Patent attributes
A speed zone computation unit that computes a speed zone of a host vehicle; 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 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.