Movement support device, movement support method and movement support program

Abstract

To provide a movement support device capable of performing effective travel support even in a vehicle without having map data, etc. in an own vehicle.SOLUTION: When movement of a vehicle C is supported, vehicle information corresponding to other vehicle except the vehicle C is acquired, and whether or not the vehicle C and the other vehicle move on the same road is determined based on the acquired vehicle information. Then, when the other vehicle and the vehicle C move on the same road, road data associated with a fact is acquired from the other vehicle, and necessity of travel support of the vehicle C using the road data is determined. When it is determined that the travel support is necessary, the travel support using the road data is executed.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present application belongs to the technical fields of a mobility assistance device, a mobility assistance method, and a mobility assistance program, and more specifically, to a mobility assistance device and a mobility assistance method that assist the movement of a moving body, and a program for the mobility assistance device. [Background technology]

[0002] In recent years, it has been considered to improve the accuracy of warnings for safe driving by mutually using map data through communication between two or more vehicles that are within a communication distance. In the following description, communication between two or more vehicles that are within a communication distance is simply referred to as "vehicle-to-vehicle communication". For example, Patent Document 1 below is an example of a document disclosing a conventional technique for such vehicle-to-vehicle communication. In the conventional technique described in Patent Document 1, when a road on which a vehicle is traveling and a road on which vehicles around the vehicle are traveling intersect on a plane, the vehicle-to-vehicle communication is used to compare the heights (altitudes) between the vehicles to determine whether or not either of the vehicles is traveling on an elevated road. If either of the vehicles is traveling on an elevated road, it is determined that there is no risk of collision and a warning to that effect is not issued. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2008-146507 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology disclosed in Patent Document 1, in order to use vehicle-to-vehicle communication to grasp surrounding vehicles and drive safely, the vehicle needs to have map data in it. However, Patent Document 1 does not take into consideration vehicles that do not have map data in them.

[0005] Therefore, the present application has been made in consideration of the above points, and one example of the object of the application is to provide a mobility assistance device and a mobility assistance method, as well as a program for the mobility assistance device, that are capable of providing effective driving assistance even in a vehicle that does not have map data, etc., in-house. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention provides a mobility support device that is used by a moving body and provides mobility support, which is support for the movement of the moving body, comprising: a current position information acquisition means, such as an interface, that acquires current position information indicating the current position of the mobility support device; a mobile body information acquisition means, such as an interface, that acquires mobile body information of other moving bodies other than the moving body for which the mobility support device is used; a movement determination means, such as a movement determination unit, that determines whether the moving body for which the mobility support device is used and the other moving body are moving on the same movement path based on the acquired current position information and mobile body information; a movement path information acquisition means, such as an interface, that acquires from the other moving body, when the other moving body is moving on the same movement path, movement path information related to the movement path on which the other moving body is located, and an assistance means, such as an assistance unit, that provides the mobility support based on the acquired movement path information.

[0007] In order to solve the above problems, the present invention provides a mobility support method executed in a mobility support device that is used by a moving body and provides mobility support, which is support for the movement of the moving body, comprising: a current location information acquisition step of acquiring current location information indicating a current location of the mobility support device; a mobility information acquisition step of acquiring mobility information of other moving bodies other than the moving body for which the mobility support device is used; a movement determination step of determining whether the moving body for which the mobility support device is used and the other moving body are moving on the same movement path based on the acquired current location information and mobility information; when the other moving body is moving on the same movement path, a movement path information acquisition step of acquiring from the other moving body information related to the movement path on which the other moving body is located; and a support step of providing the mobility support based on the acquired movement path information.

[0008] In order to solve the above problems, the present invention causes a computer included in a mobility support device that is used by a moving body and provides mobility support, which is support for the movement of the moving body, to function as: a current location information acquisition means for acquiring current location information indicating the current location of the mobility support device; a mobile body information acquisition means for acquiring mobile body information of other moving bodies other than the moving body for which the mobility support device is used; a movement determination means for determining whether the moving body for which the mobility support device is used and the other moving body are moving on the same movement path based on the acquired current location information and mobile body information; a movement path information acquisition means for acquiring from the other moving body, when the other moving body is moving on the same movement path, movement path information related to the movement path on which the other moving body is located, and an assistance means for performing the mobility support based on the acquired movement path information. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a schematic configuration of a travel support device according to an embodiment. [Diagram 2] 1 is a block diagram showing a schematic configuration of an inter-vehicle communication system according to an embodiment; [Diagram 3] FIG. 2 is a block diagram showing a schematic configuration of a terminal device according to an embodiment. [Figure 4] 4 is a flowchart showing a driving support process according to an embodiment. [Diagram 5] 5A and 5B are conceptual diagrams illustrating a driving support process according to an embodiment, in which FIG. 5A is a diagram showing a first example, and FIG. 5B is a diagram showing a second example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Next, an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a block diagram showing a schematic configuration of a travel support device according to an embodiment.

[0011] 1, a mobility support device S according to the embodiment is a mobility support device that is used by a moving body and performs mobility support, which is support for the movement of the moving body, and includes a moving body information acquisition means 1, a movement determination means 2, a movement path information acquisition means 3, a current position information acquisition means 4, and an assistance means 5. In this case, the "moving body" includes not only vehicles as a means of transportation such as automobiles, motorcycles, bicycles, etc., but also people who move around while carrying the mobility support device S according to the embodiment.

[0012] In this configuration, the current location information acquisition means 4 acquires current location information indicating the current location of the travel support device S.

[0013] On the other hand, the moving body information acquisition means 1 acquires moving body information of moving bodies other than the moving body in which the travel support device S is used.

[0014] Then, the movement determination means 2 determines whether the moving body using the movement support device S and another moving body are moving along the same movement path based on the current location information and moving body information acquired by the current location information acquisition means 4 and the moving body information acquisition means 1, respectively.

[0015] Next, when another moving object is moving along the same moving path, the moving path information acquisition means 3 acquires, from the other moving object, moving path information related to the moving path on which the other moving object is located.

[0016] The support means 5 then performs travel support based on the travel path information acquired by the travel path information acquisition means 3.

[0017] As described above, according to the operation of the travel support device S of the embodiment, travel support information corresponding to another travel object is acquired, it is determined whether the other travel object is traveling on the same travel path, and travel path information related to the other travel object is acquired if the other travel object is traveling on the same travel path. This provides travel support based on the travel path information. Therefore, since travel support based on the travel path information from the other travel object is performed, even if the travel support device is used in a travel object that does not have its own travel path information, for example, effective travel support for the travel object can be provided. EXAMPLES

[0018] Next, specific examples corresponding to the above-described embodiment will be described with reference to Figures 2 to 5. The examples described below are examples in which the embodiment is applied to a vehicle-to-vehicle communication system that supports the traveling of a vehicle, which is an example of a moving body according to the embodiment, by a terminal device mounted on the vehicle.

[0019] Also, Fig. 2 is a block diagram showing a schematic configuration of a vehicle-to-vehicle communication system according to an embodiment, and Fig. 3 is a block diagram showing a schematic configuration of a terminal device according to an embodiment. Furthermore, Fig. 4 is a flowchart showing a driving support process according to an embodiment, and Fig. 5 is a conceptual diagram illustrating the driving support process. In Fig. 3, the same component numbers as those of the respective components in the driving support device S according to the embodiment shown in Fig. 1 are used for the respective components in the embodiment. Also, Fig. 5 is a diagram explaining the driving support process according to an embodiment as a concept in terms of data processing.

[0020] 2, the vehicle-to-vehicle communication system CS according to the embodiment is composed of terminal devices SS each mounted on a vehicle C, and capable of transmitting and receiving various data by interconnection through direct wireless communication via an antenna AT. Here, the terminal devices SS constituting the vehicle-to-vehicle communication system CS include a terminal device SSb that stores map data for guidance, and a terminal device SSa according to the embodiment that does not store the map data.

[0021] Next, the configuration and general operation of the terminal device SSa according to the embodiment will be described with reference to FIG.

[0022] As shown in Fig. 3, the terminal device SSa according to the embodiment is composed of an interface 1 connected to an antenna AT, a processing unit 10 consisting of a CPU, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., a memory 11 having a volatile area and a non-volatile area, an operation unit 12 consisting of an operation button or a touch panel, etc., a sensor unit 13 consisting of various sensors for detecting the current position of a vehicle C equipped with the terminal device SSa, and a display 14 consisting of a liquid crystal display or the like for displaying information required for the terminal device SSa. In this case, the interface 1 corresponds to an example of a mobile object information acquisition means 1 according to the embodiment, an example of a current position information acquisition means 4, an example of a travel path information acquisition means 3, and an example of a "provision means" according to the present application. The display 14 corresponds to an example of an "output means" according to the present application.

[0023] The processing unit 10 is configured with a movement determination unit 2 corresponding to an example of the movement determination means 2 according to the embodiment and an example of the "detection means" according to the present application, a necessity determination unit 15 corresponding to an example of the "environment determination means" and an example of the "necessity determination means" according to the present application, and a support unit 5 corresponding to an example of the support means 5 according to the embodiment. In this case, the movement determination unit 2, the necessity determination unit 15, and the support unit 5 may each be realized by a hardware logic circuit constituting the processing unit 10, or may be executed in a software manner by the processing unit 10 reading and executing a program for driving support processing described later. Furthermore, the interface 1 and the movement determination unit 2 and the support unit 5 of the processing unit 10 configure an example of the movement support device S according to the embodiment (see dashed line in FIG. 3).

[0024] In the above configuration, the interface 1 controls data transmission and reception with other terminal devices SSb under the control of the processing unit 10. The memory 11 temporarily stores data and the like required for the processing unit 10 to execute the driving support processing according to the embodiment, and reads out the data and the like as necessary. The sensor unit 13 detects the current position of the terminal device SSa, for example, autonomously or by receiving a navigation radio wave from a GPS (Global Positioning System) navigation satellite, and outputs current position data indicating the current position to the processing unit 10. The operation unit 12 outputs an operation signal corresponding to an operation, etc., to the processing unit 10 when an operation, etc., for specifying an operation as the terminal device SSa is executed. As a result, the processing unit 10 executes the driving support processing according to the embodiment while displaying necessary information on the display 14. At this time, the movement determination unit 2, the necessity determination unit 15, and the support unit 5 of the processing unit 10 play a central role in executing the driving support processing.

[0025] Next, the driving support process according to the embodiment will be described in more detail with reference to Fig. 3 to Fig. 5. The driving support process according to the embodiment is started, for example, when a start operation is performed on the operation unit 12. In the following description, when common matters are described for vehicles C0 to C3 described later, they are simply referred to as "vehicle C."

[0026] That is, as shown in FIG. 4, when the above-mentioned start operation is performed, the processing unit 10 first acquires data necessary for the driving support processing by direct wireless communication (vehicle-to-vehicle communication) with the terminal device SSb of the other vehicle C via the interface 1 and the antenna AT (step S1). The data acquired from the other terminal device SSb by the processing of step S1 includes, for example, source identification data, destination identification data, current position data, type data, shape data, intersection data, trajectory data, distance data, etc. Among these, for example, the source identification data, destination identification data, current position data, trajectory data, and distance data correspond to an example of moving body information according to the embodiment, and the type data, shape data, intersection data, etc. correspond to an example of moving path information according to the embodiment. At this time, the source identification data is data for identifying the vehicle C on which the terminal device SSb is mounted from the other vehicles C. Moreover, the destination identification data is data for identifying the vehicle C on which the terminal device SSa, which is the transmission destination (destination), is mounted from the other vehicles C. Furthermore, the current position data is data indicating the current position of the vehicle C on which the terminal device SSb is mounted. The type data indicates the type of the road on which the vehicle C is currently traveling (for example, whether the vehicle C is traveling on a general road or an expressway). The shape data indicates the shape of the road on which the vehicle C is currently traveling, for example, by so-called link data and node data. The intersection data indicates the position of the intersection immediately in the direction of travel on the road on which the vehicle C is currently traveling, the distance and direction to the intersection, the shape of the intersection, and the presence or absence of a traffic light at the intersection. The trajectory data indicates the travel history (travel trajectory) of the vehicle C. Finally, the distance data indicates the distance between the vehicle C on which the terminal device SSb is mounted and the vehicle C on which the terminal device SSa is mounted (the distance between the two vehicles when both vehicles are traveling in the same direction on the same road). In this case, the type data, shape data, and intersection data are transmitted because the vehicle C on which the terminal device SSb is mounted has recorded normal map data for guidance.

[0027] When reception of various data is started in step S1, the processing unit 10 next judges whether a predetermined amount of data required for making the judgments in steps S3 and S4 described later has been acquired (step S2). If the required amount of data has not yet been acquired in the judgment in step S2 (step S2; NO), the processing unit 10 returns to the above step S1 and continues acquiring various data. On the other hand, if the required amount of data has been acquired in the judgment in step S2 (step S2; YES), the movement judgment unit 2 of the processing unit 10 next judges whether there is another vehicle C (vehicle C equipped with another terminal device SSb) traveling on the same road as the vehicle C0 equipped with the terminal device SSa is currently traveling on, based on the data acquired in step S1 and the current position data output from the sensor unit 13 of the terminal device SSa itself (step S3).

[0028] In this case, as shown in FIG. 5(a), for example, when the trajectory data, the shape data and the current position data indicating the trajectory TR1 of the vehicle C1 are transmitted from the terminal device SSb mounted on the vehicle C1 traveling ahead on the same road as the vehicle C0 (whose traveling trajectory is trajectory TR0) on which the terminal device SSa of the embodiment is mounted, the movement determination unit 2 determines the degree of coincidence between the traveling trajectory indicated by the trajectory data and the shape data and the traveling trajectory of the vehicle C0, and if the degree of coincidence is equal to or greater than a preset threshold value, determines that the vehicle C1 is traveling on the same road as the vehicle C0 (the vehicle itself). Similarly, when the trajectory data, shape data and current position data indicating the trajectory TR2 of vehicle C2 are transmitted from terminal device SSb mounted on vehicle C2 traveling behind vehicle C0 on the same road as vehicle C0, the movement determination unit 2 determines the degree of match between the traveling trajectory indicated by the trajectory data and shape data and the traveling trajectory of vehicle C0, and if the degree of match is equal to or greater than a preset threshold value, determines that vehicle C2 is traveling on the same road as vehicle C0.

[0029] In addition, as a judgment in step S3, the movement judgment unit 2 may also judge that two vehicles C (vehicles C0 and C1, or vehicle C0 and C2) are traveling on the same road if, for example, the above distance data is received from vehicle C1 (or vehicle C2) and the change in the inter-vehicle distance between vehicle C1 and vehicle C0 (or the change in the inter-vehicle distance between vehicle C2 and vehicle C0) is below a predetermined threshold.

[0030] In the judgment of step S3, if there is no other vehicle C traveling on the same road (step S3; NO), the processing unit 10 returns to the above step S1 and continues to acquire various data. On the other hand, in the judgment of step S3, if there is another vehicle C traveling on the same road (step S3; YES), the movement judgment unit 2 next judges whether there are multiple other vehicles C traveling on the same road as the road on which the vehicle C0 on which the terminal device SSa is mounted is currently traveling (step S4). In the judgment of this step S4, the movement judgment unit 2 judges whether the multiple vehicles C are traveling based on whether there are multiple vehicles C determined to be traveling on the same road in the judgment of the above step S3. For example, in the case of the example shown in FIG. 5(a), it is determined that there are two vehicles C1 and C2 traveling on the same road in front of and behind the vehicle C0 (step S4; YES). In the judgment of step S4, if there is only one other vehicle C traveling on the same road (step S4; NO), the processing unit 10 returns to the above step S1 and continues to acquire various data. On the other hand, if it is determined in step S4 that there are multiple other vehicles C traveling on the same road (step S4; YES), the processing unit 10 then determines whether or not the contents of, for example, the type data in the data received from each of those vehicles C match (step S5). If it is determined in step S5 that the two do not match (step S5; NO), the types of the roads are different even though the vehicles are traveling on the same road, and the reliability of the data received from each vehicle C is low. Therefore, in this case, the processing unit 10 returns to step S1 and continues to acquire data. Note that, as a reason for determining "NO" in the determination in step S5 (a reason for reduced reliability), for example, the versions of the map data recorded in the vehicles C1 and C2 are different.

[0031] On the other hand, if the contents of the various types of data match in the judgment of step S5 (step S5; YES), the reliability of the received data is judged to be high, and then the necessity judgment unit 15 of the processing unit 10 uses the above-mentioned type data, etc. received from vehicles C1 and C2 traveling on the same road to judge whether or not driving assistance is necessary for, for example, the driver of the vehicle C0 in which the terminal device SSa is installed (step S6).If it is judged that there is no need for such assistance (step S6; NO), the process proceeds to step S8 described below, and if it is judged that there is a need for such assistance (step S6; YES), the assistance unit 5 of the processing unit 10 executes driving assistance according to the judgment result (step S7).

[0032] Here, the driving support process in steps S6 and S7 will be described with reference to FIG. 5(b).

[0033] For example, as shown in Fig. 5(b), it is assumed that a vehicle C0 equipped with a terminal device SSa and vehicles C1, C2, and C3 equipped with terminal devices SSb are performing inter-vehicle communication (see steps S1 to S5 in Fig. 4). It is assumed that the vehicles C0, C1, and C2 are traveling on a general road in the order shown in Fig. 5(b) in the left direction in Fig. 5(b). On the other hand, it is assumed that the vehicle C3 is traveling on a highway that crosses the general road on which the vehicles C0 and the like are traveling in the upward direction in Fig. 5(b). At this time, it is determined that the vehicles C1 and C2 are traveling on the same road as the vehicle C0 (see step S3 in Fig. 4; YES and step S4; YES), but it is not determined that the vehicle C3 is traveling on the same road (see step S3 in Fig. 4; NO). The processing unit 10 recognizes from the intersection data from vehicle C1 or vehicle C2 that there is an intersection CR1 immediately ahead on the general road on which vehicle C0, etc. is traveling, and the processing unit 10 recognizes from the intersection data from vehicle C3 that there is a branch point CR2 for entering, for example, a parking area immediately ahead on the expressway on which vehicle C3 is traveling.

[0034] In the example shown in Fig. 5(b), the necessity determination unit 15 of the processing unit 10 can determine that there is no possibility of collision between the vehicle C0 traveling on the general road and the vehicle C3 traveling at high speed that crosses the general road via an elevated road at the intersection CR1 or the branch point CR2. Therefore, in this case, the necessity determination unit 15 determines that there is no need for driving support (see step S6 in Fig. 4; NO).

[0035] On the other hand, when the type data from the vehicle C3 indicates that the vehicle C3 is traveling on a general road, and the position of the intersection CR1 immediately ahead of the general road on which the vehicles C0, etc. are traveling is determined to match the position of the intersection immediately ahead of the general road on which the vehicle C3 is traveling, the necessity determination unit 15 determines that there is a need for driving support (see step S6 in FIG. 4; YES). As a result, the support unit 5 executes driving support such as calling attention to the vehicle C3 that may cross at the intersection CR1 ahead, for example, using the display 14 or a voice output unit not shown (see step S7 in FIG. 4). At this time, for example, when the timings of entry into the intersection CR1 that may cross each other are different from each other, or when there is no possibility of entering the intersection CR1 at the same time due to the switching state of the traffic light at the intersection CR1, the driving support for the vehicle C3 may not be performed.

[0036] If it is determined in step S6 that driving assistance is not necessary (step S6; NO), or after driving assistance is executed in step S7, the processing unit 10 transmits each data (including type data and shape data of the road on which the vehicle C0 is traveling, etc.) received in the vehicle C0 from the other vehicle C to the other vehicle C (for example, the vehicle C3 illustrated in Figure 5(b)) (step S8).

[0037] Thereafter, the processing unit 10 judges whether or not to end the driving support process according to the embodiment due to reasons such as the power supply of the terminal device SSa being turned off or a setting being made to not perform the driving support process according to the embodiment (step S9). If it is judged in step S9 that the driving support process is to be continued (step S9; NO), the processing unit 10 returns to the above step S1. On the other hand, if it is judged in step S9 that the driving support process according to the embodiment is to be ended (step S9; YES), the processing unit 10 ends the driving support process as it is.

[0038] As described above, according to the operation of the inter-vehicle communication system CS according to the embodiment, current position data, etc. are acquired from the other vehicle C, whether or not the other vehicle C is moving on the same road is determined (see step S3 and step S4 in FIG. 4), and type data, etc. related to the other vehicle C moving on the same road are acquired (see step S1 in FIG. 4). As a result, the necessity of driving support based on the type data, etc. is determined (see step S6 in FIG. 4), and if it is determined that driving support is necessary, it is executed (see step S7 in FIG. 4). Therefore, since the driving support is executed when driving support based on the type data, etc. from the other vehicle C is necessary, even if the terminal device SSa of the vehicle C0 does not have its own map data, etc. recorded therein, it is possible to perform effective driving support for the vehicle C0.

[0039] In addition, when it is determined that driving assistance is necessary, the presence or absence of an intersection CR1 in the traveling direction is determined based on the type data, intersection data, etc., and the status of the intersection CR1, etc. is output, so that driving assistance can be provided accurately.

[0040] Furthermore, when the data transmitted from the other vehicle C includes at least one of trajectory data and distance data, more specific driving assistance can be performed based on these. More specifically, for example, when trajectory data is transmitted, the degree of coincidence with the driving trajectory of the other vehicle C is detected based on the trajectory data, and whether the vehicle C0 and the vehicle C1 are traveling on the same road is determined based on the degree of coincidence, so that driving assistance can be performed by accurately determining whether the vehicles C are traveling on the same road. Also, when distance data is transmitted, whether the vehicles C are traveling on the same road can be determined based on the change in the inter-vehicle distance indicated by the distance data, so that driving assistance can be performed by accurately determining whether the vehicles C are traveling on the same road.

[0041] Furthermore, since the need for driving assistance related to a collision between vehicles C is determined based on type data transmitted from other vehicles C, the need for driving assistance can be accurately determined based on the type of road.

[0042] In addition, the data received by the terminal device SSa is transmitted to another vehicle C (e.g., vehicle C3 shown in FIG. 5(b)) traveling on a road other than the same road (see step S8 in FIG. 4), so that the other vehicle C can also perform driving assistance similar to that of vehicle C0.

[0043] In the above embodiment, if the determination in each of steps S3 to S5 is "NO", the process returns to step S1, but it may be configured to proceed to step S6 even if the determination in each of steps S3 to S5 is "NO". In this case, if the type data, etc. of the road on which the vehicle C0 is traveling can be determined before step S8, the data can be transmitted to the other vehicle C, and if the type data, etc. cannot be determined, the transmission is not performed.

[0044] In the above embodiment, the present application has been described as being applied to a vehicle-to-vehicle communication system CS that uses vehicle-to-vehicle communication, but the present application can also be applied to a communication system that transmits and receives data between vehicles C via a network such as the Internet (i.e., via a specified server device). In this case, the terminal devices SS will transmit and receive data while identifying each other using the above-mentioned source identification data, etc.

[0045] Furthermore, in the above-mentioned embodiment, the case where the present application is applied to the vehicle-to-vehicle communication system CS using vehicle-to-vehicle communication has been described, but in addition to this, for example, the present application can be applied to a system that supports the movement of a person carrying a portable information terminal device (including a so-called smartphone) as an example of a moving body according to the embodiment while communicating between the portable information terminal devices. In this case, the portable information terminal devices will exchange necessary data while identifying each other using identification data that identifies each other.

[0046] Furthermore, a driving assistance program corresponding to the flowchart shown in FIG. 4 can be recorded on a recording medium such as an optical disk or a hard disk, or obtained via a network such as the Internet, and then read out and executed by a general-purpose microcomputer or the like, thereby causing the microcomputer to function as the processing unit 10 according to the embodiment. [Explanation of symbols]

[0047] 1. Means of acquiring mobile information (interface) 2 Movement determination means (movement determination unit) 3 Means for acquiring travel route information 4 Current location information acquisition means 5 Support means (Support Department) 10 Processing section 15 Necessity Determination Department SSa, SSb terminal equipment CS Inter-Vehicle Communication System C, C0, C1, C2, C3 vehicles CR1 Intersection CR2 Junction

Claims

[Claim 1] A mobility support device that is used in a moving body and performs mobility support, which is support for the movement of the moving body, A current location information acquisition means for acquiring current location information indicating a current location of the movement support device; a mobile object information acquisition means for acquiring mobile object information of a mobile object other than the mobile object for which the mobility support device is used; a movement determination means for determining whether the moving body for which the movement support device is used and the other moving body are moving along the same movement path based on the acquired current position information and moving body information; a movement path information acquisition means for acquiring, when the other moving body is moving along the same movement path, movement path information related to the movement path on which the other moving body is located from the other moving body; A support means for performing the travel support based on the acquired travel path information; A mobility support device comprising:

Images