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This paper proposes a concept of a driving support system that is adaptive to the state of surrounding vehicle drivers. This paper shows the effectiveness of the concept by a simulation study for a case that the driver support system is a rear-end pre-crash safety system and the state of surrounding vehicle drivers is the expected reaction time of the following vehicle driver. This paper also shows the possibility that the probability distribution of the expected reaction time of the following vehicle driver can be estimated from the vehicle behavior. From simulation results, the effectiveness of the concept is shown.