| 摘要 |
A speed zone computation unit that computes a speed zone of a host vehicle having a possibility that the host vehicle will come into contact with a mobile object from a blind spot when progressing in a progressing direction; a target speed computation unit that computes a target speed of the host vehicle based on a speed zone; a driving assistance starting point computation unit that computes a driving assistance starting point determined by a state of the host vehicle at the time when a driving assistance is started; and a target speed modification unit that modifies a target speed, when the driving assistance starting point is within the speed zone, are included. The speed zone is determined by a relationship between a speed of the host vehicle, and a distance of the host vehicle with respect to a reference position in a place forming the blind spot. The driving assistance starting point is determined by the speed of the host vehicle at the time when the driving assistance is started, and the distance of the host vehicle with respect to the reference position. The target speed computation unit sets a speed lower than the speed zone in the reference position as the target speed. The target speed modification unit sets a value higher than a value computed by the target speed computation unit as a new target speed, in speed in the reference position. |
