TARGET VEHICLE SPEED GENERATION METHOD AND TARGET VEHICLE SPEED GENERATION DEVICE FOR DRIVING ASSISTED VEHICLE

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.