Vehicle driving assistance device

Abstract

To provide a vehicle travel support device that can continue travel of the own vehicle without stopping the own vehicle or slowing the own vehicle down to an extremely low speed when there is a stopped vehicle or a vehicle traveling at the extremely low speed on a travel route of the own vehicle.SOLUTION: A vehicle travel support device 10, in a case where a preceding vehicle 201D that travels right before the own vehicle 100 at a travel speed equal to or less than a prescribed speed or a vehicle train 201G of plural vehicles including the preceding vehicle exists on a travel route of the own vehicle, when another vehicle does not exist on a travel route in a range within a first distance in front of the preceding vehicle or the lead vehicle of the vehicle train, sets a route that allows the own vehicle to enter in front of the preceding vehicle or the lead vehicle after overtaking the preceding vehicle or the lead vehicle as a travel route.SELECTED DRAWING: Figure 3

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 is configured to change lanes of the vehicle to an adjacent lane when a lane restriction section is present on the driving route of the vehicle while the vehicle is driving automatically, and then return the vehicle to the original driving lane after passing through the lane restriction section, thereby allowing the vehicle to continue driving without stopping (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-95336 Summary of the Invention

[0004] The above-described conventional vehicle driving assistance device is not configured to allow the vehicle to continue driving without stopping the vehicle or slowing down the vehicle to an extremely low speed when there is a stopped vehicle or a vehicle driving at an extremely low speed on the driving route of the vehicle.

[0005] An object of the present invention is to provide a vehicle driving assistance device that can allow the vehicle to continue driving without stopping the vehicle or slowing down the vehicle to an extremely low speed when there is a stopped vehicle or a vehicle driving at an extremely low speed on the driving route of the vehicle.

[0006] A vehicle driving assistance device according to the present invention includes a control device that sets a driving route for a host vehicle. When a preceding vehicle or a convoy of multiple vehicles including the preceding vehicle traveling immediately ahead of the host vehicle at a speed equal to or less than a predetermined speed is present on the driving route of the host vehicle, and when no other vehicles are present on the driving route within a first distance ahead of the preceding vehicle or the lead vehicle of the convoy, the control device is configured to set the driving route as a route that causes the host vehicle to overtake the preceding vehicle or the lead vehicle and then enter ahead of the preceding vehicle or the lead vehicle. Furthermore, in the vehicle driving assistance device according to the present invention, the control device is configured to set, as the driving route, a route in which the vehicle enters a branch lane branching off from the driving lane of the vehicle, and when the distance between the entrance of the branch lane and the vehicle becomes equal to or less than a predetermined entrance distance, if the preceding vehicle or the vehicle train is present on the driving route, and there are no other vehicles on the driving route within the first distance ahead of the preceding vehicle or the lead vehicle of the vehicle train, and the distance from the preceding vehicle or the lead vehicle to the end point of the connection between the branch lane and the driving lane is equal to or greater than a second distance, then to set, as the driving route, a route in which the vehicle enters ahead of the preceding vehicle or the lead vehicle.

[0007] Even if there is a stopped vehicle or a preceding vehicle or a line of vehicles traveling at an extremely slow speed on the travel route of the vehicle, if there is sufficient space in front of the preceding vehicle or the leading vehicle of the line of vehicles for the vehicle to enter, the vehicle can continue traveling without stopping the vehicle or slowing down to an extremely slow speed by overtaking the preceding vehicle or line of vehicles and entering the space in front of the preceding vehicle or the leading vehicle of the line of vehicles.

[0008] According to the vehicle driving assistance device of the present invention, when a preceding vehicle or a line of vehicles traveling at a speed equal to or lower than a predetermined speed is present on the driving route of the host vehicle, and when no other vehicles are present on the driving route within a first distance ahead of the preceding vehicle or the lead vehicle of the line of vehicles, a route is set as the driving route that causes the host vehicle to overtake the preceding vehicle or the lead vehicle and then enter in front of the preceding vehicle or the lead vehicle. Therefore, by driving the host vehicle along the thus set driving route, it is possible to continue driving the host vehicle without stopping the host vehicle or slowing down to an extremely low speed when a stopped vehicle or a vehicle traveling at an extremely low speed is present on the driving route of the host vehicle. Furthermore, according to the vehicle driving assistance device of the present invention, when the initial driving route is a route that enters a branch lane, if there is a stopped vehicle or a vehicle traveling at an extremely slow speed on the driving route of the vehicle, the vehicle can continue to drive without stopping the vehicle or slowing down to an extremely slow speed.

[0009] In addition, in the vehicle driving assistance device of the present invention, the control device can be configured to automatically drive the vehicle along the set driving route when a route that causes the vehicle to enter in front of the preceding vehicle or the lead vehicle is set as the driving route.

[0010] According to the vehicle driving assistance device of the present invention, after a driving route is set, the host vehicle automatically drives along the driving route. Therefore, when a stopped vehicle or a vehicle traveling at an extremely slow speed is present on the driving route of the host vehicle, the host vehicle can continue to drive without stopping the host vehicle or slowing down the host vehicle to an extremely slow speed.

[0011] Furthermore, in the vehicle driving assistance device according to the present invention, when a route that causes the vehicle to enter ahead of the preceding vehicle or the lead vehicle is set as the driving route, the control device can be configured to present the set driving route to the operator of the vehicle.

[0012] According to the vehicle driving assistance device of the present invention, after a driving route is set, the driving route is presented to the operator of the vehicle. Therefore, the operator of the vehicle can know the set driving route and, by driving the vehicle along the driving route, can continue driving the vehicle without stopping the vehicle or slowing down the vehicle to an extremely low speed when a stopped vehicle or a vehicle traveling at an extremely low speed is present on the driving route of the vehicle.

[0015] 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]

[0016] [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 diagram showing a situation in which a preceding vehicle is present ahead of the host vehicle. [Figure 3] FIG. 3 is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing a situation in which a preceding vehicle that is stopped or traveling at an extremely slow speed is present ahead of the host vehicle. [Figure 5] FIG. 5 is a diagram showing a scene in which there is a line of vehicles ahead of the host vehicle that are stopped or traveling at an extremely slow speed. [Figure 6] FIG. 6 is a diagram showing a situation in which there is a preceding vehicle stopped or traveling at an extremely low speed in a branching lane ahead of the host vehicle. [Figure 7] FIG. 7 is a diagram showing a situation in which there is a line of vehicles stopped or traveling at an extremely slow speed in the branching lane ahead of the host vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0017] 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. 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).

[0018] 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.

[0019] 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.

[0020] 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).

[0021] The vehicle driving assistance device 10 is configured to execute follow-up driving control that causes the host vehicle 100 to follow the preceding vehicle. The follow-up driving control is a control that automatically or autonomously accelerates or decelerates the host vehicle 100 to follow the preceding vehicle, even if the driver of the host vehicle 100 does not perform any driving operation on the host vehicle 100. Therefore, the vehicle driving assistance device 10 is an automatic driving or autonomous driving device that causes the host vehicle 100 to run automatically or autonomously, even if the user of the host vehicle 100 does not perform any driving operation on the host vehicle 100.

[0022] As shown in FIG. 1, the host vehicle 100 is equipped with a drive unit 20 and a brake unit 30. The drive unit 20 includes, for example, an internal combustion engine and / or an electric motor. The brake unit 30 includes, for example, a hydraulic brake device. The drive unit 20 and the brake unit 30 are electrically connected to an ECU 90. The ECU 90 (i.e., the vehicle driving assistance device 10) can accelerate and decelerate the host vehicle 100 by controlling the operation of the drive unit 20 and the brake unit 30.

[0023] Furthermore, the host vehicle 100 is also equipped with a surrounding information detection device 40. The surrounding information detection device 40 includes an image sensor 41 such as a camera sensor and an electromagnetic wave sensor 42 such as a radar sensor. The image sensor 41 and the electromagnetic wave sensor 42 are electrically connected to the ECU 90. The ECU 90 (i.e., the vehicle driving assistance device 10) acquires image data of the surroundings including the area ahead of the host vehicle 100 as surrounding information IS using the image sensor 41, and acquires target data of the surroundings including the area ahead of the host vehicle 100 as surrounding information IS using the electromagnetic wave sensor 42. The ECU 90 (i.e., the vehicle driving assistance device 10) detects preceding vehicles and the like based on the surrounding information IS.

[0024] 2, in this example, the vehicle driving assistance device 10 detects, as a preceding vehicle 201D, another vehicle 201 traveling ahead of the host vehicle 100 on the driving route Rego of the host vehicle 100 and traveling within a predetermined distance (predetermined distance Dth) from the host vehicle 100. Furthermore, the vehicle driving assistance device 10 acquires, based on the surrounding information IS, a distance D between the host vehicle 100 and the other vehicle 201 traveling ahead of the host vehicle 100 on the driving route Rego of the host vehicle 100.

[0025] Furthermore, the vehicle driving assistance device 10 may be configured to be capable of wireless communication with vehicles surrounding the vehicle 100. In this case, the vehicle driving assistance device 10 receives signals transmitted from vehicles surrounding the vehicle 100, and acquires surrounding information IS based on the received signals. Furthermore, the vehicle driving assistance device 10 may be configured to be capable of receiving signals transmitted from equipment installed on the side of the road, etc. In this case, the vehicle driving assistance device 10 receives signals transmitted from the equipment, and acquires surrounding information IS based on the received signals. Furthermore, the vehicle driving assistance device 10 may be configured to acquire, as surrounding information IS, information about roads surrounding the vehicle 100, etc., based on GPS signals and map information.

[0026] When performing follow-up cruise control, the vehicle travel assistance device 10 executes the routine shown in Fig. 3 at a predetermined calculation cycle. Therefore, at a predetermined timing, the vehicle travel assistance device 10 starts processing from step S300 of the routine shown in Fig. 3, and proceeds to step S305 to determine whether the overtaking entry condition Cx is satisfied.

[0027] In this example, the overtaking approach condition Cx is met when any one of the first condition Cx_1 to the fourth condition Cx_4 is met.

[0028] 4, the first condition Cx_1 is a condition that, when a preceding vehicle 201D traveling immediately before the host vehicle 100 at a traveling speed Vpre that is equal to or less than a predetermined speed Vth is present on the traveling route Rego of the host vehicle 100, no other vehicle is present on the traveling route Rego within a range of a first distance D1_th ahead of the preceding vehicle 201D. More specifically, the first condition Cx_1 is a condition that, when the traveling route Rego of the host vehicle 100 is not a route that enters a branch lane branching from the traveling lane LN1 of the host vehicle 100 and the preceding vehicle 201D traveling immediately before the host vehicle 100 at a traveling speed Vpre that is equal to or less than a predetermined speed Vth is present on the traveling route Rego of the host vehicle 100, no other vehicle is present on the traveling route Rego within a range of a first distance D1_th ahead of the preceding vehicle 201D.

[0029] The second condition Cx_2 is a condition that, as shown in Figure 5, when a convoy 201G of multiple vehicles 201A to 201D including a preceding vehicle 201D traveling immediately before the host vehicle 100 at a traveling speed Vpre that is equal to or less than a predetermined speed Vth is present on the traveling route Rego of the host vehicle 100, there are no other vehicles on the traveling route Rego within a range of the first distance D1_th ahead of the leading vehicle 201A of the convoy 201G. More specifically, the second condition Cx_2 is a condition that, when the driving route Rego of the vehicle 100 is not a route that enters a branch lane branching off from the driving lane LN1 of the vehicle 100 and a convoy 201G of multiple vehicles 201A to 201D including a preceding vehicle 201D traveling immediately before the vehicle 100 at a driving speed Vpre that is less than or equal to a predetermined speed Vth, no other vehicles are present on the driving route Rego within a range of the first distance D1_th ahead of the lead vehicle 201A of the convoy 201G.

[0030] In this example, the vehicle convoy 201G is a convoy including multiple vehicles traveling or stopped with a predetermined inter-vehicle distance Dinter_th or less. The predetermined inter-vehicle distance Dinter_th is set to a distance that is much shorter than the first distance D1_th. The vehicle driving assistance device 10 detects the vehicle convoy 201G based on surrounding information IS.

[0031] In this example, the first distance D1_th is set to a distance sufficient to allow the host vehicle 100 to change lanes from a lane adjacent to the driving lane LN1 (adjacent lane LN2) and safely enter the driving lane LN1.

[0032] More specifically, in this example, the first distance D1_th is set based on the host vehicle speed Vego at that time and the control yaw angle θ corresponding to that host vehicle speed Vego (D1=f1(Vego, θ)). The host vehicle speed Vego is the traveling speed of the host vehicle 100. The control yaw angle θ is the yaw angle of the host vehicle 100 that allows the host vehicle 100 to safely change lanes at the host vehicle speed Vego at that time. Therefore, the control yaw angle θ becomes smaller as the host vehicle speed Vego increases. The first distance D1_th is set to a larger value as the host vehicle speed Vego increases, and is set to a larger value as the control yaw angle θ decreases.

[0033] As shown in Fig. 1, the host vehicle 100 is equipped with a vehicle speed detection device 50. The vehicle speed detection device 50 includes, for example, a wheel speed sensor. The vehicle speed detection device 50 is electrically connected to the ECU 90. The ECU 90 (i.e., the vehicle driving assistance device 10) acquires the driving speed of the host vehicle 100 as the host vehicle speed Vego from the vehicle speed detection device 50.

[0034] The third condition Cx_3 is a condition that, as shown in Figure 6, when the driving route Rego of the vehicle 100 is a route that enters a branch lane LN3 that branches off from the driving lane LN1 of the vehicle 100, and the distance (entrance distance Dent) between the entrance of the branch lane LN3 and the vehicle 100 becomes less than a predetermined distance (predetermined entrance distance Dent_th), if the preceding vehicle 201D is on the driving route Rego of the vehicle 100, there are no other vehicles on the driving route Rego within a range ahead of the preceding vehicle 201D that is within a first distance D1_th, and the distance from the preceding vehicle 201D to the end point END of the connection between the branch lane LN3 and the driving lane LN1 (entrance end point distance D2) is greater than or equal to the second distance D2_th.

[0035] The fourth condition Cx_4 is a condition that, as shown in Figure 7, when the driving route Rego of the vehicle 100 is a route that enters a branch lane LN3 that branches off from the driving lane LN1 of the vehicle 100, and the distance (entrance distance Dent) between the entrance of the branch lane LN3 and the vehicle 100 becomes less than a predetermined distance (predetermined entrance distance Dent_th), when the vehicle convoy 201G is on the driving route Rego of the vehicle 100, there are no other vehicles on the driving route Rego within a range forward of the leading vehicle 201A of the vehicle convoy 201G that is within a first distance D1_th, and the distance (entrance end point D2) from the leading vehicle 201A of the vehicle convoy 201G to the end point END of the connection between the branch lane LN3 and the driving lane LN1 is greater than or equal to the second distance D2_th.

[0036] In this example, the second distance D2_th is set to a distance sufficient to allow the host vehicle 100 to change lanes from the driving lane LN1 or the adjacent lane LN2 and safely enter the branch lane LN3.

[0037] More specifically, in this example, the second distance D2_th is set based on the current host vehicle speed Vego and the control yaw angle θ corresponding to the host vehicle speed Vego (D2=f2(Vego, θ)). The second distance D2_th is also set to a larger value as the host vehicle speed Vego increases and as the control yaw angle θ decreases.

[0038] If the determination in step S305 is "Yes," the vehicle driving assistance device 10 proceeds to step S310 and sets the overtaking approach route Rpass as the driving route Rego.

[0039] When the vehicle driving assistance device 10 determines in step S305 that the first condition Cx_1 is satisfied and therefore that the overtaking entry condition Cx is satisfied, the vehicle driving assistance device 10 sets an overtaking entry route Rpass, which causes the host vehicle 100 to enter ahead of the preceding vehicle 201D after overtaking the preceding vehicle 201D, as the driving route Rego of the host vehicle 100. More specifically, in this example, the vehicle driving assistance device 10 sets an overtaking entry route Rpass, which causes the host vehicle 100 to change lanes from the driving lane LN1 to the adjacent lane LN2, overtake the preceding vehicle 201D, and then enter the driving lane LN1 ahead of the preceding vehicle 201D, as the driving route Rego.

[0040] Furthermore, when the vehicle driving assistance device 10 determines in step S305 that the second condition Cx_2 is satisfied and therefore that the overtaking entry condition Cx is satisfied, the vehicle driving assistance device 10 sets an overtaking entry route Rpass that causes the host vehicle 100 to enter ahead of the leading vehicle 201A of the vehicle convoy 201G after overtaking the vehicle convoy 201G as the driving route Rego of the host vehicle 100. More specifically, in this example, the vehicle driving assistance device 10 sets an overtaking entry route Rpass that causes the host vehicle 100 to change lanes from the driving lane LN1 to the adjacent lane LN2, overtake the vehicle convoy 201G, and then enter the driving lane LN1 ahead of the leading vehicle 201A of the vehicle convoy 201G as the driving route Rego.

[0041] Furthermore, when the vehicle driving assistance device 10 determines in step S305 that the third condition Cx_3 is satisfied and therefore the overtaking approach condition Cx is satisfied, it sets the overtaking approach route Rpass, which causes the host vehicle 100 to overtake the preceding vehicle 201D and then enter ahead of the preceding vehicle 201D, as the driving route Rego. More specifically, in this example, when the vehicle driving assistance device 10 determines in step S305 that the third condition Cx_3 is satisfied and therefore the overtaking approach condition Cx is satisfied and the preceding vehicle 201D is in the branch lane LN3, it sets the overtaking approach route Rpass, which causes the host vehicle 100 to travel in the driving lane LN1, overtake the preceding vehicle 201D, and then enter ahead of the preceding vehicle 201D, as the driving route Rego. On the other hand, if the vehicle driving assistance device 10 determines in step S305 that the third condition Cx_3 is satisfied and therefore the overtaking entry condition Cx is satisfied, and if the preceding vehicle 201D is present in the driving lane LN1 of the vehicle 100, the vehicle driving assistance device 10 sets the overtaking entry route Rpass, which causes the vehicle 100 to change lanes to the adjacent lane LN2 to overtake the preceding vehicle 201D present in the driving lane LN1, and then causes the vehicle 100 to enter ahead of the preceding vehicle 201D and then enter the branch lane LN3, as the driving route Rego.

[0042] Furthermore, when the vehicle driving assistance device 10 determines in step S305 that the fourth condition Cx_4 is satisfied and therefore the overtaking approach condition Cx is satisfied, it sets the overtaking approach route Rpass, which causes the host vehicle 100 to overtake the vehicle convoy 201G and then enter ahead of the leading vehicle 201A of the vehicle convoy 201G, as the driving route Rego. More specifically, in this example, when the vehicle driving assistance device 10 determines in step S305 that the fourth condition Cx_4 is satisfied and therefore the overtaking approach condition Cx is satisfied, and all of the vehicles of the vehicle convoy 201G are in the branch lane LN3, it sets the overtaking approach route Rpass, which causes the host vehicle 100 to travel in the driving lane LN1 to overtake the vehicle convoy 201G and then enter ahead of the leading vehicle 201A of the vehicle convoy 201G, as the driving route Rego. On the other hand, if the vehicle driving assistance device 10 determines in step S305 that the fourth condition Cx_4 is satisfied and therefore the overtaking entry condition Cx is satisfied, and if some of the vehicles in the convoy 201G are present in the driving lane LN1 of the vehicle 100 and the remaining vehicles in the convoy 201G are present in the branch lane LN3, the vehicle driving assistance device 10 sets the overtaking entry route Rpass, which causes the vehicle 100 to change lanes to the adjacent lane LN2 and overtake the vehicles in the convoy 201G that are present in the driving lane LN1, as the driving route Rego, and causes the vehicle 100 to enter ahead of the leading vehicle 201A of the convoy 201G. On the other hand, if the vehicle driving assistance device 10 determines in step S305 that the fourth condition Cx_4 is satisfied and therefore the overtaking entry condition Cx is satisfied, and if all of the vehicles in the convoy 201G are present in the driving lane LN1 of the vehicle 100, the vehicle 100 changes lanes to the adjacent lane LN2 to overtake the vehicles in the convoy 201G present in the driving lane LN1, and then enters ahead of the leading vehicle 201A of the convoy 201G, and then enters the branch lane LN3, and sets the overtaking entry route Rpass as the driving route Rego.

[0043] Next, the vehicle driving assistance device 10 advances the process to step S315, and presents the overtaking approach route Rpass set in step S310 to the driver.

[0044] As shown in Fig. 1, the vehicle 100 is equipped with a presentation device 60. The presentation device 60 includes a display 61 and a speaker 62. The display 61 and the speaker 62 are electrically connected to the ECU 90. The ECU 90 (i.e., the vehicle driving assistance device 10) can display various images on the display 61 and output various sounds from the speaker 62.

[0045] The vehicle driving assistance device 10 presents the overtaking approach route Rpass by displaying an image on the display 61 and / or outputting sound from the speaker 62.

[0046] Next, the vehicle driving assistance device 10 proceeds to step S320 to determine whether the approval condition Cy is met.

[0047] The approval condition Cy is a condition that the traveling of the vehicle 100 along the overtaking approach route Rpass is approved.

[0048] As shown in FIG. 1, the host vehicle 100 is equipped with an approval operation device 70 such as an approval button. The approval operation device 70 is electrically connected to the ECU 90. The approval operation device 70 is a device that is operated by the driver. If the approval operation device 70 is operated when the overtaking approach route Rpass is presented, the ECU 90 (i.e., the vehicle driving assistance device 10) determines that the traveling of the host vehicle 100 along the overtaking approach route Rpass has been approved.

[0049] If the answer to step S320 is "Yes," the vehicle driving assistance device 10 proceeds to step S325 and performs the overtaking approach. That is, the vehicle driving assistance device 10 automatically or autonomously causes the host vehicle 100 to travel along the overtaking approach route Rpass set in step S310.

[0050] Then, the vehicle driving assistance device 10 advances the process to step S395 and temporarily ends the process of this routine.

[0051] If the vehicle driving assistance system 10 determines "No" in step S305 or step S320, the system proceeds directly to step S395 and temporarily ends the processing of this routine.

[0052] The operation of the vehicle driving support system 10 is as described above.

[0053] Even if there is a stopped vehicle or a preceding vehicle 201D or a convoy 201G traveling at an extremely slow speed on the travel route Rego of the vehicle 100, if there is sufficient space in front of the preceding vehicle 201D or the leading vehicle 201A of the convoy 201G for the vehicle 100 to enter, the vehicle 100 can continue traveling without stopping the vehicle 100 or slowing down to an extremely slow speed by overtaking the preceding vehicle 201D or the convoy 201G and entering the space in front of the preceding vehicle 201D or the leading vehicle 201A of the convoy 201G.

[0054] According to the vehicle travel assistance device 10, when a preceding vehicle 201D or a convoy 201G of multiple vehicles 201A to 201D traveling at a travel speed Vpre equal to or lower than a predetermined speed Vth is present on the travel route Rego of the host vehicle 100, and no other vehicles are present on the travel route Rego within a range forward of the preceding vehicle 201D or the lead vehicle 201A of the convoy 201G within a first distance D1_th, a route (overtaking approach route Rpass) for the host vehicle 100 to enter ahead of the preceding vehicle 201D or the lead vehicle 201A after overtaking the preceding vehicle 201D or the lead vehicle 201A is set as the travel route Rego. Therefore, by having the host vehicle 100 travel along the travel route Rego thus set, the host vehicle 100 can continue traveling without stopping the host vehicle 100 or slowing down to an extremely low speed when a stopped vehicle or a vehicle traveling at an extremely low speed is present on the travel route Rego of the host vehicle 100.

[0055] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0056] For example, vehicle driving assistance device 10 may be configured to execute the routine shown in Fig. 3 when the driver is not performing follow-up driving control and is therefore driving the vehicle 100. Furthermore, in this case, vehicle driving assistance device 10 may be configured to omit steps S320 and S325 of the routine shown in Fig. 3 and only present the driving route Rego to the driver.

[0057] According to this, after the travel route Rego is set, the travel route Rego is presented to the driver of the vehicle 100. Therefore, the driver of the vehicle 100 can know the set travel route Rego, and by having the vehicle 100 travel along the travel route Rego, the driver can continue traveling the vehicle 100 without stopping the vehicle 100 or slowing down the vehicle 100 to an extremely low speed when a stopped vehicle or a vehicle traveling at an extremely low speed is present on the travel route Rego of the vehicle 100.

[0058] Furthermore, the above example is an example in which a vehicle exists on the travel route Rego of the host vehicle 100, but the present invention is also applicable to a case in which an object other than a vehicle exists on the travel route Rego of the host vehicle 100. [Explanation of symbols]

[0059] 10...vehicle driving assistance device, 40...surrounding information detection device, 60...presentation device, 70...approval operation device, 90...ECU, 100...own vehicle, 201D...preceding vehicle, 201...vehicle train, LN1...driving lane, LN2...adjacent lane, LN3...branch lane, Rego...driving route, Rpass...overtaking approach route

Claims

1. A vehicle driving assistance device including a control device that sets a driving route for a vehicle, the control device is configured to, when a preceding vehicle traveling immediately before the host vehicle at a traveling speed equal to or less than a predetermined speed or a train of multiple vehicles including the preceding vehicle is present on the traveling route of the host vehicle, and when no other vehicle is present on the traveling route within a range forward of the preceding vehicle or the leading vehicle of the train, set, as the traveling route, a route in which the host vehicle enters ahead of the preceding vehicle or the leading vehicle after overtaking the preceding vehicle or the leading vehicle; In a vehicle driving assistance device, the control device is configured to set, as the driving route, a route in which the host vehicle enters a branch lane branching off from the driving lane of the host vehicle and the preceding vehicle or the vehicle train is present on the driving route when the distance between the entrance of the branch lane and the host vehicle becomes equal to or shorter than a predetermined entrance distance, if there is no other vehicle on the driving route within the first distance ahead of the preceding vehicle or the leading vehicle of the vehicle train and the distance from the preceding vehicle or the leading vehicle to an end point of a connection portion between the branch lane and the driving lane is equal to or longer than a second distance, Vehicle driving assistance device.

2. The vehicle driving support device according to claim 1, The control device is configured to automatically drive the vehicle along the set driving route when a route in which the vehicle enters ahead of the preceding vehicle or the leading vehicle is set as the driving route. Vehicle driving assistance device.

3. The vehicle driving support device according to claim 1, the control device is configured to, when a route in which the host vehicle enters ahead of the preceding vehicle or the lead vehicle is set as the travel route, present the set travel route to an operator of the host vehicle. Vehicle driving assistance device.

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