and once terminates the processing of this routine.

[0049] On the other hand, when the driving support control is being executed, the vehicle driving support device 10 determines "Yes" at step S405, advances the processing to step S410, and determines whether or not the speed limit condition C1 is satisfied.

[0050] The speed limit condition C1 is a condition that the speed limit Vlimit applied to the host vehicle 100 becomes smaller. In particular, the speed limit condition C1 is a condition that the host vehicle 100 may travel in the deceleration required section 300. More specifically, the speed limit condition C1 is a condition that the speed limit Vlimit applied to the host vehicle 100 becomes smaller and the current set vehicle speed Vset is greater than the applied speed limit Vlimit. In other words, the speed limit condition C1 is a condition that the host vehicle 100 may travel in the deceleration required section 300, the deceleration required section 300 exists within a predetermined distance Dth in front of the host vehicle 100, and the speed limit Vlimit applied to the host vehicle 100 in the deceleration required section 300 is smaller than the current set vehicle speed Vset. Alternatively, the speed limit condition C1 is a condition that the host vehicle 100 may travel in the deceleration required section 300 after a predetermined time Tth and the speed limit Vlimit applied to the host vehicle 100 in the deceleration required section 300 is smaller than the current set vehicle speed Vset.

[0051] The deceleration required section 300 is a section where a speed limit Vlimit smaller than the speed limit Vlimit currently applied to the host vehicle 100 is applied to the host vehicle 100. The deceleration required section 300 is, for example, a section of a curved road such as a connecting road at the highway junction 301 as shown in FIG. 5.

[0052] When the speed limit condition C1 is satisfied (i.e., when the speed limit Vlimit applied to the host vehicle 100 becomes smaller), the vehicle driving support device 10 determines "Yes" in step S410, advances the process to step S415, and determines whether the system supportable condition C2 is satisfied.

[0053] The system supportable condition C2 is a condition that when the host vehicle 100 travels in the deceleration required section 300, the vehicle speed V can be maintained at or below the speed limit Vlimit applied to the host vehicle 100 by deceleration support control.

[0054] When the system-compatible condition C2 is satisfied, the vehicle driving support device 10 determines "Yes" in step S415, advances the process to step S495, and temporarily ends the process of this routine. Therefore, in this case, the proposed change in the set vehicle speed is not implemented. The proposed change in the set vehicle speed proposes to decrease the set vehicle speed Vset from the current set vehicle speed Vset. In particular, the proposed change in the set vehicle speed proposes to set the speed limit Vlimit applied to the host vehicle 100 in the deceleration required section 300 as the set vehicle speed Vset.

[0055] In this example, the vehicle driving support device 10 implements the proposed change in the set vehicle speed by the notification device 40. More specifically, the vehicle driving support device 10 implements the proposed change in the set vehicle speed by displaying an image proposing to decrease the set vehicle speed Vset on the display 41 and / or outputting a voice proposing to decrease the set vehicle speed Vset from the speaker 42.

[0056] On the other hand, when the system-compatible condition C2 is not satisfied, the vehicle driving support device 10 determines "No" in step S415, advances the process to step S420, and implements the proposed change in the set vehicle speed. Next, the vehicle driving support device 10 advances the process to step S425 and determines whether the driver has performed an approval operation for the proposed change in the set vehicle speed. The approval operation is an operation by the driver on the approval operator 50.

[0057] When the approval operation has not been performed, the vehicle driving support device 10 determines "No" in step S425, advances the process to step S495, and temporarily ends the process of this routine.

[0058] On the other hand, when the approval operation has been performed, the vehicle driving support device 10 determines "Yes" in step S425, advances the process to step S430, and sets the speed limit Vlimit applied to the host vehicle 100 in the deceleration required section 300 as the set vehicle speed Vset. That is, the vehicle driving support device 10 decreases the set vehicle speed Vset. At this time, the vehicle driving support device 10 ends the proposed change in the set vehicle speed.

[0059] Next, the vehicle driving support device 10 proceeds with the process to step S495 and once ends the process of this routine.

[0060] Also, when the speed limit condition C1 is not satisfied when the vehicle driving support device 10 proceeds with the process to step S410 (that is, when the speed limit Vlimit applied to the host vehicle 100 does not decrease), it is determined as "No" in step S310, the process proceeds to step S435, and it is determined whether the passing condition C3 is satisfied. The passing condition C3 is a condition that the host vehicle 100 has finished traveling through the deceleration required section 300. More specifically, the passing condition C3 is a condition that the host vehicle 100 has finished traveling through the deceleration required section 300 and the speed limit Vlimit applied to the host vehicle 100 has returned to the speed limit Vlimit applied to the host vehicle 100 before entering the deceleration required section 300. The vehicle driving support device 10 is configured to be able to determine whether the passing condition C3 is satisfied based on the surrounding information IS and / or the road information ISroad.

[0061] When the passing condition C3 is not satisfied, the vehicle driving support device 10 determines as "No" in step S435, proceeds with the process to step S495, and once ends the process of this routine.

[0062] On the other hand, when the passing condition C3 is satisfied, the vehicle driving support device 10 determines as "Yes" in step S435, proceeds with the process to step S440, and implements a set vehicle speed restoration proposal. The set vehicle speed restoration proposal proposes to return the set vehicle speed Vset to the original set vehicle speed Vset. More specifically, the set vehicle speed restoration proposal proposes to return the set vehicle speed Vset to the set vehicle speed Vset before being decreased in step S430.

[0063] In this example, the vehicle driving support device 10 implements a proposed restoration of the set vehicle speed by the notification device 40. More specifically, the vehicle driving support device 10 displays an image on the display 41 that proposes to return the set vehicle speed Vset to the original set vehicle speed Vset and / or outputs a voice from the speaker 42 that proposes to return the set vehicle speed Vset to the original set vehicle speed Vset, thereby implementing the proposed restoration of the set vehicle speed.

[0064] Next, the vehicle driving support device 10 proceeds to step S445 in the process and determines whether the driver has performed an approval operation for the proposed restoration of the set vehicle speed.

[0065] If the approval operation has not been performed, the vehicle driving support device 10 determines "No" in step S445 and proceeds to step S495 in the process to temporarily end the process of this routine.

[0066] On the other hand, if the approval operation has been performed, the vehicle driving support device 10 determines "Yes" in step S445 and proceeds to step S450 in the process to set the set vehicle speed Vset to the original set vehicle speed Vset. At this time, the vehicle driving support device 10 ends the proposed restoration of the set vehicle speed.

[0067] Next, the vehicle driving support device 10 proceeds to step S495 in the process to temporarily end the process of this routine.

[0068] The above is the operation of the vehicle driving support device 10.

[0069] According to the vehicle driving support device 10, when it is predicted that the speed limit Vlimit applied to the host vehicle 100 will decrease, and when the host vehicle speed V cannot be maintained at a vehicle speed equal to or lower than the speed limit Vlimit by the deceleration support control, the set vehicle speed Vset is changed to a vehicle speed equal to or lower than the speed limit Vlimit. Therefore, even if the speed limit Vlimit applied to the host vehicle 100 decreases, the host vehicle speed V can be maintained at a vehicle speed equal to or lower than the speed limit Vlimit.

[0070] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

[0071] For example, in the above-described example, the vehicle driving support device 10 sets the set vehicle speed Vset to the limit speed Vlimit applied to the host vehicle 100 in the deceleration required section 300 in step S430 of the routine shown in FIG. 4. However, the vehicle driving support device 10 may be configured to set an arbitrary vehicle speed smaller than the limit speed Vlimit applied to the host vehicle 100 in the deceleration required section 300 as the set vehicle speed Vset in step S430.

[0072] Also, the processes of steps S420 and S425 of the routine shown in FIG. 4 may be omitted. That is, when the system supportable condition C2 does not hold when the limit speed condition C1 holds during execution of the driving support control, the vehicle driving support device 10 may be configured to set the limit speed Vlimit applied to the host vehicle 100 in the deceleration required section 300 as the set vehicle speed Vset without performing a set vehicle speed change proposal.

[0073] That is, when the limit speed condition C1 that the limit speed Vlimit applied to the host vehicle 100 decreases holds during execution of the follow-up driving control, the vehicle driving support device 10 includes at least the condition that the system supportable condition C2 that the host vehicle speed V can be maintained at a vehicle speed equal to or lower than the applied limit speed Vlimit by the deceleration support control does not hold. When the set vehicle speed change condition is satisfied, the set vehicle speed Vset may be configured to be changed to a vehicle speed equal to or lower than the applied limit speed Vlimit.

[0074] Also, the processes of steps S440 and S445 of the routine shown in FIG. 4 may be omitted. That is, when the passing condition C3 holds during execution of the driving support control, the vehicle driving support device 10 may be configured to return the set vehicle speed Vset to the set vehicle speed Vset applied to the host vehicle 100 before the host vehicle 100 enters the deceleration required section 300 without performing a set vehicle speed return proposal.

[0075] That is, when the host vehicle 100 finishes traveling through the deceleration required section 300, the set vehicle speed Vset may be configured to return to the set vehicle speed Vset before the host vehicle 100 enters the deceleration required section 300.

Explanation of Signs

[0076] 10…Vehicle driving support device, 20…Drive device, 30…Brake device, 40…Notification device, 50…Approval operator, 70…Peripheral information acquisition device, 80…Road information acquisition device, 90…ECU, 100…Host vehicle, 200…Leading vehicle

Claims

1. A control device that executes a following driving control for maintaining a vehicle-to-vehicle distance, which is the distance between the host vehicle and a preceding vehicle, at a set vehicle-to-vehicle distance, when the control device executes the following driving control, when the vehicle speed of the host vehicle becomes greater than the set vehicle speed when the vehicle-to-vehicle distance is maintained at the set vehicle-to-vehicle distance, the control device is configured to maintain the vehicle speed of the host vehicle at the set vehicle speed, when the vehicle speed of the host vehicle becomes greater than a predetermined upper limit vehicle speed, the control device is configured to execute a deceleration assistance control for decelerating the host vehicle, In a vehicle driving support device, when the control device executes the following driving control, when a set vehicle speed change condition including at least a condition that a condition that the vehicle speed of the host vehicle cannot be maintained at a vehicle speed equal to or lower than the restricted speed by the deceleration assistance control is not satisfied when a restricted speed condition that the restricted speed applied to the host vehicle becomes smaller is satisfied, the control device is configured to change the set vehicle speed to a vehicle speed equal to or lower than the restricted speed, A vehicle driving support device.

2. In the vehicle driving support device according to Claim 1, the deceleration assistance control is a control for decelerating the host vehicle when the vehicle speed of the host vehicle becomes greater than the predetermined upper limit vehicle speed when the host vehicle is traveling on a curved road, the restricted speed condition includes a condition that the current set vehicle speed is greater than the restricted speed, when there is a possibility that the host vehicle is traveling on a curved road and the curved road is a deceleration required section where a restricted speed smaller than the restricted speed currently applied to the host vehicle is applied to the host vehicle, the control device is configured to determine that the restricted speed applied to the host vehicle becomes smaller, A vehicle driving support device.

3. In the vehicle driving support device according to Claim 2, when the host vehicle has finished traveling through the deceleration required section, the control device is configured to return the set vehicle speed to the set vehicle speed before the host vehicle entered the deceleration required section, A vehicle driving support device.

Images