US Patent 11180139 Driving support device and driving support method

A driving support device includes an output unit configured to output information, a recognition unit configured to recognize surrounding vehicles existing around a subject vehicle, and a control unit configured to determine control modes of in-vehicle devices of the subject vehicle on the basis of a position of a surrounding vehicle existing on an adjacent lane adjacent to a subject lane on which the subject vehicle exists among one or more surrounding vehicles recognized by the recognition unit.