Driving Support Device and Driving Support Method

Abstract

The purpose of the present invention is to provide a technique capable of avoiding following traveling of a specific vehicle. This driving assistance device comprises: a storage unit that stores an attribute of a specific vehicle; an acquisition unit that acquires surrounding information as information about surroundings of a vehicle, and acquires an attribute of a following vehicle which is performing following traveling with respect to the vehicle on the basis of the surrounding information; and a control unit. The control unit comprises a control unit that, when the attribute of the following vehicle acquired in the acquisition unit matches the attribute of the specific vehicle stored in the storage unit, performs, in the vehicle, a driving assistance relating to avoiding the following traveling of the specific vehicle.

Description

Technical Field

[0001] The present disclosure relates to a driving support device and a driving support method.

Background Art

[0002] A following driving system that causes a host vehicle to automatically follow a preceding vehicle traveling in front of the host vehicle has been put into practical use. On the other hand, Patent Document 1 proposes a driving support system that notifies a driver of the host vehicle based on whether or not the host vehicle is following another vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the prior art, regardless of whether another vehicle is a specific vehicle that the host vehicle does not want to follow, a notification is made if another vehicle follows the host vehicle. For this reason, for example, there has been a problem that a notification is made even if another vehicle following the host vehicle is, for example, a friend's vehicle.

[0005] Therefore, the present disclosure has been made in view of the above problems, and an object thereof is to provide a technique capable of avoiding following driving by a specific vehicle.

Means for Solving the Problems

[0006] The driving support device according to the present disclosure includes a storage unit that stores the attributes of a specific vehicle, an acquisition unit that acquires peripheral information, which is information about the surroundings of the vehicle, and acquires the attributes of a following vehicle that is following the vehicle based on the peripheral information, and a control unit that performs driving support related to avoidance of following driving by the specific vehicle when the attributes of the following vehicle acquired by the acquisition unit match the attributes of the specific vehicle stored in the storage unit. Based on the surrounding information, the acquisition unit recognizes a following vehicle that automatically performs following driving with respect to the host vehicle as a following vehicle for which attributes are to be acquired.

Advantages of the Invention

[0007] According to the present disclosure, when the attributes of the following vehicle acquired by the acquisition unit match the attributes of the specific vehicle stored in the storage unit, driving support related to avoidance of following driving by the specific vehicle is performed in the vehicle, so that following driving by the specific vehicle can be avoided.

[0008] The object, features, aspects, and advantages of the present disclosure will become clearer from the following detailed description and the accompanying drawings.

Brief Description of the Drawings

[0009]

Figure 1

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Best Mode for Carrying Out the Invention

[0010] <Embodiment 1> FIG. 1 is a block diagram showing the configuration of the driving support device 100 according to Embodiment 1 of the present invention. Hereinafter, a vehicle for which driving support is performed by the driving support device 100 will be described as the host vehicle. Note that the driving support device 100 may be mounted on the host vehicle or may not be mounted on the host vehicle.

[0011] The driving support device 100 in FIG. 1 is connected to a peripheral detection device 20 and a notification device 30. In the example of FIG. 1, the peripheral detection device 20 and the notification device 30 are provided separately from the driving support device 100, but may be provided in the driving support device 100.

[0012] The peripheral detection device 20 detects information such as the environment around the host vehicle as peripheral information. The peripheral detection device 20 includes, for example, at least one of an imaging device (not shown) and a detection device such as a radar. The peripheral detection device 20 appropriately outputs the detected peripheral information to the driving support device 100.

[0013] The notification device 30 performs notification under the control of the driving support device 100. The notification device 30 includes, for example, at least one of a display device (not shown) and an audio notification device, and notifies the passengers of the host vehicle by at least one of display and audio. The notification device 30 may be fixed to the host vehicle or may be brought into the host vehicle.

[0014] Next, the configuration of the driving support device 100 in FIG. 1 will be described. The driving support device 100 includes an avoidance vehicle storage unit 1 that is a storage unit, a following vehicle recognition unit 2 that is an acquisition unit, and a control unit 3.

[0015] The avoidance vehicle memory unit 1 stores the attributes of a specific vehicle as attribute information. Hereinafter, the specific vehicle will be described as an avoidance vehicle that does not want to follow the host vehicle. The attributes of the avoidance vehicle include, for example, the individual name and vehicle type of the avoidance vehicle. The vehicle type is a concept that can categorize individual names and includes, for example, trucks and luxury foreign cars. The attributes of the avoidance vehicle are appropriately stored in the avoidance vehicle memory unit 1 by using, for example, an operation input device and a display device (not shown) by the driver. For the avoidance vehicle memory unit 1, for example, a memory described later is used.

[0016] The following vehicle recognition unit 2 acquires surrounding information from the surrounding detection device 20, recognizes a following vehicle that is following the host vehicle based on the surrounding information, and acquires the attributes of the following vehicle. For the following vehicle recognition unit 2, for example, an image recognition device and its interface are used.

[0017] The control unit 3 determines whether the attributes of the following vehicle acquired by the following vehicle recognition unit 2 match the attributes of the avoidance vehicle stored in the avoidance vehicle memory unit 1. When it is determined that the attributes of the following vehicle acquired by the following vehicle recognition unit 2 match the attributes stored in the avoidance vehicle memory unit 1, the control unit 3 performs driving support for avoiding following by the avoidance vehicle in the host vehicle. Here, the driving support may be driving support directly related to avoiding following by the avoidance vehicle or driving support indirectly related to avoiding following by the avoidance vehicle.

[0018] In the first embodiment, the control unit 3 performs control to cause the notification device 30 to notify the driver of the host vehicle that the host vehicle is being followed by the avoidance vehicle as driving support. For the control unit 3, for example, a processing circuit described later is used. Note that in a configuration where the control unit 3 includes the notification device 30, the control unit 3 itself may perform the notification.

[0019] <Operation> FIG. 2 is a flowchart showing the operation of the driving support device 100 according to the first embodiment. The operation in FIG. 2 starts when the host vehicle is traveling.

[0020] First, in step S1, the following vehicle recognition unit 2 determines whether there is a following vehicle by determining whether the following vehicle is a following vehicle based on the surrounding information output from the surrounding detection device 20 when the host vehicle is running. The following vehicle here includes not only the following vehicle but also other vehicles temporarily running behind the host vehicle. Hereinafter, several determination examples in this step S1 will be described.

[0021] (Example 1) The following vehicle recognition unit 2 may recognize a rear vehicle whose distance from the host vehicle is a certain distance for a certain period of time or more as a following vehicle based on the surrounding information. The certain period of time is, for example, 20 minutes, and for the certain distance, a predetermined inter-vehicle distance that is changed based on the speed of the host vehicle is used.

[0022] (Example 2) The following vehicle recognition unit 2 may recognize a rear vehicle that automatically performs following driving with respect to the host vehicle based on the surrounding information as a following vehicle. For example, the following vehicle recognition unit 2 may use a vehicle-to-vehicle communication device (not shown) to perform vehicle-to-vehicle communication with the rear vehicle, and acquire information on whether the rear vehicle is automatically performing following driving with respect to the host vehicle as surrounding information.

[0023] In addition, when the rear vehicle is automatically performing following driving with respect to the host vehicle, the variation in the distance between the host vehicle and the rear vehicle is small. Therefore, the following vehicle recognition unit 2 may obtain the variation in the distance based on the surrounding information, and determine whether the rear vehicle is automatically performing following driving with respect to the host vehicle based on the distance.

[0024] (Example 3) The following vehicle recognition unit 2 may recognize a rear vehicle that follows the driving trajectory of the host vehicle when the host vehicle deviates from the center line of the lane based on the surrounding information as a following vehicle.

[0025] (Example 4) When at least one of the states where the host vehicle is traveling in a traffic jammed lane and the state where the host vehicle is traveling in a lane change prohibited section is determined based on the surrounding information, the follower vehicle recognition unit 2 may stop recognizing the follower vehicle. Thereby, the recognition accuracy of the follower vehicle can be improved.

[0026] In step S1 as described above, when it is determined that a follower vehicle exists, after the follower vehicle recognition unit 2 acquires the attributes of the follower vehicle by image recognition or the like, the process proceeds to step S2. When it is not determined that a follower vehicle exists, the process of step S1 is performed again.

[0027] In step S2, the control unit 3 determines whether the attributes of the follower vehicle acquired by the follower vehicle recognition unit 2 match the attributes of the avoidance vehicle stored in the avoidance vehicle storage unit 1. When it is determined that the attributes match, the process proceeds to step S3. When it is not determined that the attributes match, the process returns to step S1.

[0028] In step S3, by the control unit 3 controlling the notification device 30, the driver of the host vehicle is notified by at least one of the display and voice of the notification device 30 that the host vehicle is following the avoidance vehicle. For example, when the notification device 30 is configured to display an electronic mirror, the notification device 30 may superimpose a display object surrounding the avoidance vehicle on the display of the electronic mirror. The content notified by the notification device 30 may include features such as the attributes of the avoidance vehicle, or may include a method for avoiding following the avoidance vehicle. For example, in some cases, the follower vehicle recognition unit 2 can acquire, as follow-up travel information, the traveling speed set in the automatic driving of the avoidance vehicle, or the speed difference that allows following travel in the automatic driving. In such a case, the notification device 30 may notify the driver of the host vehicle of the conditions for not following in automatic driving as a method for avoiding following, based on the follow-up travel information.

[0029] After step S3, in step S4, the control unit 3 determines whether or not the host vehicle has finished traveling. If it is determined that the host vehicle has finished traveling, the operation in FIG. 2 ends. If it is not determined that the host vehicle has finished traveling, the process returns to step S1.

[0030] <Summary of Embodiment 1> According to the driving support device 100 according to the first embodiment as described above, when it is determined that the attribute of the following vehicle matches the attribute of the stored avoidance vehicle, the host vehicle performs driving support regarding avoidance of following travel by the avoidance vehicle. Thereby, the host vehicle can avoid following travel by the avoidance vehicle which is a specific vehicle.

[0031] Also, in the first embodiment, the driving support regarding avoidance of following travel by the avoidance vehicle includes notifying the driver of the host vehicle that the host vehicle is being followed by the avoidance vehicle. According to such a configuration, the driver can recognize that the host vehicle is being followed by the avoidance vehicle and can take a driving action to avoid the following travel.

[0032] <Embodiment 2> FIG. 3 is a block diagram showing the configuration of the driving support device 100 according to the second embodiment. Hereinafter, among the components according to the second embodiment, the same or similar components as the above-described components are given the same or similar reference numerals, and different components will be mainly described.

[0033] In the second embodiment, the control unit 3 performs control to perform automatic driving for avoiding following travel by the avoidance vehicle. That is, in the second embodiment, the driving support includes automatic driving for avoiding following travel by the avoidance vehicle.

[0034] The driving support device 100 in FIG. 3 is connected not only to the notification device 30 but also to the automatic driving control device 40. The automatic driving control device 40 controls the driving control system of the host vehicle according to the control of the control unit 3 and performs automatic driving for the host vehicle to avoid following travel by the avoidance vehicle.

[0035] Automatic driving may include reducing the speed of the host vehicle when an overtaking lane is available on the road where the host vehicle is traveling, for example, when an avoidance vehicle can overtake the host vehicle. Further, when the automatic driving control device 40 can obtain from the avoidance vehicle the conditions for the host vehicle to automatically perform following driving of the avoidance vehicle, the host vehicle may perform automatic driving so that the conditions are not satisfied. Note that, for example, automatic driving for performing traffic jam avoidance behavior is used for the above automatic driving.

[0036] In the operation of the driving support device 100 according to the second embodiment, in step S3 of FIG. 2, the control unit 3 controls the automatic driving control device 40, so that the automatic driving control device 40 performs automatic driving for the host vehicle to avoid following driving by the avoidance vehicle. Except for this, the operation of the driving support device 100 according to the second embodiment is the same as the operation of the driving support device 100 according to the first embodiment.

[0037] <Summary of the Second Embodiment> According to the driving support device 100 according to the second embodiment as described above, the driving support regarding avoidance of following driving by the avoidance vehicle includes automatic driving for avoiding following driving by the avoidance vehicle. With such a configuration, even when the driver is not aware that the host vehicle is being followed by the avoidance vehicle, the host vehicle can automatically avoid following driving by the avoidance vehicle.

[0038] <Embodiment 3> FIG. 4 is a block diagram showing the configuration of the driving support device 100 according to the third embodiment. Hereinafter, among the components according to the second embodiment, the same or similar components as the above-described components are given the same or similar reference numerals, and different components will be mainly described.

[0039] The configuration of the driving assistance device 100 in FIG. 4 is the same as the configuration of the driving assistance device 100 shown in FIG. 3, with the addition of a traveling position detection unit 4 which is an acquisition unit, a positioning unit 5, and a map DB (Data Base) storage unit 6. The traveling position detection unit 4 is connected to the surrounding detection device 20, the following vehicle recognition unit 2, and the control unit 3, and the positioning unit 5 and the map DB storage unit 6 are connected to the traveling position detection unit 4.

[0040] The positioning unit 5 uses GNSS (Global Navigation Satellite System) to position the position of the host vehicle. The positioning unit 5 outputs positioning information indicating the positioning result to the traveling position detection unit 4. The map DB storage unit 6 stores map data including road shape data in terms of lanes.

[0041] The traveling position detection unit 4, which is an acquisition unit, detects the traveling lane on which the host vehicle is traveling and the position of the host vehicle among the roads as host vehicle traveling position information based on the information detected by the surrounding detection device 20, the positioning information from the positioning unit 5, and the road shape data stored in the map DB storage unit 6. According to such a traveling position detection unit 4, it is possible to detect the host vehicle traveling position information which is accurate host vehicle traveling position information. The traveling position detection unit 4 outputs the host vehicle traveling position information to the control unit 3.

[0042] The control unit 3 controls the automatic driving control device 40 so as to perform automatic driving based on the host vehicle traveling position information detected by the traveling position detection unit 4. The automatic driving may include traveling the host vehicle in the lane opposite to the overtaking lane among the roads on which the host vehicle is traveling. Also, similar to the second embodiment, the automatic driving may include reducing the speed of the host vehicle when the avoidance vehicle can overtake the host vehicle. Further, the control unit 3 may acquire the traveling area information of the host vehicle from the map DB storage unit 6 based on the host vehicle traveling position information, and notify the driver of the traveling direction of the host vehicle from the notification device 30 based on the traveling area information.

[0043] The operation of the driving support device 100 according to the third embodiment is the same as that of the driving support device 100 according to the second embodiment, except that the host vehicle driving position information is appropriately acquired when the automatic driving control device 40 performs automatic driving. Therefore, the description thereof is omitted.

[0044] <Summary of the Third Embodiment> According to the driving support device 100 according to the third embodiment as described above, automatic driving is performed based on the host vehicle driving position information detected by the driving position detection unit 4. According to such a configuration, when the driving lane of the host vehicle is a curve hidden by a mountain, or when the preceding vehicle is a large vehicle, etc., even when the peripheral detection device 20 cannot accurately detect the shape of the preceding driving lane, the shape of the driving lane can be acquired. Thereby, automatic driving can be stably performed.

[0045] Note that when the control unit 3 acquires the destination of the host vehicle, it may perform automatic driving for the host vehicle to avoid following driving by the avoidance vehicle based on the destination. According to such a configuration, automatic driving for avoiding following driving can be performed within a range as far as possible from the destination.

[0046] <Modification Example 1> In the above description, that is, in the description of the first embodiment and the second embodiment, each of the attributes stored in the avoidance vehicle storage unit 1 and the attributes of the following vehicle acquired by the following vehicle recognition unit 2 was a vehicle type such as a truck and a luxury foreign car, but it is not limited to this. For example, each of the attributes stored in the avoidance vehicle storage unit 1 and the attributes of the following vehicle acquired by the following vehicle recognition unit 2 may be license plate information. Then, when it is determined that the license plate information of the following vehicle acquired by the following vehicle recognition unit 2 matches the license plate information of the stored avoidance vehicle, the host vehicle may perform driving support regarding avoidance of following driving by the avoidance vehicle. According to such a configuration, the vehicle can be set as the avoidance vehicle more specifically.

[0047] Note that the driving support device 100 may automatically obtain the information of the license plate of the vehicle performing the stalking behavior and automatically store it in the avoidance vehicle storage unit 1. Alternatively, the driving support device 100 may automatically obtain the information of the license plates of dangerous vehicles and vehicles requiring attention from a cloud server and automatically store it in the avoidance vehicle storage unit 1. According to such a configuration, the labor of the driver for setting the avoidance vehicle can be reduced.

[0048] <Modification Example 2> In the configuration described above, the avoidance vehicle storage unit 1 may store the driving state of the avoidance vehicle, and the following vehicle recognition unit 2 may obtain the driving state of the following vehicle based on the surrounding information. Then, when it is determined that the driving state acquired by the following vehicle recognition unit 2 matches the stored driving state, the control unit 3 may perform driving support related to avoiding following driving by the avoidance vehicle on the host vehicle. The driving state referred to here includes, for example, at least any one of a driving state that sways within a predetermined width, a driving state that approaches the host vehicle by a distance equal to or greater than a predetermined distance, and a driving state that follows the driving trajectory of the host vehicle when the host vehicle deviates from the center line of the lane. According to such a configuration, it is possible to avoid following driving by a vehicle that may cause a collision.

[0049] <Modification Example 3> In the configuration described above, the avoidance vehicle storage unit 1 may store, as an avoidance vehicle, a following vehicle that has followed the host vehicle a predetermined number of times or more. According to such a configuration, the host vehicle can perform driving support related to avoiding following driving by a following vehicle that has followed the host vehicle a predetermined number of times or more.

[0050] <Modification Example 4> In the configuration described above, for example, the driver appropriately stores the attributes of the avoidance vehicle in the avoidance vehicle storage unit 1 using an operation input device and a display device (not shown), but this is not the only case. For example, the avoidance vehicle storage unit 1 may store the attributes input from the center side, or may store the attributes input from a terminal such as a smartphone. According to such a configuration, the opportunity to set an avoidance vehicle increases, and the setting of the avoidance vehicle can be performed at any time and anywhere, so it is possible to suppress forgetting to set the avoidance vehicle.

[0051] <Other Modification Examples> The following describes the following vehicle recognition unit 2 and the control unit 3 of FIG. 1 described above as the "following vehicle recognition unit 2 etc.". The following vehicle recognition unit 2 etc. is realized by the processing circuit 81 shown in FIG. 5. That is, the processing circuit 81 acquires the surrounding information which is the information around the vehicle, and a following vehicle recognition unit 2 that acquires the attributes of the following vehicle that is following the host vehicle based on the surrounding information, and when the attributes of the following vehicle acquired by the following vehicle recognition unit 2 match the attributes stored in the avoidance vehicle storage unit 1, a control unit 3 that performs driving support for avoiding following driving by the avoidance vehicle in the host vehicle. For the processing circuit 81, dedicated hardware may be applied, or a processor that executes a program stored in a memory may be applied. Examples of the processor include a central processing unit, a processing device, an arithmetic device, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), and the like.

[0052] When the processing circuit 81 is dedicated hardware, the processing circuit 81 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of each part such as the following vehicle recognition unit 2 etc. may be realized by a circuit in which the processing circuit is distributed, or the functions of each part may be realized by one processing circuit together.

[0053] When the processing circuit 81 is a processor, functions such as the following vehicle recognition unit 2 are realized in combination with software or the like. Note that software or the like includes, for example, software, firmware, or software and firmware. Software or the like is described as a program and stored in a memory. As shown in FIG. 6, the processor 82 applied to the processing circuit 81 realizes the functions of each unit by reading out the program stored in the memory 83. That is, when executed by the processing circuit 81, the driving support device 100 stores the attributes of a specific vehicle, acquires surrounding information that is information around the vehicle, and acquires the attributes of a following vehicle that is following the vehicle based on the surrounding information. When the acquired attributes of the following vehicle match the stored attributes of the specific vehicle, the driving support device 100 includes a memory 83 for storing a program that will ultimately execute the step of performing driving support regarding avoidance of following driving by the specific vehicle in the vehicle. In other words, this program can be said to cause a computer to execute procedures and methods such as those of the following vehicle recognition unit 2. Here, the memory 83 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), an HDD (Hard Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), their drive devices, or any storage medium to be used in the future.

[0054] The above described the configuration in which each function such as the following vehicle recognition unit 2 is realized by either hardware or software. However, this is not the only case, and a configuration in which a part of the following vehicle recognition unit 2 is realized by dedicated hardware and another part is realized by software or the like may also be possible. For example, for the following vehicle recognition unit 2, its function can be realized by a processing circuit 81 as dedicated hardware and circuits such as an interface, and for the rest, the processing circuit 81 as a processor 82 reads out a program stored in a memory 83 to realize the function.

[0055] As described above, the processing circuit 81 can realize each of the above functions by hardware, software, etc., or a combination thereof.

[0056] Also, the driving support device described above can also be applied to a driving support system constructed as a system by appropriately combining a vehicle device, a communication terminal, the functions of an application installed in at least one of the vehicle device and the communication terminal, and a server. The vehicle device includes, for example, a PND (Portable Navigation Device), a navigation device, a DMS (Driver Monitoring System), etc. The communication terminal includes, for example, a mobile phone, a smartphone, a tablet, etc. Each function or each component of the driving support device described above may be distributed and arranged in each device constructing the system, or may be concentrated and arranged in any one device.

[0057] FIG. 7 is a block diagram showing the configuration of a server 91 according to this modification example. The server 91 in FIG. 7 includes a communication unit 91a and a control unit 91b, and is capable of performing wireless communication with a vehicle device 93 of a vehicle 92.

[0058] The communication unit 91a, which is an acquisition unit, receives, by performing wireless communication with the vehicle device 93, the attributes of a following vehicle that is following the vehicle 92 and has been acquired by the vehicle device 93.

[0059] The control unit 91b has the same functions as the control unit 3 in FIG. 1 when a processor (not shown) of the server 91 executes a program stored in a memory (not shown) of the server 91. That is, when the attributes of the following vehicle received by the communication unit 91a match the attributes stored in the server 91, the control unit 91b generates a control signal for the host vehicle to perform driving support for avoiding following driving by the avoiding vehicle. Then, the communication unit 91a transmits the control signal of the control unit 91b to the vehicle device 93. According to the server 91 configured in this way, the same effects as those of the driving support device 100 described in the first embodiment can be obtained.

[0060] FIG. 8 is a block diagram showing the configuration of the communication terminal 96 according to this modification. The communication terminal 96 in FIG. 8 includes a communication unit 96a similar to the communication unit 91a and a control unit 96b similar to the control unit 91b, and is capable of performing wireless communication with the vehicle device 98 of the vehicle 97. Note that, for example, mobile terminals such as mobile phones, smartphones, and tablets carried by the driver of the vehicle 97 are applied to the communication terminal 96. According to the communication terminal 96 configured in this way, the same effects as those of the driving support device 100 described in the first embodiment can be obtained.

[0061] Note that it is possible to freely combine each embodiment and each modification, or to appropriately modify or omit each embodiment and each modification.

[0062] The above description is illustrative in all aspects and not restrictive. Innumerable modifications that are not illustrated can be considered.

Explanation of Reference Numerals

[0063] 1 Avoiding vehicle storage unit, 2 Following vehicle recognition unit, 3 Control unit, 100 Driving support device.

Claims

1. a storage unit that stores the attributes of a specific vehicle; an acquisition unit that acquires surrounding information which is information around the vehicle, and acquires the attributes of a following vehicle that is performing following driving with respect to the vehicle based on the surrounding information; a control unit that performs driving support regarding avoidance of following driving by the specific vehicle in the vehicle when the attributes of the following vehicle acquired by the acquisition unit match the attributes of the specific vehicle stored in the storage unit and comprising: wherein the acquisition unit recognizes, as the following vehicle for which the attributes are to be acquired, a rear vehicle that performs following driving with respect to the vehicle by automatic driving based on the surrounding information, the driving support device.

2. The driving support device according to claim 1, wherein the driving support includes notifying a driver of the vehicle that the vehicle is being followed by the specific vehicle, the driving support device.

3. The driving support device according to claim 1, wherein the driving support includes automatic driving for avoiding following driving by the specific vehicle, the driving support device.

4. The driving support device according to claim 3, wherein the automatic driving includes reducing the speed of the vehicle when the specific vehicle can overtake the vehicle, the driving support device.

5. The driving support device according to claim 3, wherein the automatic driving includes driving the vehicle in a lane opposite to the overtaking lane among the lanes on the road on which the vehicle is traveling, the driving support device.

6. The driving support device according to any one of claims 1 to 5, wherein each of the attributes stored in the storage unit and the attributes of the following vehicle includes information on a license plate, the driving support device.

7. The driving support device according to any one of claims 1 to 5, wherein the specific vehicle includes a rear vehicle that has performed following driving with respect to the vehicle a predetermined number of times or more, the driving support device.

8. The driving support device according to any one of claims 1 to 5, wherein each of the attributes stored in the storage unit and the attributes of the following vehicle includes the vehicle type, the driving support device.

9. The driving support device according to any one of claims 1 to 5, wherein the storage unit further stores the driving state of the specific vehicle, and the acquisition unit further acquires the driving state of the following vehicle based on the surrounding information, The driving support device, wherein the control unit performs the driving support on the vehicle when the driving state of the following vehicle acquired by the acquisition unit matches the driving state stored in the storage unit.

10. The driving support device according to claim 9, wherein each of the driving state stored in the storage unit and the driving state of the following vehicle includes at least any one of a driving state that fluctuates within a predetermined width, a driving state in which the vehicle approaches within a predetermined distance of the vehicle, and a driving state in which the vehicle follows the driving trajectory of the vehicle when the vehicle deviates from the center line of the lane. The driving support device.

11. The driving support device according to any one of claims 1 to 5, wherein the acquisition unit further recognizes, as the following vehicle, a following vehicle that follows the driving trajectory of the vehicle when the vehicle deviates from the center line of the lane based on the surrounding information. The driving support device.

12. The driving support device according to any one of claims 1 to 5, wherein the acquisition unit further recognizes, as the following vehicle, a following vehicle whose distance from the vehicle is a constant distance for a certain period of time or more based on the surrounding information. The driving support device.

13. The driving support device according to any one of claims 1 to 5, wherein the acquisition unit stops recognizing the following vehicle when at least one of a state in which the vehicle is traveling in a congested lane and a state in which the vehicle is traveling in a lane change prohibited section is determined based on the surrounding information. The driving support device.

14. The driving support device according to any one of claims 3 to 5, wherein the acquisition unit further acquires the position of the vehicle, and the control unit performs the automatic driving based on the position acquired by the acquisition unit. The driving support device.

15. stores the attributes of a specific vehicle, acquires surrounding information that is information around the vehicle, and acquires the attributes of a following vehicle that is following the vehicle based on the surrounding information, recognizes, based on the surrounding information, a following vehicle that automatically performs following driving with respect to the vehicle as the following vehicle for which the attributes are to be acquired, and when the acquired attributes of the following vehicle match the stored attributes of the specific vehicle, performs driving support related to avoidance of following driving by the specific vehicle on the vehicle. A driving support method.

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