Vehicle driving assistance device

Abstract

To provide a vehicle travel support device which can select a follow-up object vehicle according to whether an operator of an own vehicle desires the own vehicle follows the other vehicle, or the operator of the own vehicle desires the own vehicle does not follow the other vehicle.SOLUTION: A vehicle travel support device 10 comprises the steps of: acquiring traveling speed of an own vehicle as a tracking travel speed when the own vehicle 100 tracks the other vehicle; acquiring traveling speed of the own vehicle as a non-tracking travel speed when the own vehicle does not track the other vehicle; and selecting, when detecting the other vehicle that can be an object the own vehicle tracks at a periphery region of the own vehicle, a tracking object vehicle 200T based on either the tracking travel speed or the non-tracking travel speed which is selected based on tracking travel ratio that is a ratio of time when the own vehicle performs tracking travel to the period of time when a driving unit of the own vehicle is started or non-tracking travel ratio that is a ratio of time when the own vehicle does not perform tracking travel.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] A vehicle driving assistance device is known that stores information about a driver's driving characteristics (driving characteristic information) and selects an appropriate other vehicle (following target vehicle) for the vehicle to follow based on the driving characteristic information (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-146428 Summary of the Invention

[0004] As described above, conventional vehicle driving assistance systems select a vehicle to be followed based on driving characteristic information, but depending on the situation, the driver may or may not want the vehicle to follow another vehicle. However, conventional vehicle driving assistance systems uniformly select a vehicle to be followed based on driving characteristic information without taking into consideration whether the driver wants the vehicle to follow another vehicle.

[0005] An object of the present invention is to provide a vehicle driving assistance device that can select a vehicle to be followed depending on whether the driver of the vehicle wishes the vehicle to follow another vehicle or not to follow the other vehicle.

[0006] A vehicle driving assistance device according to the present invention includes a control device that selects, as a target vehicle for the host vehicle to follow, a vehicle to be followed. The control device is configured to acquire a traveling speed of the host vehicle when the host vehicle is following another vehicle as a following traveling speed, and acquire a traveling speed of the host vehicle when the host vehicle is not following another vehicle as a non-following traveling speed, and to select the target vehicle to be followed based on either the following traveling speed or the non-following traveling speed, which is selected based on a following traveling rate, which is a rate at which the host vehicle followed another vehicle, or a non-following traveling rate, which is a rate at which the host vehicle did not follow another vehicle, during a period from when a drive unit of the host vehicle was started, when another vehicle that can be a target for the host vehicle to follow is detected in the vicinity of the host vehicle.

[0007] The percentage of times that the host vehicle performed following driving during the period after the drive system of the host vehicle was started (following driving percentage) indicates the degree to which the driver of the host vehicle wishes the host vehicle to follow another vehicle. Also, the percentage of times that the host vehicle did not perform following driving during the period after the drive system of the host vehicle was started (non-following driving percentage) indicates the degree to which the driver of the host vehicle wishes the host vehicle not to follow another vehicle.

[0008] According to the vehicle driving assistance device of the present invention, a vehicle to be followed is selected based on either a following driving speed or a non-following driving speed, which is selected based on the proportion of times the host vehicle has followed another vehicle (following driving proportion) or the proportion of times the host vehicle has not followed another vehicle (non-following driving proportion) during a period since the drive unit of the host vehicle was started. Therefore, a vehicle to be followed is selected depending on whether the driver of the host vehicle wishes the host vehicle to follow another vehicle or not to follow another vehicle.

[0009] In addition, in the vehicle driving assistance device of the present invention, the control device can be configured to select the following driving speed and select the vehicle to be followed based on the following driving speed when the following driving ratio is equal to or greater than a predetermined following driving ratio, or when the non-following driving ratio is equal to or less than a predetermined non-following driving ratio, and to select the non-following driving speed and select the vehicle to be followed based on the non-following driving speed when the following driving ratio is smaller than the predetermined following driving ratio, or when the non-following driving ratio is larger than the predetermined non-following driving ratio.

[0010] When the following driving ratio is high, it is presumed that the driver of the host vehicle wishes to have the host vehicle follow another vehicle. Similarly, when the non-following driving ratio is low, it is presumed that the driver of the host vehicle wishes to have the host vehicle follow another vehicle. In these cases, if the vehicle to be followed is selected based on the following driving speed, the driver's wishes are more likely to be met.

[0011] On the other hand, if the following running ratio is small, it is presumed that the driver of the host vehicle does not want the host vehicle to be following other vehicles. Similarly, if the non-following running ratio is large, it is presumed that the driver of the host vehicle does not want the host vehicle to be following other vehicles. In these cases, if the vehicle to be followed is selected based on the non-following running speed, the driver's wishes are more likely to be met.

[0012] According to the vehicle driving assistance device of the present invention, when the following driving ratio is equal to or greater than a predetermined following driving ratio, or when the non-following driving ratio is equal to or less than a predetermined non-following driving ratio, a target vehicle to be followed is selected based on the following driving speed. On the other hand, when the following driving ratio is smaller than the predetermined following driving ratio, or when the non-following driving ratio is larger than the predetermined non-following driving ratio, a target vehicle to be followed is selected based on the non-following driving speed. Therefore, a target vehicle to be followed is selected depending on whether the driver of the vehicle wishes to have the vehicle follow the other vehicle or not to have the vehicle follow the other vehicle.

[0013] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured to set the specified following driving ratio or the specified non-following driving ratio based on the past following driving ratio or the past non-following driving ratio.

[0014] The past following driving ratio was obtained when the host vehicle traveled in the past, and therefore was obtained based on more information related to the traveling of the host vehicle. Therefore, the past following driving ratio may more accurately represent whether or not the driver of the host vehicle desires the host vehicle to follow another vehicle than the current following driving ratio. Similarly, the past non-following driving ratio was obtained when the host vehicle traveled in the past, and therefore was obtained based on more information related to the traveling of the host vehicle. Therefore, the past non-following driving ratio may more accurately represent whether or not the driver of the host vehicle desires the host vehicle not to follow another vehicle than the current non-following driving ratio.

[0015] According to the vehicle driving assistance device of the present invention, the predetermined following driving ratio or the predetermined non-following driving ratio is set based on the past following driving ratio or the past non-following driving ratio, so that it is possible to more accurately determine whether the driver of the vehicle wants the vehicle to follow another vehicle or not.

[0016] The vehicle driving assistance device according to the present invention may be configured to acquire the following driving speed or the non-following driving speed through learning, and may be configured to perform the learning using AI technology (artificial intelligence technology) such as so-called machine learning or deep learning.

[0017] The present invention can also be applied to an automatically or autonomously driven vehicle, which is a vehicle that runs automatically or autonomously by a control device such as an ECU, without the user having to perform any driving operations on the vehicle.

[0018] 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, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing a vehicle driving support device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing a scene in which another vehicle is present ahead of the host vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, a vehicle driving assistance device according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows a vehicle driving assistance device 10 according to an embodiment of the present invention. The vehicle driving assistance device 10 is mounted on a host vehicle 100. Hereinafter, the vehicle driving assistance device 10 will be described using as an example a case where the operator of the host vehicle 100 is a person who gets into the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100).

[0021] However, the operator of the host vehicle 100 may be a person who drives the host vehicle 100 remotely without being in the host vehicle 100 (i.e., a remote operator of the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the vehicle driving assistance device 10 is mounted on the host vehicle 100 and on a remote operation facility installed outside the host vehicle 100 for remotely driving the host vehicle 100, and the functions of the vehicle driving assistance device 10 described below are shared between the vehicle driving assistance device 10 mounted on the host vehicle 100 and the vehicle driving assistance device 10 mounted on the remote operation facility.

[0022] As shown in FIG. 1, the vehicle driving assistance device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, storage media such as a ROM, a RAM, and a non-volatile memory, as well as an interface. The CPU executes instructions, programs, or routines stored in the storage media to realize various functions. In particular, in this example, the vehicle driving assistance device 10 stores programs in the storage media that realize various controls executed by the vehicle driving assistance device 10.

[0023] The vehicle driving assistance device 10 may be configured so that the program stored in the recording medium can be updated via wireless communication with an external device (for example, via the Internet).

[0024] <Operation of vehicle driving assistance system> The vehicle driving assistance device 10 executes the routine shown in FIG. 2 at a predetermined calculation period, and when a predetermined condition is met, notifies the driver of the vehicle 100 that there is another vehicle that the vehicle 100 is to follow.

[0025] At a predetermined timing, the vehicle driving support device 10 starts the process from step S200 of the routine shown in Fig. 2, and proceeds to step S205 to determine whether or not the following candidate vehicle 200C is present. In other words, the vehicle driving support device 10 determines whether or not the following candidate vehicle 200C is detected.

[0026] 3, the following candidate vehicle 200C is one of other vehicles (peripheral vehicles) traveling ahead of the host vehicle 100 in the same direction as the host vehicle 100 within a predetermined distance Dth from the host vehicle 100 and that can be made to follow the host vehicle 100. However, the following candidate vehicle 200C may also be one of other vehicles (peripheral vehicles) traveling behind the host vehicle 100 in the same direction as the host vehicle 100 within the range of the host vehicle 100 and that can be made to follow the host vehicle 100.

[0027] Furthermore, making the vehicle 100 follow another vehicle does not only mean making the vehicle 100 follow another vehicle by automatically or autonomously accelerating or decelerating the vehicle 100, but also making the vehicle 100 follow another vehicle by accelerating or decelerating the vehicle 100 through the driver's own driving operations.

[0028] 1, the vehicle driving assistance device 10 includes a surrounding information acquisition device 20. The surrounding information acquisition device 20 includes an image sensor 21 such as a camera and an electromagnetic wave sensor 22 such as a radar sensor. The image sensor 21 and the electromagnetic wave sensor 22 are each electrically connected to the ECU 90. The ECU 90 (i.e., the vehicle driving assistance device 10) acquires image data of the surroundings of the host vehicle 100 as surrounding information IS using the image sensor 21, and acquires target data of the surroundings of the host vehicle 100 as surrounding information IS using the electromagnetic wave sensor 22. The vehicle driving assistance device 10 detects or identifies a following candidate vehicle 200C based on the surrounding information IS.

[0029] In this regard, the vehicle driving assistance device 10 (particularly the ECU 90) may be configured to be capable of wireless communication with the ECU of another vehicle via a receiver (so-called vehicle-to-vehicle communication), and in this case, may be configured to receive a wireless signal transmitted from the other vehicle via the receiver and acquire various information about the other vehicle as surrounding information IS based on the received signal. In this case, the vehicle driving assistance device 10 may be configured to detect or identify the following candidate vehicle 200C based on the surrounding information IS.

[0030] If the determination in step S205 is "Yes," the vehicle driving assistance device 10 proceeds to step S210 and determines whether the following driving ratio Rf is equal to or greater than a predetermined ratio (predetermined following driving ratio Rf_th).

[0031] In this example, the following travel ratio Rf is the ratio of the following travel time Tf to the current trip time Tt. The current trip time Tt is the time that has elapsed since the drive device of the host vehicle 100 was started this time. The vehicle travel assistance device 10 measures and stores the current trip time Tt.

[0032] The following-traveling time Tf is the total time that the host vehicle 100 has been following another vehicle since the drive unit of the host vehicle 100 was started. The vehicle travel assistance device 10 measures and stores the following-traveling time Tf.

[0033] Furthermore, the predetermined following travel ratio Rf_th may be a predetermined constant value (fixed value), or may be a value set based on a past following travel ratio Rf. In particular, when the predetermined following travel ratio Rf_th is a value set based on a past following travel ratio Rf, the past following travel ratio Rf may be set as the predetermined following travel ratio Rf_th as is, or a value obtained by multiplying the past following travel ratio Rf by a predetermined value may be set as the predetermined following travel ratio Rf_th.

[0034] Furthermore, the predetermined following travel ratio Rf_th may be set without considering the host vehicle speed V (current host vehicle speed V) at the time the determination in step S210 is made, or may be set with the current host vehicle speed V in mind. When the predetermined following travel ratio Rf_th is set with the current host vehicle speed V in mind, the predetermined following travel ratio Rf_th is set so that, for example, when the current host vehicle speed V is high, the determination in step S210 is more likely to be "Yes." In other words, when the current host vehicle speed V is high, the predetermined following travel ratio Rf_th is set to a smaller value than when the current host vehicle speed V is low.

[0035] The vehicle driving assistance device 10 may be configured to determine whether or not the non-following traveling ratio Rs is equal to or less than a predetermined ratio (predetermined non-following traveling ratio Rs_th) in step S210.

[0036] In this case, the non-following traveling ratio Rs is the ratio of the non-following traveling time Ts to the current trip time Tt. The non-following traveling time Ts is the total time that the host vehicle 100 has not been following another vehicle since the drive unit of the host vehicle 100 was started this time.

[0037] Furthermore, the predetermined non-following traveling ratio Rs_th may be a predetermined constant value (fixed value), or may be a value set based on a past non-following traveling ratio Rs. In particular, when the predetermined non-following traveling ratio Rs_th is a value set based on a past non-following traveling ratio Rs, the past non-following traveling ratio Rs may be set as the predetermined non-following traveling ratio Rs_th as is, or a value obtained by multiplying the past non-following traveling ratio Rs by a predetermined value may be set as the predetermined non-following traveling ratio Rs_th.

[0038] Furthermore, the predetermined non-following traveling ratio Rs_th may be set without considering the host vehicle speed V (current host vehicle speed V) at the time the determination in step S210 is made, or may be set with the current host vehicle speed V in mind. When the predetermined non-following traveling ratio Rs_th is set with the current host vehicle speed V in mind, the predetermined non-following traveling ratio Rs_th is set so that, for example, when the current host vehicle speed V is high, the determination in step S210 is more likely to be "Yes." In other words, when the current host vehicle speed V is high, the predetermined non-following traveling ratio Rs_th is set to a larger value than when the current host vehicle speed V is low.

[0039] The following travel ratio Rf may be the ratio of the following travel distance Df to the current trip distance Dt. The current trip distance Dt is the travel distance of the host vehicle 100 since the drive unit of the host vehicle 100 was started this time. The following travel distance Df is the total distance that the host vehicle 100 has traveled following another vehicle since the drive unit of the host vehicle 100 was started this time.

[0040] The non-following traveling ratio Rs may be the ratio of the non-following traveling distance Ds to the current trip distance Dt. The non-following traveling distance Ds is the total distance that the host vehicle 100 has not traveled following another vehicle since the drive unit of the host vehicle 100 was started this time.

[0041] Furthermore, the following driving ratio Rf may be the ratio of the following driving time Tf to the non-following driving time Ts during the period since the drive device of the vehicle 100 was started this time, or the ratio of the following driving distance Df to the non-following driving distance Ds, or the ratio of the following driving time Tf to the sum of the following driving time Tf and the non-following driving time Ts, or the ratio of the following driving distance Df to the sum of the following driving distance Df and the non-following driving distance Ds.

[0042] Similarly, the non-following driving ratio Rs may be the ratio of the non-following driving time Ts to the following driving time Tf during the period since the drive unit of the vehicle 100 was started, or the ratio of the non-following driving distance Ds to the following driving distance Df, or the ratio of the non-following driving time Ts to the sum of the following driving time Tf and the non-following driving time Ts, or the ratio of the non-following driving distance Ds to the sum of the following driving distance Df and the non-following driving distance Ds.

[0043] If the determination in step S210 is "Yes," the vehicle driving assistance device 10 proceeds to step S215 to determine whether the following candidate vehicle speed Vc is within the following travel speed range RVf. That is, the vehicle driving assistance device 10 determines whether the following candidate vehicle speed Vc is equal to or greater than the first following travel speed Vf_1 and equal to or less than the second following travel speed Vf_2.

[0044] The following candidate vehicle speed Vc is the traveling speed of the following candidate vehicle 200C. The vehicle travel assistance device 10 acquires the traveling speed of the following candidate vehicle 200C as the following candidate vehicle speed Vc based on the surrounding information IS.

[0045] The first following traveling speed Vf_1 is a speed that is slower than the following traveling speed Vf by a predetermined value, while the second following traveling speed Vf_2 is a speed that is faster than the following traveling speed Vf by a predetermined value.

[0046] Further, the following travel speed Vf is a learned value of the host vehicle speed V when the host vehicle 100 is traveling following another vehicle. More specifically, since the drive device of the host vehicle 100 was started this time, the vehicle travel assistance device 10 collects data on the host vehicle speed V when the host vehicle 100 is traveling following another vehicle, and based on the data, performs a learning process to acquire, through learning, as the following travel speed Vf, a speed that is considered appropriate as the host vehicle speed V when the host vehicle 100 is traveling following another vehicle, in other words, a speed that is considered appropriate as the host vehicle speed V desired by the driver of the host vehicle 100 when the host vehicle 100 is traveling following another vehicle. The vehicle travel assistance device 10 can be configured to perform this learning process using AI technology (artificial intelligence technology) such as so-called machine learning or deep learning.

[0047] As shown in Fig. 1, the host vehicle 100 is equipped with a vehicle speed detection device 30. The vehicle speed detection device 30 is a device that detects the traveling speed of the host vehicle 100, and includes, for example, a wheel speed sensor. The vehicle speed detection device 30 is electrically connected to the ECU 90. The ECU 90 (i.e., the vehicle driving assistance device 10) obtains the traveling speed of the host vehicle 100 as the host vehicle speed V from the vehicle speed detection device 30.

[0048] If the vehicle driving assistance device 10 determines "Yes" in step S215, the process proceeds to step S220, where it selects the following candidate vehicle 200C as the following target vehicle 200T. Therefore, the following target vehicle 200T is another vehicle that the host vehicle 100 is to follow.

[0049] Furthermore, if the following candidate vehicle speed Vc of multiple following candidate vehicles 200C is within the following driving speed range RVf, the following candidate vehicle 200C whose following candidate vehicle speed Vc is closest to the following driving speed Vf is selected as the following target vehicle 200T.

[0050] Next, the vehicle driving assistance device 10 advances the process to step S225, notifies the driver of the host vehicle 100 of the presence of the vehicle 200T to be followed, and then advances the process to step S295, where the process of this routine is temporarily ended.

[0051] As shown in FIG. 1, the vehicle driving assistance device 10 includes a notification device 40. The notification device 40 includes a display 41 and a speaker 42. The display 41 and the speaker 42 are electrically connected to the ECU 90. The ECU 90 (i.e., the vehicle driving assistance device 10) is configured to display on the display 41 an image (presentation image) that notifies the driver of the host vehicle 100 of the presence of the vehicle to be followed 200T, and to output from the speaker 42 a sound that notifies the driver of the host vehicle 100 of the presence of the vehicle to be followed 200T, thereby notifying the driver of the presence of the vehicle to be followed 200T.

[0052] In the case where the vehicle driving assistance device 10 is provided with an operator such as a button or switch that the driver operates to request the execution of follow-up travel control (for example, so-called adaptive cruise control) that causes the host vehicle 100 to follow the target vehicle 200T by automatically or autonomously accelerating or decelerating, the vehicle driving assistance device 10 may be configured to notify the driver of the presence of the target vehicle 200T and then start the follow-up travel control in response to the driver operating the operator, and cause the host vehicle 100 to follow the target vehicle 200T, or may be configured to only notify the driver of the presence of the target vehicle 200T. In the case where the vehicle driving assistance device 10 only notifies the driver of the presence of the target vehicle 200T, when the driver wants the host vehicle 100 to follow the target vehicle 200T, the driver can simply drive the host vehicle 100 to follow the target vehicle 200T by operating the vehicle itself.

[0053] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S215, the process proceeds directly to step S295, and the process of this routine is temporarily ended.

[0054] On the other hand, if the determination in step S210 is "No," the vehicle driving assistance device 10 proceeds to step S230 to determine whether the following candidate vehicle speed Vc is within the non-following traveling speed range RVs. That is, the vehicle driving assistance device 10 determines whether the following candidate vehicle speed Vc is equal to or greater than the first non-following traveling speed Vs_1 and equal to or less than the second non-following traveling speed Vs_2.

[0055] The first non-following traveling speed Vs_1 is a speed that is lower than the non-following traveling speed Vs by a predetermined value, while the second non-following traveling speed Vs_2 is a speed that is higher than the non-following traveling speed Vs by a predetermined value.

[0056] Furthermore, the non-following traveling speed Vs is a learned value of the host vehicle speed V when the host vehicle 100 is not following another vehicle. More specifically, since the drive device of the host vehicle 100 was started this time, the vehicle traveling assistance device 10 collects data on the host vehicle speed V when the host vehicle 100 is not following another vehicle, and based on the collected data, performs a learning process to acquire, through learning, as the non-following traveling speed Vs, a speed that is considered appropriate as the host vehicle speed V when the host vehicle 100 is not following another vehicle, in other words, a speed that is considered appropriate as the host vehicle speed V desired by the driver of the host vehicle 100 when the host vehicle 100 is not following another vehicle. The vehicle traveling assistance device 10 can be configured to perform this learning process using AI technology (artificial intelligence technology) such as so-called machine learning or deep learning.

[0057] If the determination in step S230 is "Yes," the vehicle driving assistance device 10 proceeds to step S235, where it selects the following candidate vehicle 200C as the following target vehicle 200T, similar to the processing in step S220. Next, the vehicle driving assistance device 10 proceeds to step S240, where it notifies the driver of the host vehicle 100 of the presence of the following target vehicle 200T, similar to the processing in step S225, and then proceeds to step S295, where it temporarily ends the processing of this routine.

[0058] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S230, the process proceeds directly to step S295, and the process of this routine is temporarily ended.

[0059] If the determination in step S205 is "No," the vehicle driving assistance device 10 proceeds directly to step S295 and temporarily ends the processing of this routine.

[0060] The operation of the vehicle driving support system 10 is as described above.

[0061] The following running ratio Rf indicates the degree to which the driver of the vehicle 100 desires the vehicle 100 to follow another vehicle, and the higher the ratio, the greater the degree of desire.

[0062] According to the vehicle driving assistance device 10, the vehicle 200T to be followed is selected based on the following speed Vf selected based on the following driving ratio Rf. Therefore, the vehicle 200T to be followed is selected depending on whether the driver of the vehicle 100 wishes the vehicle 100 to follow another vehicle or does not wish the vehicle 100 to follow another vehicle.

[0063] Furthermore, when the vehicle 200T to be followed is the last vehicle in a so-called vehicle platoon, and the vehicle 100 is made to follow the vehicle 200T to be followed using follow-up driving control, the vehicle 100 can be made to travel in the platoon at a speed that meets the driver's wishes.

[0064] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0065] 10...vehicle driving assistance device, 20...surrounding information detection device, 21...image sensor, 22...electromagnetic wave sensor, 30...vehicle speed detection device, 40...notification device, 41...display, 42...speaker, 90...ECU, 100...own vehicle, 200C...following candidate vehicle, 200T...following target vehicle

Claims

1. A vehicle driving assistance device including a control device that selects another vehicle as a vehicle to be followed by the host vehicle, The control device acquiring a traveling speed of the host vehicle when the host vehicle is traveling following another vehicle as a following traveling speed; acquiring a traveling speed of the host vehicle when the host vehicle is not traveling following another vehicle as a non-following traveling speed; selecting the vehicle to be followed based on either the following driving speed or the non-following driving speed, which is selected based on a following driving rate, which is the rate at which the host vehicle performed following driving, or a non-following driving rate, which is the rate at which the host vehicle did not perform following driving, during a period from when a drive device of the host vehicle was started, when another vehicle that can be a target for the host vehicle to be followed is detected around the host vehicle; Vehicle driving assistance device.

2. The vehicle driving support device according to claim 1, The control device If the following traveling ratio is equal to or greater than a predetermined following traveling ratio, or if the non-following traveling ratio is equal to or less than a predetermined non-following traveling ratio, selecting the following traveling speed and selecting the vehicle to be followed based on the following traveling speed; If the following traveling ratio is smaller than the predetermined following traveling ratio, or if the non-following traveling ratio is larger than the predetermined non-following traveling ratio, selecting the non-following traveling speed and selecting the vehicle to be followed based on the non-following traveling speed. It is configured as follows: Vehicle driving assistance device.

3. 3. The vehicle driving support device according to claim 2, The control device is configured to set the predetermined following driving ratio or the predetermined non-following driving ratio based on the past following driving ratio or the past non-following driving ratio. Vehicle driving assistance device.

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