Abstract: A travel assistance method is executed by a processor and comprises: acquiring, from a device for storing map information, information on static traveling path boundaries between a traveling path of a subject vehicle and other than the traveling path; acquiring, from a sensor for detecting surrounding environment of the subject vehicle, information on dynamic traveling path boundaries different from the static traveling path boundaries; generating, based on the information on the static traveling path boundaries, a static traveling path on which the subject vehicle can travel; generating, based on the information on the static traveling path and the dynamic traveling path boundaries, a dynamic traveling path which is shorter than the static traveling path and corresponds to the surrounding environment; and controlling the subject to travel along a traveling path including the static traveling path and the dynamic traveling path.

Abstract: A target vehicle speed generation device includes a controller for generating a target vehicle speed of a host vehicle in accordance with a speed limit of a travel path of the host vehicle. The controller includes a speed limit information acquisition unit and a target vehicle speed generation unit. The speed limit information acquisition unit acquires the speed limit of the travel path of the host vehicle during travel. The target vehicle speed generation unit generates a target acceleration together with the generation of the target vehicle speed in accordance with the speed limit. The target vehicle speed generation unit has a first acceleration limiter computation unit that, during the generating of the target acceleration, sets an acceleration limiter to increase in a direction of relaxing a limitation on acceleration correspondingly with an increase in the speed limit.

Abstract: A travel control method for a vehicle having an autonomous travel control function includes: detecting an oncoming vehicle travelling in the opposite lane of the travel lane in which the subject vehicle travels; predicting whether or not the oncoming vehicle enters into the travel lane in which the subject vehicle travels; when it is predicted that the oncoming vehicle enters into the travel lane in which the subject vehicle travels, setting initial deceleration of the subject vehicle in a case of time until the subject vehicle and the oncoming vehicle pass each other being relatively long to a smaller value than the initial deceleration in a case of the time being relatively short; and executing deceleration travel control of the subject vehicle.

Abstract: A travel control method for a vehicle having an autonomous travel control function includes: detecting an oncoming vehicle travelling in the opposite lane of the travel lane in which the subject vehicle travels; predicting whether or not the oncoming vehicle enters into the travel lane in which the subject vehicle travels; when it is predicted that the oncoming vehicle enters into the travel lane in which the subject vehicle travels, setting initial deceleration of the subject vehicle in a case of time until the subject vehicle and the oncoming vehicle pass each other being relatively long to a smaller value than the initial deceleration in a case of the time being relatively short, and executing deceleration travel control of the subject vehicle.

Abstract: A target vehicle speed generation device includes a controller for generating a target vehicle speed of a host vehicle in accordance with a speed limit of a travel path of the host vehicle. The controller includes a speed limit information acquisition unit and a target vehicle speed generation unit. The speed limit information acquisition unit acquires the speed limit of the travel path of the host vehicle during travel. The target vehicle speed generation unit generates a target acceleration together with the generation of the target vehicle speed in accordance with the speed limit. The target vehicle speed generation unit has a first acceleration limiter computation unit that, during the generating of the target acceleration, sets an acceleration limiter to increase in a direction of relaxing a limitation on acceleration correspondingly with an increase in the speed limit.

Abstract: A target vehicle speed generation device generates a target vehicle speed of a driving-assisted vehicle (autonomously driven vehicle). The target vehicle speed generation device includes a controller that includes a plurality of vehicle speed command generation units and generates a target vehicle speed for when the vehicle is to travel/stop. The controller includes a look-ahead vehicle speed command calculation unit and a lowest vehicle speed command mediation unit. The look-ahead vehicle speed command calculation unit calculates a look-ahead vehicle speed command value that comes after the elapse of a prescribed amount of time from a present time for each vehicle speed command value generated by the plurality of vehicle speed command generation units. The lowest vehicle speed command mediation unit selects a lowest value among the plurality of look-ahead vehicle speed command values calculated by the look-ahead vehicle speed command calculation unit.

Abstract: A target vehicle speed generation device includes a controller that includes a target travel route generation unit, a peripheral object information acquisition unit, and a target vehicle speed generation unit. The target travel route generation unit generates a target travel route of the vehicle. The peripheral object information acquisition unit acquires position information pertaining to an obstacle on a travel path of the vehicle, and position information pertaining to an obstacle that is located toward the side and is outside of the travel path of the vehicle. The target vehicle speed generation unit calculates a plurality of lateral deviations to the obstacle with respect to the target travel route, and generates a lower target vehicle speed for an obstacle having a lesser lateral deviation than for an obstacle having a greater lateral deviation.

Abstract: A target vehicle speed generation device generates a target vehicle speed of a driving-assisted vehicle (autonomously driven vehicle). The target vehicle speed generation device includes a controller that includes a plurality of vehicle speed command generation units and generates a target vehicle speed for when the vehicle is to travel/stop. The controller includes a look-ahead vehicle speed command calculation unit and a lowest vehicle speed command mediation unit. The look-ahead vehicle speed command calculation unit calculates a look-ahead vehicle speed command value that comes after the elapse of a prescribed amount of time from a present time for each vehicle speed command value generated by the plurality of vehicle speed command generation units. The lowest vehicle speed command mediation unit selects a lowest value among the plurality of look-ahead vehicle speed command values calculated by the look-ahead vehicle speed command calculation unit.

Abstract: A target vehicle speed generation device includes a controller that includes a target travel route generation unit, a peripheral object information acquisition unit, and a target vehicle speed generation unit. The target travel route generation unit generates a target travel route of the vehicle. The peripheral object information acquisition unit acquires position information pertaining to an obstacle on a travel path of the vehicle, and position information pertaining to an obstacle that is located toward the side and is outside of the travel path of the vehicle. The target vehicle speed generation unit calculates a plurality of lateral deviations to the obstacle with respect to the target travel route, and generates a lower target vehicle speed for an obstacle having a lesser lateral deviation than for an obstacle having a greater lateral deviation.