We have proposed a modeling and recognition method of human behaviors in this research. In the proposed modeling method, we have assumed that a person changes his behavior according to the change of the situation around him, and this concept is expressed by If-Then-Rules, which are called behavior rules. In behavior rules, the change of the situation around a person is described by Hidden Markov Model(HMM) which models multi-dimensional time series sensing data. In this research, a support system for human driving behaviors has been assumed as an example of application of the proposed model. In order to realize the system which shows a driver his next behavior, we propose an estimation method of the next human behavior and the timing of its execution. The usefulness of the proposed method is examined through experimental results of behavior recognition with the constructed system.