Driving assistance method, and driving assistance device, driving control device, vehicle, driving assistance program, and recording medium using said method

A driving control device comprising:

• an autonomous driving controller, which, in operation, determines an action of a vehicle during autonomous driving of the vehicle;
• a detection information input unit, which, in operation, acquires, from a detector that detects a surrounding situation and a travel state of the vehicle, detection information indicating a detection result;
• a candidate determination unit, which, in operation, determines, based on the detection information, at least one second action that the vehicle can be caused to execute after a first action that the autonomous driving controller causes the vehicle to execute, the first action and the at least one second action adjusting movement of the vehicle;
• an image generator, which, in operation, generates a first image representing the first action and a second image representing the at least one second action;
• and
• an image output unit which outputs the first image and the second image to a display in the vehicle.

A driving assistance method executed by a computer, the method comprising:

• acquiring, from an autonomous driving controller that determines an action of a vehicle during autonomous driving of the vehicle, action information indicating a first action that the vehicle is caused to execute;
• acquiring, from a detector that detects a surrounding situation and a travel state of the vehicle, detection information indicating a detection result;
• determining, based on the detection information, at least one second action that the vehicle can be caused to execute after the first action indicated by the action information, the first action and the at least one second action adjusting movement of the vehicle;
• generating a first image representing the first action indicated by the action information and a second image representing the second action;
• and
• outputting the first image and the second image to a display in the vehicle.