Driving assistance device

Abstract

To provide a driving support device capable of suppressing occurrence of uneasiness and overconfidence of a driver to deceleration support by notifying the driver of information related to a position where an own vehicle is scheduled to stop in the deceleration support.SOLUTION: A driving assistance device that executes deceleration assistance for a host vehicle when a deceleration object is detected ahead of the host vehicle, the driving assistance device causing a display of the host vehicle to display information on a position at which the host vehicle is scheduled to stop by the deceleration assistance during execution of the deceleration assistance, the information on the position at which the host vehicle is scheduled to stop including a remaining time until an end of the deceleration assistance or a difference between a current vehicle speed of the host vehicle and a target speed of the deceleration assistance.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Japanese Patent Application Laid-Open Publication No. 2013-218429 is a known technical document relating to a driving assistance device. This publication describes a driving assistance device that assists in decelerating a vehicle when it is predicted that the vehicle will stop at a predetermined stopping position, in which deceleration assistance (deceleration control) is performed when the distance to the stopping position and the vehicle speed do not satisfy predetermined conditions, and in which deceleration assistance is not performed when the predetermined conditions are satisfied. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-218429 Summary of the Invention [Problem to be solved by the invention]

[0004] In deceleration assistance for decelerating a vehicle, it is desirable that the driver's driving operation (such as accelerator operation) be smoothly resumed after the deceleration assistance ends. In this regard, with the conventional driving assistance device described above, the driver does not know to what extent deceleration assistance will be provided, which may cause the driver to feel uneasy or lead to the driver becoming overconfident about the deceleration assistance. [Means for solving the problem]

[0005] One aspect of the present invention is a driving assistance device that performs deceleration assistance for a vehicle when a deceleration target is detected in front of the vehicle, and while the deceleration assistance is being performed, information regarding the position where the vehicle is scheduled to stop due to the deceleration assistance is displayed on the display of the vehicle, and the information regarding the position where the vehicle is scheduled to stop includes the remaining time until the end of the deceleration assistance, or the difference between the current vehicle speed of the vehicle and the target speed for the deceleration assistance. [Effects of the Invention]

[0006] According to one aspect of the present invention, the driver can be notified of information regarding the location where the vehicle is scheduled to stop during deceleration assistance, thereby preventing the driver from feeling anxious or overconfident about deceleration assistance. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing a driving assistance device according to an embodiment; [Figure 2] 10A is a diagram showing an example of a display of a notification of the end timing, FIG. 10B is a diagram showing another example of a display of a notification of the end timing, and FIG. 10C is a diagram showing yet another example of a display of a notification of the end timing. [Figure 3] 10A is a flowchart showing an example of a deceleration support start process, FIG. 10B is a flowchart showing an example of a deceleration support end timing notification process, and FIG. 10C is a flowchart showing an example of a deceleration support end process. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0009] 1, the driving assistance device 100 is a device that is mounted on a vehicle (host vehicle) such as a passenger car and assists the driver in driving the host vehicle. When a deceleration target such as a preceding vehicle or a traffic light is detected ahead of the host vehicle, the driving assistance device 100 assists the host vehicle in deceleration under predetermined conditions.

[0010] The deceleration target is a target for deceleration assistance. The deceleration target includes a preceding vehicle, a traffic light, a stop sign, and a stop line. The deceleration target may also include pedestrians, bicycles, and the like in addition to a preceding vehicle, as well as curves, crosswalks, fallen objects, construction equipment, structures, and the like.

[0011] Deceleration assistance is driving assistance that decelerates the host vehicle to a preset target vehicle speed. The target vehicle speed is not particularly limited and may be 0 km / h or 10 km / h. The target vehicle speed may be determined according to the type of deceleration target. If the deceleration target is a traffic light, the target vehicle speed for deceleration assistance may be changed according to the lighting state of the traffic light (green, yellow, red, etc.). If the deceleration target is a moving object such as a preceding vehicle, the target vehicle speed is not limited to the speed of the host vehicle, and the relative speed between the host vehicle and the deceleration target may be used.

[0012] [Configuration of driving assistance device] The configuration of a driving assistance device 100 according to one embodiment will be described with reference to the drawings. As shown in FIG. 1, the driving assistance device 100 includes a driving assistance ECU (Electronic Control Unit) 10 that performs overall management of the device. The driving assistance ECU 10 is an electronic control unit that includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The driving assistance ECU 10 implements various functions by, for example, loading a program stored in the ROM into the RAM and executing the program loaded into the RAM with the CPU. The driving assistance ECU 10 may be composed of multiple electronic units.

[0013] The driving assistance ECU 10 is connected to an external sensor 1, an internal sensor 2, an HMI (Human Machine Interface) 3, and an actuator 4.

[0014] The external sensor 1 is a detection device that detects the situation around the host vehicle. The external sensor 1 includes at least one of a camera and a radar sensor. The camera is an imaging device that captures images of the situation outside the host vehicle. The camera is provided, for example, behind the windshield of the host vehicle, and captures images in front of the host vehicle. The camera transmits imaging information related to the situation outside the host vehicle to the driving assistance ECU 10. The camera may be a monocular camera or a stereo camera.

[0015] A radar sensor is a detection device that uses radio waves (e.g., millimeter waves) or light to detect objects around the vehicle. Radar sensors include, for example, millimeter-wave radar or LIDAR (Light Detection and Ranging). A radar sensor detects objects by transmitting radio waves or light around the vehicle and receiving the radio waves or light reflected by the objects. The radar sensor transmits information about the detected objects to the driving assistance ECU 10. Objects include fixed obstacles such as guardrails and buildings, as well as moving obstacles such as pedestrians, bicycles, and other vehicles.

[0016] The internal sensor 2 is a detection device that detects the traveling state of the host vehicle. The internal sensor 2 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the host vehicle. As the vehicle speed sensor, for example, a wheel speed sensor is used that is provided on a wheel of the host vehicle or a drive shaft that rotates integrally with the wheel and detects the rotation speed of the wheel. The vehicle speed sensor transmits the detected vehicle speed information (wheel speed information) to the driving assistance ECU 10.

[0017] The acceleration sensor is a detector that detects the acceleration of the host vehicle. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects the acceleration in the longitudinal direction of the host vehicle and a lateral acceleration sensor that detects the lateral acceleration of the host vehicle. The acceleration sensor transmits, for example, acceleration information of the host vehicle to the driving assistance ECU 10. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the host vehicle. For example, a gyro sensor can be used as the yaw rate sensor. The yaw rate sensor transmits the detected yaw rate information of the host vehicle to the driving assistance ECU 10.

[0018] The HMI 3 is an interface for inputting and outputting information between the driving assistance device 100 and the driver. The HMI 3 includes, for example, a display and a speaker. The HMI 3 outputs images to the display and sounds to the speaker in response to control signals from the driving assistance ECU 10. The display may be a HUD (Head Up Display). The display may be an MID (Multi Information Display) arranged on the meter panel.

[0019] The actuator 4 is a device used to control the host vehicle. The actuator 4 includes at least a drive actuator and a brake actuator. The actuator 4 may also include a steering actuator. The drive actuator controls the amount of air supplied to the engine (throttle opening) in response to a control signal from the driving assistance ECU 10, thereby controlling the driving force of the host vehicle. If the host vehicle is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the driving assistance ECU 10 is input to a motor serving as a power source to control the driving force. If the host vehicle is an electric vehicle, a control signal from the driving assistance ECU 10 is input to a motor serving as a power source to control the driving force. In these cases, the motor serving as a power source constitutes the actuator 4.

[0020] The brake actuator controls a brake system in response to a control signal from the driving assistance ECU 10, thereby controlling the braking force applied to the wheels of the vehicle. For example, a hydraulic brake system can be used as the brake system. The steering actuator controls the drive of an assist motor that controls the steering torque of the electric power steering system in response to a control signal from the driving assistance ECU 10. In this way, the steering actuator controls the steering torque of the vehicle.

[0021] Next, a description will be given of the functional configuration of the driving assistance ECU 10. As shown in Fig. 1, the driving assistance ECU 10 has a deceleration target recognition unit 11, a relative situation recognition unit 12, a start condition determination unit 13, a driving assistance unit 14, an end timing estimation unit 15, and a notification unit 16. Note that some of the functions of the driving assistance ECU 10 described below may be executed by a server that can communicate with the host vehicle.

[0022] The deceleration object recognition unit 11 recognizes a deceleration object ahead of the vehicle based on the detection result of the external sensor 1. The deceleration object recognition unit 11 may recognize the type of deceleration object (such as a preceding vehicle, traffic light, or stop sign). The deceleration object recognition unit 11 detects and recognizes the type of deceleration object by performing pattern matching using pre-stored image patterns for each type based on an image of the area ahead of the vehicle captured by a camera, for example. The deceleration object recognition unit 11 may recognize the type of deceleration object based on object information from a radar sensor.

[0023] The relative situation recognition unit 12 recognizes the relative situation between the host vehicle and the deceleration target. The relative situation includes at least the distance between the host vehicle and the deceleration target (the distance in the front-rear direction or the traveling direction of the host vehicle). The relative situation may also include the relative speed between the host vehicle and the deceleration target.

[0024] The relative situation recognition unit 12 recognizes the relative situation between the host vehicle and the decelerating target based on, for example, the detection result of the external sensor 1. When the decelerating target is a vehicle capable of vehicle-to-vehicle communication with the host vehicle, the relative situation recognition unit 12 may recognize the relative situation between the host vehicle and the decelerating target using information acquired through vehicle-to-vehicle communication. The relative situation recognition unit 12 may recognize the relative speed between the host vehicle and the decelerating target based on, for example, the speed of the decelerating target acquired through vehicle-to-vehicle communication and the speed of the host vehicle.

[0025] The start condition determination unit 13 determines whether a deceleration support start condition for a deceleration target is satisfied. The deceleration support start condition is a condition set in advance for use in determining whether to start deceleration support. The start condition determination unit 13 determines whether the deceleration support start condition is satisfied based at least on the distance between the host vehicle and the deceleration target.

[0026] The deceleration support start condition may be changed depending on the type of the deceleration target. For example, when the type of the deceleration target is a preceding vehicle, the start condition determination unit 13 determines whether the deceleration support start condition for the preceding vehicle is satisfied based on the relative situation (for example, TTC) between the host vehicle and the deceleration target.

[0027] Specifically, a case where the deceleration target is a traffic light will be described. When it is determined that the traffic light is not in a passing permission state (green light), the start condition determination unit 13 determines whether or not a deceleration support start condition for the traffic light is satisfied, based at least on the distance between the vehicle and the traffic light. Note that the fact that the traffic light is not in a passing permission state may be one of the deceleration support start conditions.

[0028] The start condition determination unit 13 determines that the deceleration assistance start condition is satisfied, for example, when the distance between the host vehicle and the traffic light is less than a distance threshold. The distance threshold is a threshold value set in advance. Here, the position of the traffic light used to calculate the distance between the host vehicle and the traffic light may be the position of the traffic light itself, or the position of the stop line in front of the traffic light. When the external sensor 1 cannot detect the stop line in front of the traffic light due to rubbing of the white line of the stop line, for example, the start condition determination unit 13 may assume that a stop line exists a certain distance before the traffic light and use this assumption to calculate the distance between the host vehicle and the traffic light.

[0029] Furthermore, the start condition determination unit 13 may determine whether the deceleration support start condition is satisfied using the TTC (Time To Collision) between the host vehicle and the traffic light, rather than the distance between the host vehicle and the traffic light. For example, when the TTC between the host vehicle and the traffic light is less than a TTC threshold, the start condition determination unit 13 determines that the deceleration support start condition for the traffic light is satisfied. The TTC is calculated by dividing the distance between the host vehicle and the traffic light by the vehicle speed of the host vehicle. The TTC threshold is a threshold value that is set in advance. Note that the start condition determination unit 13 may also determine that the deceleration support start condition is not satisfied when the driver is operating the accelerator pedal or the brake pedal.

[0030] When the start condition determination unit 13 determines that the deceleration support start condition is satisfied, the driving support unit 14 starts deceleration support as driving support for the host vehicle. The driving support unit 14 performs deceleration support for the host vehicle by sending a control signal to the actuator 4. The driving support unit 14 performs deceleration support so that the host vehicle decelerates to a preset target vehicle speed based on, for example, the distance between the host vehicle and a deceleration target and the speed of the host vehicle.

[0031] The driving assistance unit 14 may perform deceleration assistance using, for example, a target deceleration. The start condition determination unit 13 calculates, for example, a target deceleration required to decelerate the vehicle to a target vehicle speed for deceleration assistance by the time the distance between the vehicle and the deceleration target becomes a preset distance.

[0032] The value of the set distance is not particularly limited. The set distance may be set, for example, according to the type of deceleration target. When the deceleration target is a traffic light in a no-passing state (red light), the set distance may be 1 m or 0.5 m. When the deceleration target is a stop sign, the set distance may be 0.5 m or 0 m.

[0033] The target vehicle speed for deceleration assistance may also be set according to the type of deceleration target. For example, if the type of deceleration target is a traffic light or a stop sign in a no-passing state, the target vehicle speed for deceleration assistance is set to a target vehicle speed for stopping (e.g., 0 km / h). Note that the target vehicle speed for stopping does not necessarily have to be 0 km / h, and may be a value close to 0 km / h.

[0034] The driving support unit 14 calculates the target deceleration for deceleration support from the set distance and target vehicle speed based on the relative situation between the host vehicle and the deceleration target and the vehicle speed of the host vehicle. The driving support unit 14 executes deceleration support for the host vehicle by engine braking and / or braking by sending a control signal to the actuator 4 according to the target deceleration.

[0035] The driving assistance unit 14 determines whether the end timing of deceleration assistance has arrived. The end timing of deceleration assistance is the timing at which deceleration assistance ends. The end timing of deceleration assistance will be described later. The driving assistance unit 14 determines whether the end timing has arrived based on, for example, at least one of the relative situation between the host vehicle and the deceleration target and the vehicle speed of the host vehicle. When the driving assistance unit 14 determines that the end timing of deceleration assistance has arrived, it ends deceleration assistance for the deceleration target.

[0036] In addition, if the driver performs an operation to cancel the deceleration support while the deceleration support is being performed, the driving support unit 14 ends the deceleration support. The operation to cancel the deceleration support includes, for example, an operation to turn off the driving support function, an operation of the accelerator pedal or a steering operation of a certain amount or more.

[0037] The end timing estimation unit 15 estimates the end timing of the deceleration support while the deceleration support is being executed. The end timing estimation unit 15 estimates the end timing of the deceleration support based on, for example, at least one of the relative situation between the host vehicle and the deceleration target and the vehicle speed of the host vehicle.

[0038] The timing for ending the deceleration assistance may be shown as the remaining time until the end of the deceleration assistance, the remaining distance traveled until the end of the deceleration assistance, the distance until the end of the deceleration assistance, or the difference (remaining deceleration amount) between the current vehicle speed of the vehicle and the target vehicle speed for the deceleration assistance.

[0039] The remaining time may be the time until the speed of the host vehicle reaches the target speed for deceleration assistance, or the time until the distance between the host vehicle and the deceleration target becomes a set distance. The remaining travel distance may be the travel distance until the speed of the host vehicle reaches the target speed for deceleration assistance, or the travel distance until the distance between the host vehicle and the deceleration target becomes a set distance. The remaining deceleration amount is the difference between the current vehicle speed of the host vehicle and the target vehicle speed for deceleration assistance.

[0040] The notification unit 16 notifies the driver of the vehicle of driving assistance. The notification unit 16 transmits a control signal to the HMI 3 to provide notification including at least one of an image output on a display and an audio output from a speaker.

[0041] The notification unit 16 notifies the driver of the end timing of the deceleration support estimated by the end timing estimation unit 15 while the deceleration support is being executed. The notification unit 16 notifies the driver by displaying an image and / or outputting sound on the HMI 3. The notification unit 16 may also notify the driver by displaying an image and / or text on a display.

[0042] Fig. 2(a) is a diagram showing an example of a display of notification of the end timing. The text display T shown in Fig. 2(a) indicates the remaining time until the end of deceleration assistance. The text display T may be displayed on the MID, on a display provided on the dashboard, or projected onto the windshield of the vehicle. The notification unit 16 may notify the driver of the remaining time by voice at a predetermined timing in addition to displaying the text display T.

[0043] FIG. 2(b) is a diagram showing another example of the display of the notification of the end timing. The position of the moving bar B in the bar display frame H in FIG. 2(b) indicates the remaining distance to the end of deceleration support. The portion that the moving bar B has passed through is colored a different color from the portion that has not yet passed through. The number at the top of the bar display frame H indicates the remaining distance to the end of deceleration support at the start of deceleration support. The number next to the moving bar B indicates the current remaining distance to the end of deceleration support. In the display shown in FIG. 2(b), the moving bar B rises within the bar display frame H as the vehicle moves, thereby notifying the driver of the remaining distance to the end of deceleration support.

[0044] FIG. 2(c) is a diagram showing yet another example of a display for notifying the end timing. The meter icon M shown in FIG. 2(c) shows a needle Vs corresponding to the current vehicle speed of the host vehicle. The arrow N along the meter icon M indicates the remaining deceleration amount by which the host vehicle will decelerate before the deceleration support ends. The base end Na of the arrow N corresponds to the position of the needle Vs (the current vehicle speed of the host vehicle), and the tip Nb of the arrow N corresponds to the target speed of the deceleration support. In the display shown in FIG. 2(c), the length of the arrow N notifies the driver of the remaining deceleration amount until the deceleration support ends. In the display shown in FIG. 2(c), the position of the needle Vs changes counterclockwise due to the deceleration of the host vehicle, and the arrow N shortens (the base end Na of the arrow N approaches the tip Nb), thereby notifying the driver of the change in the remaining deceleration amount.

[0045] The needle Vs of the meter icon M may be fixed and only the length of the arrow N may be changed. Also, it is not necessary to use an arrow, and a virtual needle corresponding to the target speed for deceleration assistance may be shown on the meter icon M, and the needle Vs corresponding to the current vehicle speed may approach the virtual needle to notify the driver of a change in the amount of deceleration remaining until the end of deceleration assistance.

[0046] Alternatively, the driver may be notified of the remaining deceleration amount until the end of deceleration support by displaying an image corresponding to the arrow N around the speed meter of the vehicle. In other words, the actual speed meter of the vehicle may be used instead of the meter icon M.

[0047] [Driving assistance device processing] Next, the processing of the driving support device 100 of this embodiment will be described with reference to the drawings. Fig. 3(a) is a flowchart showing an example of deceleration support start processing.

[0048] As shown in Fig. 3(a), in S10, the driving assistance ECU 10 of the driving assistance device 100 recognizes a deceleration target ahead of the vehicle by the deceleration target recognition unit 11. The deceleration target recognition unit 11 recognizes the deceleration target based on the detection result of the external sensor 1. In S10, in addition to recognizing the deceleration target, the relative situation recognition unit 12 also recognizes the relative situation between the vehicle and the deceleration target.

[0049] In S12, the driving assistance ECU 10 determines whether the deceleration assistance start condition for the deceleration target is satisfied by the start condition determination unit 13. The driving assistance ECU 10 determines whether the deceleration assistance start condition is satisfied based on, for example, the distance between the host vehicle and the deceleration target. If the driving assistance ECU 10 determines that the deceleration assistance start condition is satisfied (S12: YES), the driving assistance ECU 10 proceeds to S14. If the driving assistance ECU 10 does not determine that the deceleration assistance start condition is satisfied (S12: NO), the driving assistance ECU 10 ends this processing. Thereafter, the driving assistance ECU 10 repeats the processing from S10 again after a certain period of time has elapsed.

[0050] In S14, the driving assistance ECU 10 starts deceleration assistance for the host vehicle by the driving assistance unit 14. The driving assistance unit 14 transmits a control signal to the actuator 4 to perform deceleration assistance for the deceleration target.

[0051] 3B is a flowchart showing an example of a process for notifying the end timing of deceleration support. The process for notifying the end timing of deceleration support is performed while deceleration support is being executed.

[0052] 3(b), in step S20, the driving assist ECU 10 estimates the end timing of the deceleration assist using the end timing estimation unit 15. The end timing estimation unit 15 estimates the end timing of the deceleration assist based on, for example, at least one of the relative situation between the host vehicle and the deceleration target and the vehicle speed of the host vehicle.

[0053] In S22, the driving assistance ECU 10 notifies the driver of the timing to end the deceleration assistance using the notification unit 16. The notification unit 16 notifies the driver of the timing to end the deceleration assistance by, for example, displaying an image such as that shown in Fig. 2(c) on the MID, which is the display of the HMI 3. The notification unit 16 may also notify the driver of the timing to end the deceleration assistance by outputting a sound.

[0054] 3(c) is a flowchart showing an example of deceleration support termination processing, which is performed while deceleration support is being executed.

[0055] As shown in FIG. 3(c), the driving assistance ECU 10 determines in S30 whether the timing to end deceleration assistance has arrived using the driving assistance unit 14. The driving assistance unit 14 makes this determination based on, for example, at least one of the relative situation between the host vehicle and the deceleration target and the vehicle speed of the host vehicle. If the driving assistance ECU 10 determines that the timing to end deceleration assistance has arrived (S30: YES), the process proceeds to S32. If the driving assistance ECU 10 does not determine that the timing to end deceleration assistance has arrived (S30: NO), the process ends this time. Thereafter, the driving assistance ECU 10 repeats the process again from S30 after a certain time has elapsed. The process ends. Then, the driving assistance ECU 10 repeats the process again from S10 after a certain time has elapsed.

[0056] In S32, the driving assistance ECU 10 causes the driving assistance unit 14 to end the deceleration assistance. The driving assistance unit 14 stops transmission of the control signal to the actuator 4 or sends an end signal to end the deceleration assistance.

[0057] According to the driving assistance device 100 according to the present embodiment described above, the end timing of the deceleration assistance is estimated while the deceleration assistance is being performed and the end timing of the deceleration assistance is notified to the driver, which makes it possible to suppress the driver's anxiety and overconfidence regarding the deceleration assistance compared to the conventional case in which the end timing of the deceleration assistance is not notified to the driver. Furthermore, the driver can smoothly transition to driving operations such as accelerating the vehicle based on the end timing of the deceleration assistance.

[0058] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. The present invention can be embodied in various forms, including the above-described embodiments, with various modifications and improvements made based on the knowledge of those skilled in the art.

[0059] For example, the notification unit 16 may notify the driver of the timing to end deceleration assistance by a combination of at least two of a text display as shown in FIG. 2(a), a bar display as shown in FIG. 2(b), and an icon display as shown in FIG. 2(c). [Explanation of symbols]

[0060] 1...external sensor, 2...internal sensor, 3...HMI, 4...actuator, 10...driving assistance ECU, 11...deceleration target recognition unit, 12...relative situation recognition unit, 13...start condition determination unit, 14...driving assistance unit, 15...end timing estimation unit, 16...notification unit, 100...driving assistance device.

Claims

1. A driving assistance device that performs deceleration assistance for a host vehicle when a deceleration target is detected in front of the host vehicle, During execution of the deceleration assistance, displaying information on a position where the vehicle is scheduled to stop as a result of the deceleration assistance on a display of the vehicle; A driving assistance device, wherein the information regarding the position where the host vehicle is scheduled to stop includes the remaining time until the end of the deceleration assistance, or the difference between the current vehicle speed of the host vehicle and the target speed for the deceleration assistance.

2. 2. The driving assistance device according to claim 1, wherein the remaining time until the end of the deceleration assistance is a time until the vehicle speed of the host vehicle reaches a target speed of the deceleration assistance, or a time until the distance between the host vehicle and the deceleration target reaches a set distance.

3. 2. The driving assistance device according to claim 1, wherein the information relating to the position where the host vehicle is scheduled to stop is a text display indicating the remaining time until the end of the deceleration assistance, or a meter icon indicating the difference between the current vehicle speed of the host vehicle and the target speed of the deceleration assistance.

4. 2. The driving assistance device according to claim 1, wherein the information regarding the position where the host vehicle is scheduled to stop is a combination of at least two of a remaining time until the end of the deceleration assistance, a remaining distance of the host vehicle until the end of the deceleration assistance, or a difference between a current vehicle speed of the host vehicle and a target speed of the deceleration assistance.

5. 2. The driving assistance device according to claim 1, wherein the information regarding the position where the host vehicle is scheduled to stop is a combination of at least two of a text display indicating the remaining time until the end of the deceleration assistance, a bar display indicating the remaining distance the host vehicle will travel until the end of the deceleration assistance, or a meter icon indicating the difference between the current vehicle speed of the host vehicle and a target speed for the deceleration assistance.

6. The driving assistance device according to claim 1 , wherein the target vehicle speed for the deceleration assistance is set according to a type of the deceleration target.

Images