VEHICLE DRIVING ASSISTANCE DEVICE AND VEHICLE DRIVING ASSISTANCE METHOD

To provide a vehicle driving assistance device and a vehicle driving assistance method capable of setting a retreat position with less risk by comprehensively considering an abnormal state of a driver, road conditions around an own vehicle, surrounding states of the own vehicle, and an operation state of the own vehicle.SOLUTION: A vehicle driving assistance device sets candidates for a plurality of retreat positions on the basis of an operation state of an own vehicle, road information for surroundings of the own vehicle, a surrounding state of the own vehicle, and an abnormal state of a driver, evaluates a risk of the candidate for each retreat position, and determines a final retreat position and a retreat route on the basis of the risk of the candidate for each retreat position.SELECTED DRAWING: Figure 1 【課題】運転者の異常状態、自車両周辺の道路状態、自車両の周辺状態、及び自車両の運転状態を総合的に考慮して、より危険度の低い、退避位置を設定することができる車両運転支援装置、及び車両運転支援方法を提供する。【解決手段】自車両の運転状態、自車両周辺の道路情報、自車両の周辺状況、及び運転者の異常状態に基づいて、複数の退避位置の候補を設定すると共に各前記退避位置の候補の危険度を評価し、各退避位置の候補の危険度に基づいて、最終的な退避位置及び退避経路を決定する車両運転支援装置。【選択図】図１