Drive support method and drive support device

Abstract

To provide a drive support method and a drive support device capable of suppressing a load of information processing in an object vehicle.SOLUTION: When a target vehicle 10 cannot avoid a stationary obstacle on a lane on which the target vehicle 10 travels by autonomous travel control and requests remote support to a remote support device 30, time-series image information is generated that is acquired from an imaging device 11 of the target vehicle 10, has a predetermined capacity according to travel operation of the target vehicle 10 after the remote support is requested, and being transmitted to the remote support device 30 communicably connected via a base station.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a driving support method and a driving support device.

Background Art

[0002] There is known a vehicle-to-infrastructure communication system including a vehicle including a wireless communication device, a base station, and a management server that manages wireless resources of the base station. Based on the traveling route of the vehicle and the service area of the base station, the time zone in which the vehicle passes through the service area is predicted, and the wireless resources of the base station corresponding to the service area in which the passage of the vehicle is predicted are reserved to be allocated to the vehicle in the predicted passage time zone (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above prior art, even when wireless resources necessary for smooth communication between the base station and the target vehicle for remote support are allocated to the target vehicle, when the information processing load on the target vehicle side increases, it takes time to generate information to be transmitted from the target vehicle to the base station, and there is a problem that the exchange of information between the target vehicle and the base station is hindered.

[0005] The problem to be solved by the present invention is to provide a driving support method and a driving support device capable of suppressing the information processing load on the target vehicle.

Means for Solving the Problems

[0006] When the target vehicle cannot avoid a stationary obstacle on the lane on which it is traveling by autonomous driving control and requests remote assistance from a remote assistance device, the present invention solves the above problems by generating time-series image information that is acquired from an imaging device of the target vehicle, has a predetermined capacity corresponding to the driving operation of the target vehicle after the remote assistance is requested, and is transmitted to a remote assistance device that is communicably connected via a base station.

Effect of the Invention

[0007] According to the present invention, the load of information processing in the target vehicle can be suppressed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0010] [Configuration of Remote Support System] FIG. 1 is a block diagram showing an example of an embodiment of a remote support system according to the present invention. The remote support system is a system in which an operator outside the vehicle performs driving support for the vehicle. For example, when the vehicle can no longer continue to travel under autonomous driving control, the remote support system enables an operator outside the vehicle to send instructions to the vehicle or remotely operate the vehicle. The outside of the vehicle is not particularly limited as long as it is a position separated from the vehicle body, and examples include a remote location such as a management center that centrally manages the vehicle's travel.

[0011] Autonomous driving control is autonomous control of the driving operation of the vehicle, and the driving operation includes all driving operations such as acceleration, deceleration, starting, stopping, and steering. The autonomous control of the driving operation is executed by a driving support device mounted on the vehicle using the vehicle's devices. The driving support device controls the driving operation within a predetermined range. For driving operations not controlled by the driving support device, manual operation by the driver is performed. When the vehicle travels by the driver's manual driving without relying on autonomous driving control, the driving support device does not execute autonomous control of the driving operation, and the driving operation of the vehicle is controlled by the driver's operation.

[0012] As shown in FIG. 1, the remote support system 1 includes a target vehicle 10 and a remote support device 30. The target vehicle 10 and the remote support device 30 exchange information with each other via a server (not shown). The target vehicle 10, the remote support device 30, and the server are connected to a network for exchanging information with each other. The network refers to a telecommunications line network such as the Internet, and the communication format is not particularly limited.

[0013] The target vehicle 10 is a vehicle that is the target of remote support (driving support by an operator outside the vehicle) by the remote support device 30, and includes an imaging device 11, a distance measuring device 12, a state detection device 13, a navigation device 14, a vehicle control device 15, and a driving support device 20. These devices are connected by a CAN (Controller Area Network) or other in-vehicle LAN and can exchange information with each other.

[0014] The imaging device 11 is a device that images objects around the target vehicle 10, and is, for example, a camera equipped with an imaging element such as a CCD, or a camera such as an infrared camera. In order to reduce blind spots where objects cannot be imaged, a plurality of imaging devices 11 are arranged on the front grille, side mirrors, rear bumper, etc. of the target vehicle 10.

[0015] The distance measuring device 12 is a device that detects the relative distance and relative speed between the target vehicle 10 and an object, and is a laser radar, a millimeter wave radar, a LiDAR (light detection and ranging) unit, etc. In order to reduce blind spots where objects cannot be detected, a plurality of distance measuring devices 12 are provided on one target vehicle 10.

[0016] The objects detected by the imaging device 11 and the distance measuring device 12 are objects existing on the road and its surroundings, and include road lane boundary lines, center lines, road surface markings, median strips, guardrails, curbs, road signs, traffic signals, crosswalks, etc. In addition, the objects include obstacles that can affect the driving of the target vehicle 10, such as automobiles, motorcycles, bicycles, and pedestrians other than the target vehicle 10.

[0017] The detection results of the imaging device 11 and the distance measuring device 12 are acquired by the driving support device 20 at predetermined time intervals (for example, every 0.1 to 1 millisecond) as necessary. The driving support device 20 recognizes the objects and the driving environment around the target vehicle 10 from the acquired detection results. Further, the driving support device 20 may integrate or synthesize (so-called sensor fusion) the detection results of the imaging device 11 and the distance measuring device 12.

[0018] The state detection device 13 is a device that detects the driving state of the target vehicle 10, and includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc. as sensors for detecting the driving state. As the sensors, known sensors can be used without particular limitation, and their arrangement and number can be appropriately set within a range where the driving state of the target vehicle 10 can be appropriately detected. The detection results of the respective sensors are acquired by the driving support device 20 at predetermined time intervals (for example, every 0.1 to 1 millisecond) as necessary.

[0019] The navigation device 14 is a device that calculates a driving route from the current position of the target vehicle 10 detected by a positioning system such as a GPS (Global Positioning System) unit with reference to map information such as a high-precision map to the destination set by the user. The driving route includes at least information on the road on which the target vehicle 10 travels, the driving lane, and the traveling direction of the target vehicle 10, and is displayed linearly, for example. The calculated driving route is acquired by the driving support device 20.

[0020] The vehicle control device 15 is an in-vehicle computer such as an electronic control unit (ECU: Electronic Control Unit), and electronically controls in-vehicle devices that regulate the driving of the target vehicle 10. The vehicle control device 15 autonomously controls the operations of the driving device and the steering device of the target vehicle 10 according to the control signal input from the driving support device 20.

[0021] The driving support device 20 is a device that controls the driving of the target vehicle 10 by controlling and coordinating each device of the target vehicle 10 and drives the target vehicle 10 to the set destination. The driving support device 20 is, for example, a computer mounted on the target vehicle 10, and includes a CPU (Central Processing Unit) as a processor, a ROM (Read Only Memory) in which programs are stored, and a RAM (Random Access Memory) that functions as an accessible storage device. The CPU is an operation circuit that executes the programs stored in the ROM and realizes the functions of the driving support device 20.

[0022] The remote support device 30 is provided outside the target vehicle 10 (hereinafter also referred to as outside the vehicle), and is a device used by an operator outside the target vehicle 10 for driving support of the target vehicle 10, and is communicably connected to the driving support device 20 via a network. As shown in FIG. 1, the remote support device 30 includes a support unit 31 and a display unit 32. These devices are connected to each other by a LAN or the like so that information can be exchanged between them.

[0023] The support unit 31 is a device for an operator of the remote support device 30 to input support information necessary for driving support of the target vehicle 10. The support unit 31 is composed of a touch panel, a keyboard, a steering wheel, an accelerator pedal, a brake pedal, and the like.

[0024] The display unit 32 is a device that displays images for an operator who operates the remote support device 30, such as a liquid crystal display or a projector. The images include moving images and still images.

[0025] [Functions of the Driving Support Device] The driving support device 20 has a driving support function for autonomously driving the target vehicle 10 based on the support information received from the remote support device 30. A program for realizing the driving support function is stored in the ROM of the driving support device 20, and the CPU of the driving support device 20 executes the program to realize the driving support function. In FIG. 1, a determination unit 21, a generation unit 22, a transmission unit 23, and a control unit 24, which are functional blocks for realizing the driving support function, are extracted and shown for convenience.

[0026] The determination unit 21 determines the driving scene of the target vehicle 10 from information such as an image acquired from the imaging device 11, a detection result of an object acquired from the distance measuring device 12, the driving state of the target vehicle 10 acquired from the state detection device 13, and a driving route acquired from the navigation device 14. The generation unit 22 acquires image information from the imaging device 11 and generates a video to be transmitted to the remote support device 30. The transmission unit 23 transmits the video generated by the generation unit 22 to the remote support device 30. The control unit 24 generates a control signal to be output to the vehicle control device 15 and controls the driving operation of the target vehicle 10.

[0027] Note that the generation of the video by the generation unit 22 and the transmission of the video by the transmission unit 23 may be continuously executed at a predetermined time interval (for example, every 0.1 to 1 millisecond), or may be executed as needed (for example, according to an instruction from the remote support device 30).

[0028] When the determination unit 21 determines that the autonomous driving control of the target vehicle 10 cannot be continued, or when the driver during manual driving performs an operation requesting remote support, etc., the determination unit 21 requests remote support from the remote support device 30. Remote support includes an operator outside the vehicle remotely operating the target vehicle 10 via the driving support device 20, the operator outside the vehicle transmitting an instruction to the driving support device 20, and the operator outside the vehicle providing information to the driver of the target vehicle 10.

[0029] The operator provides information to the target vehicle 10 and remotely operates the target vehicle 10 from, for example, a management center that manages the running of the target vehicle 10, in response to a request from the target vehicle 10 or regardless of a request from the target vehicle 10. The request for remote support includes, for example, information indicating the stop of the autonomous driving control of the target vehicle 10 and information for the operator to perform driving support for the target vehicle 10 (for example, information on the driving scene of the target vehicle 10).

[0030] The remote support device 30 that has received the request for remote support displays the video received from the transmission unit 23 on the display unit 32 and prompts the operator to execute remote support. The operator, for example, notifies the driver of the target vehicle 10 to start remote support from the support unit 31, and when the consent of the driver can be obtained, starts remote support. The operator transmits an instruction to start the target vehicle 10 from a stopped state, an instruction to change the lane of the target vehicle 10 to an adjacent lane, etc. to the control unit 24. The control unit 24 generates a control signal to be output to the vehicle control device 15 based on the instruction received from the support unit 31.

[0031] FIG. 2 is a plan view showing an example of a driving scene in which the driving support device 20 autonomously drives the target vehicle 10 by a driving support function. The road shown in FIG. 2 is a two-lane road having a lane L1 on which the vehicle travels from the left side to the right side of the drawing and a lane L2 on which the vehicle travels from the right side to the left side of the drawing. In addition, a base station for a vehicle having a communication function to connect to a network is provided on the road shown in FIG. 2. When the vehicle has a communication function, the vehicles in the range A1 are communicably connected to the first base station, the vehicles in the range A2 are communicably connected to the second base station, and the vehicles in the range A3 are communicably connected to the third base station.

[0032] The target vehicle 10 shown in FIG. 2 is traveling at the position P1 on the lane L1. The vehicles V1, V2, and V3 are parked vehicles and are assumed not to move from the positions Px, Py, and Pz on the lane L1, respectively. The vehicle V4 is traveling at the position Q1 on the lane L2. The target vehicle 10 shown in FIG. 2 is assumed to travel along the travel route generated by the navigation device 14 by autonomous driving control toward the destination (not shown) on the right side of the drawing.

[0033] In the driving scene shown in FIG. 2, the determination unit 21 detects vehicles V1 to V3 from the images acquired by the imaging device 11. Then, the determination unit 21 determines whether the driving scene of the target vehicle 10 is a driving scene that avoids vehicles V1 to V3. For example, when vehicles V1 to V3 move with the passage of time (for example, within 5 seconds to 1 minute) like a vehicle queue formed by traffic congestion, the determination unit 21 determines that the driving scene of the target vehicle 10 is a driving scene that does not avoid vehicles V1 to V3. The control unit 24 stops the target vehicle 10 in front of vehicle V1 and makes it wait. On the other hand, when vehicles V1 to V3 do not move even after the passage of time (for example, for a time longer than 1 minute) like parked vehicles, the determination unit 21 determines that the driving scene of the target vehicle 10 is a driving scene that avoids vehicles V1 to V3. The control unit 24 attempts to avoid vehicles V1 to V3 by autonomous driving control.

[0034] When determining whether it is necessary to avoid vehicles V1 to V3, the determination unit 21 may take time for the determination, and the autonomous driving control may not be able to continue. This is because when a plurality of vehicles such as vehicles V1 to V3 are stopped along the traveling direction (forming a vehicle queue), it is not clear whether the stopped vehicles correspond to a vehicle queue due to traffic congestion or a vehicle queue of parked vehicles. In the driving scene shown in FIG. 2, when the determination unit 21 takes time to determine whether it is necessary to avoid vehicles V1 to V3, the target vehicle 10 travels to position P2 along the driving trajectory T1 shown in FIG. 3 and then stops behind vehicle V1. Hereinafter, the situation where the autonomous driving control cannot continue and the target vehicle 10 remains stopped in front of vehicle V1 is also referred to as the target vehicle 10 stacking up.

[0035] When the determination unit 21 determines that the target vehicle 10 has stacked up, it requests remote support from the support unit 31. Along with the transmission of the request, the transmission unit 23 transmits the video generated by the generation unit 22 to the remote support device 30 via the base station and the network. Since the position P2 of the target vehicle 10 shown in FIG. 3 is included in the range A2 and the target vehicle 10 is communicably connected to the remote support device 30 via the second base station and the network, the transmission unit 23 transmits the video to the second base station.

[0036] For example, when each vehicle shown in FIG. 3 has a communication function and five vehicles are communicably connected to the second base station, the communication capacity required for smooth transmission of the video is not allocated to the target vehicle 10, and there is a delay in the video displayed on the display unit 32, and there is a risk that appropriate remote support cannot be executed. Therefore, in order to execute remote support with limited communication capacity and at the same time suppress the load of information processing in the driving support device 20, when the target vehicle 10 cannot avoid a stationary obstacle (hereinafter also referred to as a stationary object) on the lane on which the target vehicle 10 travels (hereinafter also referred to as the traveling lane) by autonomous driving control and requests remote support from the remote support device 30, the generation unit 22 generates time-series image information having a predetermined capacity according to the traveling operation of the target vehicle 10 (hereinafter also referred to as the traveling operation after the request) after the determination unit 21 requests remote support.

[0037] The time-series image information is information of a plurality of images arranged in the order of the passage of time and includes a moving image generated from the image information acquired by the imaging device 11. The predetermined capacity can be set to an appropriate value within the range where the operator can perform appropriate remote support. The generation unit 22 generates a moving image having a predetermined capacity by setting or changing at least one of the resolution and the frame rate of the moving image according to the traveling operation after the request. Further, when the target vehicle 10 is provided with a plurality of imaging devices 11, the generation unit 22 may select the image information to be transmitted to the remote support device 30 from the plurality of time-series image information acquired from the plurality of imaging devices 11 according to the traveling operation after the request.

[0038] In the driving scene shown in FIG. 3, following a request for remote assistance and a request to transmit a video from the remote assistance device 30, the generation unit 22 generates a video having the highest resolution and frame rate within a configurable range in response to the driving operation after the request for stopping before the vehicles V1 to V3 are avoided. Instead of or in addition to this, the generation unit 22 may generate a video including the image information of all the imaging devices 11. This is for the operator to grasp the oncoming vehicle in lane L2 and the other vehicle overtaking the target vehicle 10 from behind, and accurately determine whether the target vehicle 10 can enter lane L2.

[0039] Further, the determination unit 21 may determine whether a subsequent vehicle connected to the same base station exists in the driving lane. When the determination unit 21 determines that a subsequent vehicle connected to the same base station exists in the driving lane, the generation unit 22 generates time-series image information having a predetermined capacity. On the other hand, when the determination unit 21 determines that a subsequent vehicle connected to the same base station does not exist in the driving lane, the generation unit 22 generates time-series image information having a normal capacity. This is because when there is no subsequent vehicle, the allocation of the communication capacity of the base station to the target vehicle 10 is not reduced.

[0040] After the video is transmitted by the transmission unit 23, the operator determines whether the target vehicle 10 can enter lane L2 from the image information displayed on the display unit 32. In the driving scene shown in FIG. 3, since the vehicle V4 in lane L2 is traveling along the travel locus U1 to the position Q2, the operator transmits a start instruction to the control unit 24 via the support unit 31. The control unit 24 generates a control signal based on the instruction received from the support unit 31 and starts the target vehicle 10 via the vehicle control device 15. That is, the target vehicle 10 resumes autonomous driving control based on the instruction from the support unit 31.

[0041] After vehicle V4 has traveled to the left side of the drawing, the target vehicle 10 starts from position P2 and travels to position P3 along the travel trajectory T2 shown in FIG. 4. That is, in the travel scene shown in FIG. 4, the target vehicle 10 enters lane L2 to avoid vehicles V1 to V3. The generation unit 22 generates a video having the highest resolution and frame rate within a configurable range in accordance with the travel operation after the request of starting from a stopped state and entering the oncoming lane L2 (that is, avoiding vehicles V1 to V3). Instead of or in addition to this, the generation unit 22 may generate a video including the image information of all the imaging devices 11. This is to avoid contact between the oncoming vehicle in lane L2 and other vehicles overtaking the target vehicle 10 from behind. Note that avoiding vehicles V1 to V3 in the travel scene shown in FIG. 4 means that, according to the start instruction received from the support unit 31, the target vehicle 10 enters from lane L1 to lane L2 and reaches a state where the autonomous driving control of the target vehicle 10 can be restarted.

[0042] After avoiding vehicles V1 to V3, the target vehicle 10 travels by remote support by the remote support device 30 or autonomous driving control. The target vehicle 10 travels from position P3 to position P4 along the travel trajectory T3 shown in FIG. 5. That is, in the travel scene shown in FIG. 5, the target vehicle 10 travels straight through the sides of vehicles V1 to V3. The generation unit 22 reduces the resolution of the video transmitted to the remote support device 30 in accordance with the travel operation after the request of traveling along lane L2 after avoiding vehicles V1 to V3 (a state where the traveling direction of the target vehicle 10 is along the traveling direction of lane L1). Instead of or in addition to this, the generation unit 22 may select only the video captured in front of the target vehicle 10 as the video transmitted to the remote support device 30. This is because there are no other vehicles overtaking the target vehicle 10 from behind in the travel scene shown in FIG. 5.

[0043] Note that the traveling direction of the target vehicle 10 being along the traveling direction of the travel lane means that, for example, the angle formed by the traveling direction of the target vehicle 10 and the traveling direction of the travel lane is 0 to 5° when the target vehicle 10 is viewed in plan view.

[0044] After the traveling direction of the target vehicle 10 becomes the direction along the traveling direction of the travel lane, the target vehicle 10 travels from the position P4 to the position P5 along the travel locus T4 shown in FIG. 6. While the target vehicle 10 travels from the position P4 to the position P5, the determination unit 21 detects, from the image information acquired from the imaging device 11, a space in front of the vehicle V3 in the lane L1 where the target vehicle 10 can enter. After the traveling direction of the target vehicle 10 becomes the direction along the traveling direction of the travel lane, when a second space where the target vehicle 10 can enter in front of a stationary object in the travel lane is detected from the detection result of the detection device of the target vehicle 10, the generation unit 22 reduces the frame rate of the video to be transmitted to the remote support device 30. Instead of or in addition to this, the generation unit 22 may select only the video obtained by imaging the front of the target vehicle 10 as the video to be transmitted to the remote support device 30. After a space for returning to the original travel lane is detected, the operator does not need detailed motion information about the objects around the target vehicle 10.

[0045] The control unit 24 autonomously drives the target vehicle 10 from the position P5 to the position P6 along the travel locus T5 shown in FIG. 7. When the target vehicle 10 autonomously travels to the position P6, the generation unit 22 stops transmitting the video to the remote support device 30.

[0046] FIG. 8 is a plan view showing another example of a travel scene in which the driving support device 20 autonomously drives the target vehicle 10 by the driving support function. The travel scene shown in FIG. 8 is the same as the travel scene shown in FIG. 2 except that the target vehicle 10 is traveling at the position P7 and the preceding vehicle, the vehicle V5, exists at the position R1 in front of the target vehicle 10.

[0047] In the driving scene shown in FIG. 8, after the vehicle V4 in the lane L2 has passed by the side of the vehicle V5, the vehicle V5 travels to the position R2 along the driving trajectory U2 shown in FIG. 9 to avoid the vehicles V1 to V3. In this case, the generation unit 22 minimizes the capacity of the image information within the range where it can be set according to the driving operation after the request for the target vehicle 10 to stop in front of the vehicle V5. Specifically, it generates a video having the lowest resolution and frame rate within the range where it can be set. This is to avoid interfering with the communication between the vehicle V5 and the second base station.

[0048] Also, when a leading vehicle existing between the target vehicle 10 and a stationary object avoids the stationary object and a first space where the target vehicle 10 can enter is detected between the stationary object and the target vehicle 10, for the video transmitted to the remote support device 30, the highest resolution and frame rate may be set within the range where it can be set. This is to promptly start the remote support for the target vehicle 10. For example, when the vehicle V5 travels to the position R3 along the driving trajectory U3 shown in FIG. 10, a space where the target vehicle 10 can enter is created between the vehicle V1 and the target vehicle 10. The control unit 24 causes the target vehicle 10 to travel from the position P7 to the position P8 along the driving trajectory T6, and the generation unit 22 generates a video having the highest resolution and frame rate within the range where it can be set.

[0049] Note that the remote support device 30 may cause the driving support device 20 to execute the processing in the above-described driving support device 20.

[0050] [Processing in the Remote Support System] With reference to FIGS. 11 to 12, the procedure for the driving support device 20 and the remote support device 30 to process information will be described. FIGS. 11 to 12 are an example of a flowchart showing the processing of information executed in the remote support system 1 of the present embodiment. The processing described below is executed by a processor (CPU) provided in the driving support device 20 and the remote support device 30.

[0051] First, in step S1 of FIG. 11, the determination unit 21 determines whether the target vehicle 10 traveling under autonomous driving control cannot avoid a stationary object on the driving lane and stops in front of the stationary object (that is, whether the target vehicle 10 stacks up). If it is determined that the target vehicle 10 does not stack up, the determination unit 21 repeats step S1. On the other hand, if it is determined that the target vehicle 10 stacks up, the process proceeds to step S2, and the determination unit 21 requests remote assistance from the remote assistance device 30. In step S3, the remote assistance device 30 receives the request for remote assistance and requests the driving assistance device 20 for the video acquired from the imaging device 11.

[0052] In step S4, the determination unit 21 receives the video transmission request and determines whether a subsequent vehicle connected to the same base station exists on the driving lane. If it is determined that a subsequent vehicle connected to the same base station exists on the driving lane, the process proceeds to step S5, and the generation unit 22 generates image information having a predetermined capacity corresponding to the driving operation. Then, in step S6, the transmission unit 23 transmits the generated image information to the remote assistance device 30. On the other hand, if it is determined that a subsequent vehicle connected to the same base station does not exist on the driving lane, the process proceeds to step S6, and the image information having a normal capacity is transmitted to the remote assistance device 30.

[0053] In step S7, the remote assistance device 30 receives the image information from the transmission unit 23 and displays the received image information. The operator determines whether the target vehicle 10 can start based on the image information displayed on the display unit 32. If it is determined that the target vehicle 10 can start, an instruction to start is transmitted from the support unit 31 to the driving assistance device 20. In step S8, the control unit 24 starts the target vehicle 10 from the stopped state (stacked state) based on the instruction received from the remote assistance device 30.

[0054] In step S9 of FIG. 12, the control unit 24 causes the target vehicle 10 to travel by autonomous driving control. In step S10, the generation unit 22 generates image information having a predetermined capacity corresponding to the driving operation. In step S11, the transmission unit 23 transmits the generated image information to the remote support device 30. In step S12, the remote support device 30 displays the received image information on the display unit 32.

[0055] In step S13, the driving support device 20 determines whether the target vehicle 10 has avoided an obstacle and returned to the original driving lane. When it is determined that the target vehicle 10 has avoided an obstacle and returned to the original driving lane, the transmission unit 23 stops transmitting the image information to the remote support device 30. On the other hand, when it is determined that the target vehicle 10 has not returned to the original driving lane, the process proceeds to step S9 to continue the autonomous driving control.

[0056] [Embodiment of the Present Invention] According to the present embodiment, in a driving support method executed by a driving support device 20 mounted on a target vehicle 10 and communicably connected to a remote support device 30 outside the vehicle via a base station, the driving support device 20 is configured such that the target vehicle 10 cannot avoid a stationary obstacle on the lane on which the target vehicle 10 is traveling by autonomous driving control, and when remote support is requested from the remote support device 30, the driving support method generates time-series image information having a predetermined capacity corresponding to the driving operation of the target vehicle 10 after the request for remote support, which is acquired from the imaging device 11 of the target vehicle 10 and transmitted to the remote support device 30. Thereby, the load of information processing in the target vehicle 10 can be suppressed.

[0057] In the driving support method of the present embodiment, the image information includes a moving image acquired from the imaging device 11, and the driving support device 20 changes at least one of the resolution and the frame rate of the moving image according to the driving operation. Thereby, the load of information processing in the target vehicle 10 can be suppressed.

[0058] In the driving support method of this embodiment, the target vehicle 10 is provided with a plurality of the imaging devices 11, and the driving support device 20 selects the image information to be transmitted to the remote support device 30 from the plurality of pieces of image information acquired from the plurality of the imaging devices 11 according to the driving operation. Thereby, the communication capacity used for remote support can be suppressed.

[0059] In the driving support method of this embodiment, when there is a preceding vehicle between the target vehicle 10 and the obstacle, after the target vehicle 10 stops in front of the preceding vehicle, the driving support device 20 minimizes the capacity of the image information within a settable range. Thereby, communication with the base station of the preceding vehicle is not inhibited.

[0060] In the driving support method of this embodiment, the image information includes a moving image acquired from the imaging device 11. When a preceding vehicle existing between the target vehicle 10 and the obstacle avoids the obstacle and a first space in which the target vehicle 10 can enter is detected between the obstacle and the target vehicle 10, the driving support device 20 sets the highest resolution and frame rate within a settable range for the moving image. Thereby, remote support for the target vehicle 10 can be promptly started.

[0061] In the driving support method of this embodiment, the image information includes a moving image acquired from the imaging device 11. After the driving support device 20 avoids the obstacle based on an instruction from the remote support device 30 received from the base station, when the traveling direction of the target vehicle 10 becomes a direction along the traveling direction of the lane, the driving support device 20 reduces the resolution of the moving image. Thereby, the load of information processing in the target vehicle 10 can be suppressed.

[0062] In the driving support method of the present embodiment, the image information includes a video acquired from the imaging device 11, and the driving support device 20 avoids the obstacle based on an instruction from the remote support device 30 received from the base station. After the traveling direction of the target vehicle 10 becomes a direction along the traveling direction of the lane, when a second space in which the target vehicle 10 can enter in front of the obstacle in the lane is detected from the detection result of the detection device of the target vehicle 10, the frame rate of the video is reduced. Thereby, the communication capacity used for remote support can be suppressed.

[0063] In the driving support method of the present embodiment, the target vehicle 10 includes a plurality of the imaging devices 11, the image information includes a video acquired from the imaging device 11, and the driving support device 20 avoids the obstacle based on an instruction from the remote support device 30 received from the base station. After the traveling direction of the target vehicle 10 becomes a direction along the traveling direction of the lane, the video that images the front of the target vehicle 10 among the plurality of videos acquired from the plurality of imaging devices 11 is selected as the video to be transmitted to the remote support device 30. Thereby, the communication capacity used for remote support can be suppressed.

[0064] In the driving support method of the present embodiment, the image information includes a video acquired from the imaging device 11, and the driving support device 20 avoids the obstacle based on an instruction from the remote support device 30 received from the base station. After the traveling direction of the target vehicle 10 becomes a direction along the traveling direction of the lane, when a second space in which the target vehicle 10 can enter in front of the obstacle in the lane is detected from the detection result of the detection device of the target vehicle 10, the target vehicle 10 is autonomously driven to the second space, and the transmission of the video to the remote support device 30 is stopped. Thereby, communication with the base stations of other vehicles is not hindered.

[0065] Also, according to the present embodiment, there is provided a driving support device 20 mounted on the target vehicle 10 and communicably connected to a remote support device 30 outside the vehicle via a base station. When the target vehicle 10 cannot avoid a stationary obstacle on the lane on which the target vehicle 10 is traveling by autonomous driving control and requests remote support from the remote support device 30, a generation unit 22 is provided which generates time-series image information having a predetermined capacity corresponding to the driving operation of the target vehicle 10 after the request for remote support and which is acquired from the imaging device 11 of the target vehicle 10 and transmitted to the remote support device 30. Thereby, the information processing load on the target vehicle 10 can be suppressed.

[0066] Also, according to the present embodiment, there is provided a remote support device 30 provided outside the target vehicle 10 which is communicably connected to a driving support device 20 mounted on the target vehicle 10 via a base station. When the target vehicle 10 cannot avoid a stationary obstacle on the lane on which the target vehicle 10 is traveling by autonomous driving control and is requested remote support from the driving support device 20, the driving support device 20 is caused to generate time-series image information having a predetermined capacity corresponding to the driving operation of the target vehicle 10 after the request for remote support, which is acquired from the imaging device 11 of the target vehicle 10, and the driving support device 20 is caused to transmit the generated image information to the base station, and the image information is received via the base station. Thereby, remote support can be executed with limited communication capacity.

Explanation of Reference Numerals

[0067] 1... Remote support system 10... Target vehicle, 11... Imaging device, 12... Distance measuring device, 13... State detection device, 14... Navigation device, 15... Vehicle control device 20... Driving support device, 21... Determination unit, 22... Generation unit, 23... Transmission unit, 24... Control unit 30... Remote support device, 31... Support unit, 32... Display unit A1, A2, A3... Areas, L1, L2... Lanes P1, P2, P3, P4, P5, P6, P7, P8, Px, Py, Pz, Q1, Q2, R1, R2, R3... Positions The running trajectories of T1, T2, T3, T4, T5, T6, U1, U2, U3… Vehicles V1, V2, V3, V4, V5…

Claims

1. In a driving support method executed by a driving support device mounted on a target vehicle and communicably connected to a remote support device outside the vehicle via a base station, the driving support device, when the target vehicle cannot avoid a stationary obstacle on the lane on which the target vehicle is traveling by autonomous driving control and requests remote support from the remote support device, generates time-series image information having a predetermined capacity acquired from an imaging device of the target vehicle and corresponding to the driving operation of the target vehicle after the remote support is requested, and transmits the time-series image information to the remote support device.

2. The image information includes a moving image acquired from the imaging device, and the driving support device changes at least one of the resolution and the frame rate of the moving image according to the driving operation. The driving support method according to claim 1.

3. The target vehicle includes a plurality of the imaging devices, and the driving support device selects the image information to be transmitted to the remote support device according to the driving operation from the plurality of pieces of image information acquired from the plurality of imaging devices. The driving support method according to claim 1 or 2.

4. When there is a preceding vehicle between the target vehicle and the obstacle, the driving support device minimizes the capacity of the image information within a settable range after the target vehicle stops in front of the preceding vehicle. The driving support method according to claim 1 or 2.

5. The image information includes a moving image acquired from the imaging device, and when a preceding vehicle existing between the target vehicle and the obstacle avoids the obstacle and a first space into which the target vehicle can enter is detected between the obstacle and the target vehicle, the driving support device sets the highest resolution and frame rate within a settable range for the moving image. The driving support method according to claim 1 or 2.

6. The image information includes a moving image acquired from the imaging device, and after avoiding the obstacle based on an instruction of the remote support device received from the base station, when the traveling direction of the target vehicle becomes a direction along the traveling direction of the lane, the driving support device decreases the resolution of the moving image. The driving support method according to claim 1 or 2.

7. The image information includes a moving image acquired from the imaging device, The driving support device avoids the obstacle based on the instruction of the remote support device received from the base station, and after the traveling direction of the target vehicle becomes a direction along the traveling direction of the lane, when a second space in which the target vehicle can enter in front of the obstacle in the lane is detected from the detection result of the detection device of the target vehicle, the frame rate of the video is reduced. The driving support method according to claim 1 or 2.

8. The target vehicle includes a plurality of the imaging devices, The image information includes a video acquired from the imaging device, After the driving support device avoids the obstacle based on the instruction of the remote support device received from the base station, when the traveling direction of the target vehicle becomes a direction along the traveling direction of the lane, the driving support device selects, as the video to be transmitted to the remote support device, the video that images the front of the target vehicle among the plurality of videos acquired from the plurality of imaging devices. The driving support method according to claim 1 or 2.

9. The image information includes a video acquired from the imaging device, The driving support device avoids the obstacle based on the instruction of the remote support device received from the base station, and after the traveling direction of the target vehicle becomes a direction along the traveling direction of the lane, when a second space in which the target vehicle can enter in front of the obstacle in the lane is detected from the detection result of the detection device of the target vehicle, the driving support device autonomously drives the target vehicle to the second space and stops transmitting the video to the remote support device. The driving support method according to claim 1 or 2.

10. mounted on a target vehicle and communicably connected to a remote support device outside the vehicle via a base station, When the target vehicle cannot avoid a stationary obstacle on the lane on which the target vehicle is traveling by autonomous driving control and requests remote support from the remote support device, a generation unit is provided that generates time-series image information having a predetermined capacity corresponding to the traveling operation of the target vehicle after the request for remote support is made and acquired from the imaging device of the target vehicle and is transmitted to the remote support device. A driving support device.

11. communicably connected to a driving support device mounted on a target vehicle via a base station, When the target vehicle is unable to avoid a stationary obstacle on the lane on which the target vehicle is traveling by autonomous driving control and a remote assistance is requested from the driving assistance device, the driving assistance device is caused to generate time-series image information having a predetermined capacity acquired from an imaging device of the target vehicle and corresponding to the driving operation of the target vehicle after the remote assistance is requested. The driving assistance device is caused to transmit the generated image information to the base station. A remote assistance device provided outside the target vehicle that receives the image information via the base station.

Images