A method for generating a target vehicle speed of a driving-assisted vehicle in which a target vehicle speed of a host vehicle is generated in accordance with a speed limit of a travel path of the host vehicle, comprising the steps of: acquiring the speed limit of the travel path of the host vehicle during travel; generating a target acceleration in accordance with the speed limit; and relaxing a limitation on acceleration during the generating of the target acceleration to a greater extent when the speed limit of the travel path of the host vehicle is high as compared to when the speed limit of the travel path of the host vehicle is low; wherein the method is characterized in that: during setting of an acceleration limit value, a first acceleration limit value is set to be increased correspondingly with an increase in the speed limit, a second acceleration limit value is set to be increased correspondingly with an increase in a difference in speed between the speed limit and a host-vehicle speed, and the lower of the first acceleration limit value and the second acceleration limit value is selected as the acceleration limit value; and at least one of: (i) during the generating of the target acceleration, a target acceleration having a sharp gradient of vehicle speed increase is generated due to the acceleration limit value being set to be increased when the limitation on acceleration is relaxed, and a target acceleration having a gradual gradient of vehicle speed increase is generated due to the acceleration limit value being set to be decreased when the limitation on acceleration is made stricter, or (ii) during the generating of the target acceleration, an acceleration jerk limit value is set to be increased in a direction of relaxing a limitation on acceleration jerk correspondingly with an increase in the speed limit of the travel path of the host vehicle. acquiring the speed limit of the travel path of the host vehicle during travel; generating a target acceleration in accordance with the speed limit; and relaxing a limitation on acceleration during the generating of the target acceleration to a greater extent when the speed limit of the travel path of the host vehicle is high as compared to when the speed limit of the travel path of the host vehicle is low; wherein the method is characterized in that: during setting of an acceleration limit value, a first acceleration limit value is set to be increased correspondingly with an increase in the speed limit, a second acceleration limit value is set to be increased correspondingly with an increase in a difference in speed between the speed limit and a host-vehicle speed, and the lower of the first acceleration limit value and the second acceleration limit value is selected as the acceleration limit value; and at least one of: (i) during the generating of the target acceleration, a target acceleration having a sharp gradient of vehicle speed increase is generated due to the acceleration limit value being set to be increased when the limitation on acceleration is relaxed, and a target acceleration having a gradual gradient of vehicle speed increase is generated due to the acceleration limit value being set to be decreased when the limitation on acceleration is made stricter, or (ii) during the generating of the target acceleration, an acceleration jerk limit value is set to be increased in a direction of relaxing a limitation on acceleration jerk correspondingly with an increase in the speed limit of the travel path of the host vehicle. during setting of an acceleration limit value, a first acceleration limit value is set to be increased correspondingly with an increase in the speed limit, a second acceleration limit value is set to be increased correspondingly with an increase in a difference in speed between the speed limit and a host-vehicle speed, and the lower of the first acceleration limit value and the second acceleration limit value is selected as the acceleration limit value; and at least one of: (i) during the generating of the target acceleration, a target acceleration having a sharp gradient of vehicle speed increase is generated due to the acceleration limit value being set to be increased when the limitation on acceleration is relaxed, and a target acceleration having a gradual gradient of vehicle speed increase is generated due to the acceleration limit value being set to be decreased when the limitation on acceleration is made stricter, or (ii) during the generating of the target acceleration, an acceleration jerk limit value is set to be increased in a direction of relaxing a limitation on acceleration jerk correspondingly with an increase in the speed limit of the travel path of the host vehicle.