JP6443292B2 - Driving support device and driving support method - Google Patents

Description

  The present invention relates to a driving support device and a driving support method that support driving of a host vehicle.

  As a driving support device, there is known a device that sets a target travel route on which the host vehicle follows and travels. In Patent Document 1, a travel locus of a preceding vehicle is generated using the detection position of the preceding vehicle accumulated up to the previous detection cycle and the detection position of the preceding vehicle detected in the current detection cycle. Then, a target travel route on which the host vehicle travels is set using the travel locus of the preceding vehicle, and steering control of the host vehicle is performed so that the host vehicle travels along the target travel route.

JP 2014-123283 A

  However, shortly after the detection of the preceding vehicle is started, the traveling locus of the preceding vehicle is short, so that there is a problem that the target traveling route cannot be set and driving support of the host vehicle cannot be performed.

  The present invention has been made in view of the above, and a main object of the present invention is to provide a driving support device and a driving support method that can more appropriately perform driving support of the host vehicle.

  The present invention uses a preceding vehicle detection unit that acquires a detection position of a preceding vehicle ahead of the host vehicle at a predetermined cycle, and a travel locus of the preceding vehicle using the detection position of the preceding vehicle detected by the preceding vehicle detection unit. Using the preceding vehicle trajectory generating unit that generates a certain preceding vehicle trajectory, the own vehicle detecting unit that acquires the detection position of the own vehicle at a predetermined period, and the detected position of the own vehicle detected by the own vehicle detecting unit A host vehicle trajectory generating unit that generates a host vehicle trajectory that is a travel trajectory of the vehicle; a target route setting unit that sets a target travel path along which the host vehicle travels by complementing the preceding vehicle trajectory with the host vehicle trajectory; It is characterized by providing.

  According to the present invention, since the target travel route is generated by complementing the travel locus of the preceding vehicle with the travel locus of the host vehicle, even in a situation immediately after the preceding vehicle is detected and the preceding vehicle locus is short. A target travel route can be set.

The schematic block diagram of a driving assistance device. The figure which shows the example of the setting of a target driving | running route. The figure which shows the relationship with the own vehicle locus | trajectory when there exists an approaching vehicle. The flowchart of the calculation process of a target driving | running route. The flowchart of the calculation process of the target driving | running route of the example of a change.

  Hereinafter, each embodiment will be described with reference to the drawings. In the following embodiments, parts that are the same or equivalent to each other are denoted by the same reference numerals in the drawings, and the description of the same reference numerals is used. The driving support device 100 according to the present embodiment includes a lane keep assist that allows the host vehicle to travel without departing from the travel lane, and an adaptive cruise control that allows the host vehicle to travel following the preceding vehicle. ) And other driving assistance.

  In FIG. 1, the driving support device 100 is mounted on a vehicle (own vehicle), and includes a detection unit 10, an ECU 20, and a steering control device 30. The detection unit 10 includes an image sensor 11, a radar sensor 12, a yaw rate sensor 13, and a vehicle speed sensor 14.

  The image sensor 11 is a CCD camera, monocular camera, stereo camera, or the like, and is installed near the upper end of the windshield of the host vehicle. The image sensor 11 captures a region that expands in a predetermined range toward the front of the host vehicle every predetermined time and acquires a captured image. Then, by processing the captured image, the distance to the object ahead of the host vehicle, the relative speed, the horizontal position of the object in the vehicle width direction, the horizontal width of the object, and the like as target information (image target GT). Obtained and output to the ECU 20.

  The radar sensor 12 detects an object in front of the host vehicle using a directional electromagnetic wave such as a millimeter wave or a laser, and is attached so that its optical axis faces the front of the vehicle at the front of the host vehicle. ing. The radar sensor 12 scans a region extending in a predetermined range toward the front of the vehicle every predetermined time with a radar signal, and receives an electromagnetic wave reflected from the surface of the object outside the vehicle, thereby receiving a distance from the object, a relative speed, and the like. Is acquired as target information (radar target LT) and output to the ECU 20.

  The yaw rate sensor 13 detects the turning angular velocity (yaw rate) of the host vehicle. The vehicle speed sensor 14 detects the traveling speed of the host vehicle based on the rotational speed of the wheels. The detection results obtained by these various sensors are input to the ECU 20.

  The ECU 20 is an electronic control unit that controls the entire driving support apparatus 100, and is configured mainly with a CPU, and includes a ROM, a RAM, and the like. The ECU 20 fuses the image target GT and the radar target LT to generate a fusion target, and detects an object around the host vehicle using the fusion target.

  When the fusion target is used, the position of the object can be specified using information with higher accuracy among the information acquired by the radar sensor 12 and the image sensor 11. For example, the position of the object in the traveling direction with respect to the host vehicle is specified by the distance and relative speed of the radar target LT, and the position of the object in the vehicle width direction with respect to the host vehicle is specified by the lateral width and lateral position of the image target GT. Therefore, the recognition accuracy of the object position can be improved.

  Moreover, ECU20 specifies the kind of object detected as a fusion target by performing well-known image processings, such as template matching, with respect to the picked-up image acquired from the image sensor 11. FIG. For example, pedestrians, road obstacles, and other vehicles that travel around the host vehicle are detected as the types of objects. Here, the other vehicle is a vehicle that enters (interrupts) between the own vehicle and a preceding vehicle (a so-called approach vehicle), a preceding vehicle that travels ahead in the traveling direction of the own vehicle, or the like.

  Furthermore, the ECU 20 performs driving support for causing the host vehicle to travel along the target travel route. Specifically, the ECU 20 includes a preceding vehicle detection unit 21, a preceding vehicle locus generation unit 22, an own vehicle detection unit 23, an own vehicle locus generation unit 24, a target route setting unit 25, an approaching vehicle detection unit 26, and an approaching vehicle locus generation unit 27. The switching unit 28 is configured to be communicably connected to the detection unit 10 and the steering control device 30.

  The preceding vehicle detection unit 21 detects a vehicle traveling on the traveling lane of the host vehicle as the preceding vehicle among the objects specified as the fusion target. Then, the rear end portion of the preceding vehicle is detected by image processing, and for example, the center position thereof is recognized as the detection position of the preceding vehicle. The detection position of the preceding vehicle includes a relative distance indicating a distance from the own vehicle in the traveling direction (vertical direction) of the own vehicle, a relative lateral position indicating a distance from the own vehicle in the vehicle width direction (lateral direction), etc. It is included. And the preceding vehicle detection part 21 detects the detection position of a preceding vehicle with a predetermined period, and memorize | stores it in a memory | storage part (RAM).

  The preceding vehicle locus generation unit 22 calculates the traveling locus of the preceding vehicle (hereinafter, the preceding vehicle locus L2) using the history of the detection position of the preceding vehicle acquired by the preceding vehicle detection unit 21. Specifically, the preceding vehicle locus L2 is generated by a line segment connecting the detection position of the preceding vehicle detected up to the previous detection cycle and the detection position of the preceding vehicle detected in the current detection cycle. For example, the preceding vehicle locus L2 is generated by connecting the detection positions of the preceding vehicle in each detection cycle with an approximate circle or the like.

  The own vehicle detection unit 23 obtains the detection position of the own vehicle M1 from the detection result of the state quantity of the own vehicle M1 such as the vehicle speed and the yaw rate of the own vehicle M1.

  The own vehicle trajectory generation unit 24 generates a travel trajectory of the own vehicle M1 (hereinafter, the own vehicle trajectory L1) using the history of the detection position of the own vehicle M1 detected by the own vehicle detection unit 23. The detection position of the host vehicle M1 is continuously acquired while the host vehicle M1 is traveling, but the accuracy of the detection position of the host vehicle M1 acquired in the past gradually decreases. Therefore, the host vehicle track generation unit 24 generates the host vehicle track L1 using the detection position in the current cycle and the detection position of the host vehicle acquired before the predetermined cycle. For example, the host vehicle locus L1 is generated by connecting the detected positions of the host vehicle in each detection cycle with an approximate circle or the like.

  The target route setting unit 25 uses the preceding vehicle trajectory L2 generated by the preceding vehicle trajectory generating unit 22 and the own vehicle trajectory L1 generated by the own vehicle trajectory generating unit 24 to travel following the host vehicle M1. The route is set as the target travel route L0.

  That is, as shown in FIG. 2, when the detection of the preceding vehicle M2 traveling ahead of the host vehicle M1 is started, the current position of the preceding vehicle is repeatedly detected at a predetermined cycle, so that the detection position of the preceding vehicle is determined. They are acquired in the order of A1 and A0. However, if the amount of data accumulated as the detection position of the preceding vehicle is small, the preceding vehicle locus L2 is shortened. Therefore, the target travel route L0 cannot be set using only the preceding vehicle locus L2, and driving assistance for the host vehicle M1 may not be performed.

  On the other hand, the history of the detection position of the host vehicle is continuously acquired while the host vehicle is traveling. That is, as shown in FIG. 2, the detection position of the own vehicle is acquired in order of B2, B1, and B0 by repeatedly detecting the current position of the own vehicle at a predetermined cycle. Therefore, in the present embodiment, when the preceding vehicle locus L2 is short, the preceding vehicle locus L2 is complemented by the own vehicle locus L1 to set the target travel route L0. Specifically, by extending the host vehicle track L1 forward, a host vehicle predicted track L12 that compensates for a separated portion (range in which no track is calculated) between the host vehicle track L1 and the preceding vehicle track L2 is generated. Then, the preceding vehicle locus L2 is complemented by the own vehicle locus L1 and the own vehicle predicted locus L12 that is an extension thereof, and the target traveling route L0 is set.

  In addition, the overlapping position of the preceding vehicle locus L2 and the own vehicle locus L1 (the own vehicle predicted locus L12) uses, for example, the intermediate position for setting the target travel route L0. In this case, the separated portion between the own vehicle locus L1 and the preceding vehicle locus L2 can be complemented by using the own vehicle predicted locus L12, and the overlapping portion between the preceding vehicle locus L2 and the own vehicle estimated locus L12 is replaced with the preceding vehicle locus L2. It can be set in consideration of both the own vehicle predicted locus L12.

  In addition to this, the preceding vehicle locus L2 may be used as it is for the overlapping portion of the preceding vehicle locus L2 and the own vehicle locus L1 (the own vehicle predicted locus L12). Alternatively, the higher reliability of the preceding vehicle locus L2 and the own vehicle predicted locus L12 may be preferentially used.

  As described above, the target travel route L0 can be set even immediately after the detection of the preceding vehicle M2 is started and the preceding vehicle locus L2 is short. Therefore, it becomes possible to perform driving support for the host vehicle M1 immediately after the detection of the preceding vehicle is started.

  Returning to the description of FIG. 1, the approaching vehicle detection unit 26 enters between the preceding vehicle M2 and the host vehicle M1 among the objects identified as fusion targets (other vehicles around the host vehicle M1). Other possible vehicles are detected as candidate vehicles (hereinafter referred to as candidate vehicles) for the approaching vehicle. For example, in an adjacent lane of the host vehicle M1, an other vehicle that travels from the side of the host vehicle M1 to the preceding vehicle M2 or another vehicle that travels behind the host vehicle M1 The other vehicle which may become is detected as a candidate vehicle. And the detection position (center position of a rear-end part) of each candidate vehicle is acquired with a predetermined period, and is memorize | stored in a memory | storage part. Further, when it is detected that the distance in the vehicle width direction between the host vehicle M1 and the candidate vehicle approaches a predetermined distance or less, the candidate vehicle is specified as the approaching vehicle M3.

  The approach vehicle trajectory generation unit 27 generates a travel trajectory of the candidate vehicle (hereinafter referred to as an approach vehicle trajectory L3) using the detection position of the candidate vehicle. When there are a plurality of candidate vehicles, the approach vehicle locus L3 is individually generated for each candidate vehicle. Note that the approaching vehicle trajectory generation unit 27 starts acquiring the travel trajectory of the candidate vehicle from the time when the candidate vehicle is detected.

  The switching unit 28 switches the approaching vehicle M3 to the preceding vehicle M2 and switches the approaching vehicle locus L3 to the preceding vehicle locus L2 when the approaching vehicle M3 that interrupts ahead of the host vehicle is specified by the approaching vehicle detection unit 26.

  By the way, before the approach vehicle M3 is switched to the preceding vehicle M2 by the switching unit 28, that is, when the approach vehicle M3 is a candidate vehicle, as shown in FIG. 3, before the approach vehicle M3 enters the front of the host vehicle, An offset ΔW is generated between the vehicle locus L3 and the host vehicle locus L1.

  Therefore, when the approach vehicle M3 that has entered the front of the host vehicle is switched to the preceding vehicle M2, the target travel route L0 is not set correctly if the approach vehicle track L3 acquired so far is switched to the preceding vehicle track L2. Can happen.

  In this regard, in this embodiment, the approach vehicle locus L3 acquired before the approach vehicle enters the front of the host vehicle is not used as the preceding vehicle locus L2. However, in this case, immediately after the approach vehicle M3 is switched to the preceding vehicle M2, the preceding vehicle locus L2 becomes shorter. For this reason, the target travel route L0 cannot be set using only the preceding vehicle locus L2.

  Therefore, until the predetermined time elapses after the approaching vehicle M3 is switched to the preceding vehicle M2, the preceding vehicle locus L2 generated after the approaching vehicle M3 is switched to the preceding vehicle M2 is complemented by the own vehicle locus L1. A target travel route L0 is set. Alternatively, the preceding vehicle locus L2 may be supplemented with the own vehicle locus L1 on the condition that the length of the preceding vehicle locus L2 acquired after the approaching vehicle M3 is switched to the preceding vehicle M2 is less than a predetermined length. As described above, the target travel route L0 can be appropriately set from the time when the preceding vehicle M2 is switched.

  Returning to the description of FIG. 1, the steering control device 30 causes the host vehicle M1 to travel along the target travel route L0 so that the travel locus of the host vehicle M1 follows the target travel route L0. Adjust the steering amount. For example, the steering control device 30 adjusts the steering amount of the host vehicle M1 so that the center position in the vehicle width direction of the host vehicle M1 is along the target travel route L0. Further, the steering control device 30 transmits to the user information related to the steering amount necessary for assisting the travel locus of the host vehicle M1, based on the error between the travel position of the host vehicle M1 and the target travel route L0. Or to a steering device (not shown). Note that the steering amount is adjusted by transmitting information on the steering amount to the steering device.

  Next, the procedure of the driving support process by the driving support apparatus 100 will be described using the flowchart of FIG. The following processing is repeatedly performed at a predetermined cycle by the ECU 20 in the traveling state of the host vehicle M1.

  First, the ECU 20 determines whether there is a command signal instructing execution of driving assistance (S11). This process is affirmed when a driving assistance instruction switch (not shown) is turned on.

  When S11 is affirmed, it is determined whether or not there is a preceding vehicle M2 (S12). This process is affirmed when the preceding vehicle detection unit 21 detects the preceding vehicle M2. When S12 is affirmed, it is determined whether or not the elapsed time T from the detection of the preceding vehicle M2 is equal to or greater than the threshold Th1 (S13). When S13 is affirmed, the target travel route L0 is set using only the preceding vehicle locus L2 (S16). On the other hand, when S13 is denied, it is determined whether the length of the preceding vehicle locus L2 is greater than or equal to the threshold Th2 (S14). When S14 is affirmed, it progresses to S16 and sets the target travel route L0 using only the preceding vehicle locus L2. On the other hand, when S14 is denied, the preceding vehicle locus L2 is complemented by the own vehicle locus L1, and the target travel route L0 is set (S15).

  According to the above, the following excellent effects can be achieved.

  Since the target travel route L0 is generated by complementing the travel locus of the preceding vehicle with the travel locus of the host vehicle, the target travel is performed even in a situation immediately after the preceding vehicle is detected and the preceding vehicle locus L2 is short. The route L0 can be set.

  -Soon after the detection of the preceding vehicle is started, the preceding vehicle locus L2 becomes short, and it becomes difficult to set the target travel route L0 using only the preceding vehicle locus L2. Therefore, on the condition that the preceding vehicle locus L2 is shorter than a predetermined value, the target vehicle route L0 is set by complementing the preceding vehicle locus L2 with the own vehicle locus L1, so that the target vehicle immediately after the detection of the preceding vehicle is started. A travel route L0 can be set.

  -Extending the own vehicle locus L1 to the front of the own vehicle and connecting the separated portion between the own vehicle locus L1 and the preceding vehicle locus L2, so that the target traveling route L0 can be obtained even in a situation where the preceding vehicle locus L2 is short. Can be set.

  The target travel route L0 can be appropriately set by using the preceding vehicle locus L2 acquired after the preceding vehicle is detected.

  In the preceding vehicle locus L2, since the range in which the deviation (error) in the vehicle width direction from the own vehicle locus L1 is less than a predetermined value is used for setting the target travel route L0, the preceding vehicle locus L2 is used. Thus, the target travel route L0 can be set appropriately.

  The present invention is not limited to the above, and may be implemented as follows. In the following description, the same components as those described above are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the flowchart of FIG. 4 described above, S15 is executed when at least one of S13 and S14 is NO instead of executing S15 when the processes of S13 and S14 are both NO. May be.

  In the above description, it may be determined whether or not the preceding vehicle locus L2 is complemented by the own vehicle locus L1 in consideration of the positional relationship between the preceding vehicle locus L2 and the current position of the own vehicle. Describing in detail with reference to FIG. 2, of the preceding vehicle detection positions A0 and A1 used to generate the preceding vehicle locus L2, the most recently acquired preceding vehicle detection position A1 (at the rear end position of the preceding vehicle locus L2). Is equivalent to the detected position B0 of the own vehicle (corresponding to the current position of the own vehicle), the target travel route L0 can be set using only the preceding vehicle locus L2.

  On the other hand, when the detection position A1 of the preceding vehicle is ahead of the detection position B0 of the own vehicle, the preceding vehicle locus L2 is complemented by the own vehicle locus L1 if the distance between the detection position A1 and the detection position B0 is large. Therefore, it is necessary to set the target travel route L0. On the other hand, if the distance between the detection position A1 and the detection position B0 is short, it is possible to set the target travel route L0 using only the preceding vehicle locus L2. Considering this, it may be determined whether or not the preceding vehicle locus L2 is complemented by the own vehicle locus L1.

  That is, in the flowchart of FIG. 5, when the preceding vehicle is detected in S12, the rear end position of the preceding vehicle locus L2 is obtained (S21). For example, the rear end position of the preceding vehicle is obtained based on the detection position of the preceding vehicle acquired the most in the past among the detection positions of the preceding vehicle detected by the preceding vehicle detection unit 21. Next, it is determined whether or not the rear end position of the preceding vehicle locus L2 is ahead of the current position of the host vehicle (S22). If it is determined that the rear end position of the preceding vehicle locus L2 is ahead of the current position of the host vehicle, is the distance between the rear end position of the preceding vehicle locus L2 and the current position of the host vehicle smaller than the threshold Th3? It is determined whether or not (S23). If the distance between the current position of the host vehicle and the preceding vehicle locus L2 is smaller than the threshold Th3, the target travel route L0 is set using only the preceding vehicle locus L2 (S24). If the distance between the current position of the host vehicle and the preceding vehicle locus L2 is greater than the threshold Th3, the target vehicle route L0 is set by complementing the preceding vehicle locus L2 with the own vehicle locus L1 (S25). As described above, the preceding vehicle locus L2 can be complemented by the host vehicle locus L1 in a more appropriate situation.

  In the flowchart of FIG. 4 described above, the threshold value Th2 may be variably set according to the inter-vehicle distance between the host vehicle and the preceding vehicle. That is, the threshold value Th2 may be set to a larger value as the distance between the host vehicle and the preceding vehicle increases. In this case, if the inter-vehicle distance between the host vehicle and the preceding vehicle is relatively short, the target travel route L0 can be set using only the preceding vehicle locus L2 even if the preceding vehicle locus L2 is relatively short. On the other hand, if the inter-vehicle distance between the host vehicle and the preceding vehicle is relatively long, if the preceding vehicle locus L2 is relatively short, the preceding vehicle locus L2 is complemented by the own vehicle locus L1 to set the target travel route L0. Will be. As described above, the target travel route L0 can be appropriately set according to the inter-vehicle distance between the host vehicle and the preceding vehicle.

  In the flowchart of FIG. 4 described above, the target travel route L0 may be set by complementing the preceding vehicle locus L2 with the own vehicle locus L1 regardless of the length of the preceding vehicle locus L2. That is, the process of S14 in FIG. 4 is omitted. Thus, it is determined whether or not the preceding vehicle locus L2 is complemented by the own vehicle locus L1 according to the elapsed time since the preceding vehicle was detected in S13. Alternatively, both the processes of S13 and S14 may be omitted, and when the preceding vehicle is detected, the preceding vehicle locus L2 may always be complemented by the own vehicle locus L1.

  In the flowchart of FIG. 4 described above, the threshold value Th1 of the elapsed time T in S13 may be variably set according to the vehicle speed. That is, the threshold value Th1 is set longer as the vehicle speed of the host vehicle M1 increases. In this case, the process of complementing the preceding vehicle locus L2 with the own vehicle locus L1 according to the vehicle speed can be more appropriately performed.

  In the flowchart of FIG. 4 described above, in addition to the determination condition, the host vehicle track L1 is not used for calculating the target travel route L0 before the predetermined elapsed time has elapsed since the host vehicle M1 changed the lane. Also good. At this time, the criterion for determining the elapsed time after the host vehicle M1 has changed lanes may be variably set according to the vehicle speed of the host vehicle M1. That is, as the vehicle speed of the host vehicle M1 increases, the determination criterion for the elapsed time may be set longer.

  In the above, a range in which the difference in the vehicle width direction from the own vehicle locus L1 becomes smaller than a predetermined value in the approaching vehicle locus L3 acquired before the approaching vehicle M3 is switched to the preceding vehicle M2 is determined as the preceding vehicle locus L2. May be used as That is, a range in which the offset ΔW with respect to the own vehicle locus L1 among the approaching vehicle locus L3 acquired before the approaching vehicle M3 is switched to the preceding vehicle M2 is less than a predetermined value may be used as the preceding vehicle locus L2.

  In the above, when complementing the preceding vehicle locus L2 with the own vehicle locus L1, by connecting each point of the history of the detection position of the own vehicle and each point of the history of the detection position of the preceding vehicle by an approximate circle or the like A target travel route L0 may be set.

  In the above description, an object such as the preceding vehicle M2 is detected by fusing the image target GT detected by the image sensor 11 and the radar target LT detected by the radar sensor 12, but the present invention is not limited to this. For example, only the image sensor 11 may be provided as a sensor for detecting an object such as the preceding vehicle M2, and an object such as the preceding vehicle M2 may be directly detected from a captured image detected by the image sensor 11.

  DESCRIPTION OF SYMBOLS 20 ... ECU, 21 ... A preceding vehicle detection part, 22 ... A preceding vehicle locus | trajectory production | generation part, 23 ... Own vehicle detection part, 24 ... Own vehicle locus generation part, 25 ... Target route setting part.

Claims (9)

A preceding vehicle detection unit that acquires a detection position of a preceding vehicle ahead of the host vehicle at a predetermined period;
A preceding vehicle locus generating unit that generates a preceding vehicle locus that is a traveling locus of the preceding vehicle using the detection position of the preceding vehicle detected by the preceding vehicle detecting unit;
A host vehicle detection unit that acquires a current position of the host vehicle as a detection position of the host vehicle at a predetermined period;
A host vehicle trajectory generation unit that generates a host vehicle trajectory that is a travel trajectory of the host vehicle using the detection position of the host vehicle detected by the host vehicle detection unit;
A target route setting unit that sets a target travel route along which the host vehicle follows by complementing the preceding vehicle track with the host vehicle track;
A driving support apparatus comprising:   2. The driving support device according to claim 1, wherein the target route setting unit sets the target travel route by complementing the preceding vehicle locus with the own vehicle locus on condition that the preceding vehicle locus is shorter than a predetermined value. .   The target route setting unit includes a rear end position that is an end portion of the preceding vehicle locus on the own vehicle side in front of the current position of the own vehicle, and the current position of the own vehicle and the rear end position. The driving support device according to claim 1, wherein the target travel route is set by complementing the preceding vehicle locus with the own vehicle locus on condition that the distance of the vehicle is greater than a predetermined distance.   The target route setting unit sets the target travel route by complementing the preceding vehicle locus with the own vehicle locus until a predetermined time elapses after the preceding vehicle is detected. The driving support device according to claim 1.   5. The target path setting unit according to claim 1, wherein the target route setting unit generates a predicted track by extending the host vehicle track in front of the host vehicle, and supplements the preceding vehicle track with the predicted track. 6. Driving assistance device.   The driving support device according to any one of claims 1 to 5, wherein the target route setting unit sets the target travel route using the preceding vehicle locus acquired after the preceding vehicle is detected.   The driving assistance device according to any one of claims 1 to 6, wherein a range in which a deviation amount in a vehicle width direction from the vehicle trajectory of the preceding vehicle trajectory is less than a predetermined amount is used for setting the target travel route. .   The driving support device according to any one of claims 1 to 7, further comprising travel control means for controlling travel of the host vehicle along the target travel route set by the target route setting unit. Obtaining a detection position of a preceding vehicle ahead of the host vehicle at a predetermined period;
Generating a preceding vehicle locus that is a traveling locus of the preceding vehicle using the detection position of the preceding vehicle detected by the preceding vehicle detection unit;
Obtaining a detection position of the host vehicle at a predetermined period;
Generating a host vehicle trajectory that is a travel trajectory of the host vehicle using the detection position of the host vehicle detected by the host vehicle detection unit;
And a step of setting a target travel route along which the host vehicle travels by complementing the preceding vehicle track with the host vehicle track.

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