Driving assistance device and driving assistance method

1. A driving assistance device comprising:

a communication device to acquire route information indicating a scheduled travel route of a host vehicle and surrounding information indicating a surrounding situation of the host vehicle detected by a sensor mounted on the host vehicle;

a processor to execute a program;

a memory to store the program which, when executed by the processor, performs a process of

determining whether the host vehicle has deviated from a lane of the scheduled travel route using the route information and the surrounding information of the host vehicle acquired by the communication device; and

at least one of a display to notify a driver of the host vehicle when lane deviation of the host vehicle is determined and a speaker to notify the driver of the host vehicle when lane deviation of the host vehicle is determined,

wherein the communication device transmits, to a different vehicle, the route information of the host vehicle, traveling lane information indicating a lane on which the host vehicle is traveling, and lane deviation information indicating lane deviation of the host vehicle.

2. The driving assistance device according to claim 1 ,

wherein the communication device receives lane deviation information indicating that a different vehicle has deviated from a lane of a scheduled travel route, the lane deviation information transmitted from the different vehicle, and

the at least one of the display and the speaker notifies the driver of the host vehicle of lane deviation of the different vehicle when the lane deviation information of the different vehicle is received by the communication device.

3. The driving assistance device according to claim 1 ,

wherein the communication device receives route information indicating a scheduled travel route of a different vehicle, the route information transmitted from the different vehicle,

the program performs a process of determining whether the different vehicle has deviated from a lane of the scheduled travel route using the route information of the different vehicle received by the communication device and the surrounding information of the host vehicle acquired by the communication device, and

the at least one of the display and the speaker notifies the driver of the host vehicle when lane deviation of the different vehicle is determined.

4. The driving assistance device according to claim 1 ,

wherein the communication device receives route information indicating a scheduled travel route of a different vehicle and lane deviation information indicating that the different vehicle has deviated from a lane of the scheduled travel route, the route information and the lane deviation information transmitted from the different vehicle,

the program performs a process of determining whether the different vehicle has deviated from the lane of the scheduled travel route using the route information of the different vehicle received by the communication device and the surrounding information of the host vehicle acquired by the communication device, and

the at least one of the display and the speaker notifies the driver of the host vehicle when the lane deviation information of the different vehicle is received by the communication device and when lane deviation of the different vehicle is determined.

5. The driving assistance device according to claim 1 ,

wherein the program performs a process of determining whether the host vehicle continues traveling on a lane deviating from the scheduled travel route when lane deviation of the host vehicle is determined, and

the communication device stops transmission of the lane deviation information to the different vehicle when it is determined that the host vehicle continues traveling on the lane deviating from the scheduled travel route.

6. The driving assistance device according to claim 1 ,

wherein the program performs a process of determining whether the host vehicle continues traveling on a lane deviating from the scheduled travel route when lane deviation of the host vehicle is determined, and

when it is determined that the host vehicle continues traveling on the lane deviating from the scheduled travel route, the communication device transmits, to the different vehicle, cancellation information for cancelling the lane deviation information and route information indicating a new scheduled travel route of the host vehicle.

7. A driving assistance method comprising:

acquiring route information indicating a scheduled travel route of a host vehicle and surrounding information indicating a surrounding situation of the host vehicle detected by a sensor mounted on the host vehicle;

determining whether the host vehicle has deviated from a lane of the scheduled travel route using the route information and the surrounding information of the host vehicle acquired;

notify a driver of the host vehicle when lane deviation of the host vehicle is determined; and

transmitting, to a different vehicle, the route information of the host vehicle, traveling lane information indicating a lane on which the host vehicle is traveling, and lane deviation information indicating lane deviation of the host vehicle.