Travel assistance method and travel assistance device

Abstract

In a travel support method and a travel support device according to the present invention, when there is an obstacle between a subject vehicle (10) and an intersection (C) ahead of the subject vehicle (10) in the travel direction, and the subject vehicle (10) travels in the oncoming lane to avoid an obstacle, when there are an entry vehicle that enters a travel range (B1) in which the subject vehicle (10) travels in the oncoming lane, and an entry space (B2) in which the subject vehicle (10) enters between the obstacle and the intersection (C), a first time until the entry vehicle enters the travel range (B1) is calculated on the basis of traffic light information pertaining to the timing at which the light states of traffic lights (D1-D4) installed at the intersection (C) change, a second time during which the subject vehicle (10) travels to the entry space (B2) is calculated, and when the second time is less than the first time, supports the progress of the subject vehicle (10) so as to travel in the oncoming lane and avoid the obstacle, and when the second time is equal to or greater than the first time, supports the stop of the subject vehicle (10) so as to avoid the entry vehicle behind the obstacle.

Description

Driving support method and driving support device

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

[0002] When a vehicle is turning right at an intersection and an oncoming vehicle is traveling in the oncoming lane on either side of the intersection, a driving assistance device is known that acquires information on the speed and position of the oncoming vehicle and information on the status of traffic lights installed at the intersection, and if it predicts from the acquired information that the oncoming vehicle will enter the intersection, it stops the vehicle before the intersection, and if it predicts that the oncoming vehicle will stop before the intersection, it makes the vehicle turn right (Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2021-135509

[0004] In the above-described conventional technology, when an obstacle is present before an intersection and there is space between the obstacle and the intersection for the vehicle to enter, if it is predicted that an oncoming vehicle will enter the intersection, even if the vehicle can reach the space before the oncoming vehicle enters the intersection, there is a problem in that the vehicle will end up stopping behind the obstacle for a long time in order to avoid the oncoming vehicle.

[0005] The problem to be solved by the present invention is to provide a driving assistance method and a driving assistance device that can prevent a target vehicle for driving assistance from missing an opportunity to avoid an obstacle.

[0006] The present invention solves the above problem by detecting an obstacle between a target vehicle for driving assistance and an intersection ahead in the direction of travel of the target vehicle, and when the detected obstacle is present and the target vehicle avoids the obstacle by driving in the oncoming lane, detecting an incoming vehicle in the oncoming lane that enters the driving range in which the target vehicle is driving, detecting whether there is space for the target vehicle to enter between the obstacle and the intersection, obtaining traffic light information regarding the timing at which the light status of traffic lights installed at the intersection will change, calculating a first time until the incoming vehicle enters the driving range based on the traffic light information, calculating a second time for the target vehicle to drive to the space, and if the second time is less than the first time, assisting the target vehicle in traveling in the oncoming lane to avoid the obstacle, and if the second time is equal to or greater than the first time, assisting the target vehicle in stopping to avoid the incoming vehicle behind the obstacle.

[0007] According to the present invention, it is possible to prevent a target vehicle for driving assistance from missing an opportunity to avoid an obstacle.

[0008] Fig. 1 is a block diagram showing an example of an embodiment of a remote assistance system according to the present invention. Fig. 2 is a plan view showing an example of a driving scene in which remote assistance is performed by the remote assistance system of Fig. 1. Fig. 3 is a plan view showing another example of remote assistance performed in the driving scene of Fig. 2. Fig. 4 is a plan view (part 1) showing another example of remote assistance of the present embodiment. Fig. 5 is a plan view (part 2) showing another example of remote assistance of the present embodiment. Fig. 6 is a plan view showing an example of a determination range of the present embodiment. Fig. 7 is a flowchart (part 1) showing an example of a processing procedure in the remote assistance system of Fig. 1. Fig. 8 is a flowchart (part 2) showing an example of a processing procedure in the remote assistance system of Fig. 1. Fig. 9 is a flowchart showing another example of the processing procedure in the remote assistance system of Fig. 1.

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following description is based on the assumption that vehicles are driven on the left side of the road in countries where left-hand traffic regulations apply. In countries where right-hand traffic regulations apply, the left and right in the following description should be interpreted as symmetrical.

[0010] [Configuration of Remote Assistance System] FIG. 1 is a block diagram showing a remote assistance system 1 according to the present invention. The remote assistance system 1 is a system that supports the driving of a target vehicle, which is the target of driving assistance including remote assistance, by remote assistance from outside the target vehicle. Driving assistance refers to supporting the driving of the target vehicle through autonomous driving control. Remote assistance includes at least one of remotely operating the target vehicle from outside the target vehicle via a controller of the target vehicle and providing information to the controller or driver of the target vehicle, and is performed by an operator outside the target vehicle or a remote assistance device described below. The outside of the target vehicle is not particularly limited as long as it is a location separated from the target vehicle, and examples include a remote location such as a management center that centrally manages the driving of the target vehicle.

[0011] The target vehicle travels under autonomous driving control or manual driving by a driver. Autonomous driving control refers to autonomously controlling the driving behavior of the target vehicle using a controller of the target vehicle, and the driving behavior includes all driving behaviors such as acceleration, deceleration, starting, stopping, and steering. Furthermore, autonomously controlling driving behavior refers to the controller of the target vehicle controlling the driving behavior using a device of the target vehicle. The controller controls these driving behaviors within a predetermined range, and driving behaviors that are not controlled by the controller are manually operated by the driver. On the other hand, when the driver manually drives the vehicle, the controller does not autonomously control the driving behavior, and the driving behavior of the target vehicle is controlled by the driver's operation.

[0012] 1, the remote assistance system 1 includes a target vehicle 10, an imaging device 20, a light control device 30, a database 40, and a remote assistance device 50. These devices exchange information with each other via a network (not shown). The network refers to a telecommunications network such as the Internet, and the communication format is not particularly limited.

[0013] The target vehicle 10 includes an object detection device 11, a state detection device 12, a position detection device 13, a vehicle control device 14, and a controller 15. These devices are connected by a Controller Area Network (CAN) or other in-vehicle LAN, and can exchange information with each other.

[0014] The object detection device 11 is a device that detects objects around the target vehicle 10, and specifically includes an imaging device and a distance measuring device. The imaging device is a device that captures images of objects around the target vehicle 10, and examples thereof include a camera equipped with an imaging element such as a CCD, and an infrared camera. The distance measuring device is a device that acquires the relative distance between the distance measuring device and the object, and examples thereof include a millimeter-wave radar and a LiDAR (Light Detection and Ranging) unit.

[0015] The target object is an object existing on or around the road, including lane boundaries, center lines, road markings, medians, guardrails, curbs, road signs, traffic lights, crosswalks, etc. The target object also includes obstacles that may affect the travel of the target vehicle, such as automobiles, motorcycles, bicycles, pedestrians, etc. In order to reduce blind spots when detecting the target object, multiple target object detection devices 11 are installed in front, to the right, to the left, and behind of the target vehicle 10.

[0016] The state detection device 12 is a sensor that detects the traveling state of the target vehicle 10, and includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc. The position detection device 13 is a positioning system that detects the current position of the target vehicle 10, and calculates the current position of the target vehicle 10 from, for example, radio waves received from a satellite for the GPS (Global Positioning System). The controller 15 acquires the detection results of the object detection device 11, the state detection device 12, and the position detection device 13 at predetermined time intervals (for example, every 0.1 to 1 millisecond).

[0017] The vehicle control device 14 is an on-board computer such as an electronic control unit, and electronically controls on-board devices that govern the driving of the target vehicle 10. The vehicle control device 14 autonomously controls the operation of the drive device and steering device of the target vehicle 10 in response to control signals output from the controller 15.

[0018] The controller 15 is a device that controls the traveling of the target vehicle 10 by controlling and cooperating with each device of the target vehicle 10, and causes the target vehicle 10 to travel to a set destination. The controller 15 is, for example, a computer, and includes a CPU (Central Processing Unit) that is a processor, a ROM (Read Only Memory) that stores programs, and a RAM (Random Access Memory) that functions as an accessible storage device. The CPU of the controller 15 is an operating circuit that executes the programs stored in the ROM to control the traveling of the target vehicle 10.

[0019] The imaging device 20 is a camera installed on a road, such as a fixed camera, and detects objects present on the road. The type of imaging device 20 is not particularly limited, and examples include a camera equipped with an imaging element such as a CCD, an infrared camera, etc. The imaging device 20 is installed, for example, on a traffic light pole, and information regarding the installation position and imaging range of each imaging device 20 is stored in the database 40 as infrastructure information.

[0020] The light control device 30 is a device that controls the light status of traffic lights installed at intersections and the like, and is, for example, a server connected to multiple traffic lights via a network. The light control device 30 controls the light status of traffic lights so as not to interfere with road traffic. The remote assistance device 50 acquires traffic light information related to traffic lights installed at intersections around the target vehicle 10 from the light control device 30. Furthermore, if the database 40 contains traffic light information, the remote assistance device 50 may acquire the traffic light information from the database 40.

[0021] The database 40 is a database that stores information required for the remote support device 50 to perform remote support. The database 40 includes high-precision map information, infrastructure information, and management vehicle information related to vehicles (including the target vehicle 10) connected to the remote support device 50. The infrastructure information is information related to electronic infrastructure of roads such as traffic lights and electronic bulletin boards, and includes information related to the installation location and imaging range of the imaging device 20, as described above. The management vehicle information includes, for example, information related to the driving status and driving position of the target vehicle.

[0022] The remote assistance device 50 is a device that remotely assists the driving of the target vehicle 10 from outside the target vehicle 10. The remote assistance device 50 acquires information as needed from the target vehicle 10, the imaging device 20, the light control device 30, and the database 40, and transmits information related to driving assistance to the target vehicle 10 (controller 15). The remote assistance device 50 is, for example, a computer, and like the controller 15, includes a CPU, ROM, and RAM. The CPU of the remote assistance device 50 is an operating circuit that executes a program stored in the ROM to remotely assist the driving of the target vehicle 10. In this embodiment, the controller 15 that is mounted on the target vehicle 10 and controls the driving of the target vehicle 10, and the remote assistance device 50 that is external to the target vehicle 10 and communicably connected to the controller 15 are collectively referred to as a driving assistance device as a device that assists the driving of the target vehicle.

[0023] [Functions of the Remote Assistance Device] The program stored in the ROM of the remote assistance device 50 includes functional blocks for executing remote assistance: a scene determination unit 51, a calculation unit 52, an avoidance determination unit 53, and a transmission unit 54. These functional blocks are extracted and shown in Fig. 1 for convenience. Each functional block shown in Fig. 1 will be explained below using the driving scene shown in Fig. 2.

[0024] Fig. 2 is a plan view showing an example of a driving scene in which the remote assistance device 50 remotely assists the driving of a target vehicle 10. In the driving scene shown in Fig. 2, a one-lane road with two-way traffic extends in the left-right and up-down directions of the drawing. In the driving scene shown in Fig. 2, vehicles drive on the left side of the road, so vehicles traveling on lanes L1 and L3 travel from the left to the right of the drawing, vehicles traveling on lanes L2 and L4 travel from the right to the left of the drawing, vehicles traveling on lanes L5 and L7 travel from the bottom to the top of the drawing, and vehicles traveling on lanes L6 and L8 travel from the top to the bottom of the drawing.

[0025] Intersection C is the point where two roads extending in the left-right and up-down directions of the drawing intersect. In the driving scene shown in Figure 2, vehicles traveling on lanes L1, L4, L5, and L8 can go straight, turn right, or turn left at intersection C. Fixed cameras 20a and 20b are installed at intersection C as imaging devices 20, and fixed cameras 20a and 20b detect objects in imaging ranges A1 and A2, respectively. Traffic lights D1 to D4 are also installed at intersection C, and traffic lights D1 and D2 display traffic signals to vehicles traveling on lanes L1 and L4, respectively, and traffic lights D3 and D4 display traffic signals to vehicles traveling on lanes L5 and L8, respectively.

[0026] The signal lights of traffic lights D1 to D4 are red on the right side of the vehicle's direction of travel and green on the left side of the vehicle's direction of travel. In other words, in the driving scene shown in Figure 2, the lights of traffic lights D1 and D2 are red, and vehicles traveling on lanes L1 and L4 stop before intersection C. On the other hand, the lights of traffic lights D3 and D4 are green, and vehicles traveling on lanes L5 and L8 can enter intersection C.

[0027] 2 , the target vehicle 10 is traveling at position P1 on lane L1, parked vehicles Vx, Vy, and Vz are parked on lane L1, vehicle V1 is traveling at position Q1 on lane L4, and vehicle V2 is traveling at position Q2 on lane L5. Furthermore, the target vehicle 10 travels from position P1 to position Px, the parked vehicles Vx, Vy, and Vz do not move, and vehicles V1 and V2 go straight through intersection C. In this case, the target vehicle 10 needs to enter lane L2, which is the oncoming lane, to avoid the parked vehicles Vx, Vy, and Vz. However, the parked vehicles Vx, Vy, and Vz block the detection of the object detection device 11, making it impossible to detect objects ahead of the parked vehicle Vz or in lane L2, which could impede the travel of vehicle V1 entering lane L2. Therefore, the target vehicle 10 transmits a request for remote assistance to the remote assistance device 50, and the remote assistance device 50 that receives the request assists the driving of the target vehicle 10 using the functions of the functional blocks shown in FIG.

[0028] The scene determination unit 51 determines the driving scene of the target vehicle 10. The scene determination unit 51 acquires the current position of the target vehicle 10 from the position detection device 13 and acquires map information from the database 40. Based on the current position of the target vehicle 10 and the map information, the scene determination unit 51 detects an intersection ahead in the direction of travel of the target vehicle 10 (hereinafter also referred to as the intersection ahead). The scene determination unit 51 also acquires object detection results from the object detection device 11 and acquires images from the imaging device 20 installed at the intersection ahead. Based on the object detection results and the images, the scene determination unit 51 then determines whether or not an obstacle exists between the target vehicle 10 and the intersection ahead based on the positional relationship between the target vehicle 10, the obstacles around the target vehicle 10, and the intersection ahead. Note that if the scene determination unit 51 determines, based on the infrastructure information in the database 40, that the intersection ahead is an intersection where no imaging device 20 is installed, the transmission unit 54 transmits information to the target vehicle 10 indicating that remote assistance cannot be performed because no obstacles can be detected.

[0029] If the scene determination unit 51 determines that no obstacle exists between the target vehicle 10 and the intersection ahead, the transmission unit 54 transmits to the target vehicle 10 information that no obstacle exists ahead of the target vehicle 10. On the other hand, if it determines that an obstacle exists between the target vehicle 10 and the intersection ahead, the scene determination unit 51 determines whether the target vehicle 10 will avoid the obstacle by traveling in the oncoming lane, based on the obstacle type information and road information included in the map information. For example, if the obstacle is a bicycle, the transmission unit 54 transmits to the target vehicle 10 information that the obstacle can be avoided without traveling in the oncoming lane. On the other hand, if the obstacle is a large vehicle and the target vehicle 10 is traveling on a road with one lane in each direction and two-way traffic, the scene determination unit 51 determines that the target vehicle 10 will avoid the obstacle by traveling in the oncoming lane.

[0030] When the scene determination unit 51 determines that the target vehicle 10 is traveling in the oncoming lane to avoid an obstacle, it determines whether there is a vehicle (hereinafter also referred to as an entering vehicle) that is entering (or is estimated to enter) the traveling range of the oncoming lane in which the target vehicle 10 is traveling. The scene determination unit 51 sets the traveling range in the oncoming lane in which the target vehicle 10 is traveling, acquires images from the imaging device 20 installed at the intersection ahead, and detects candidate vehicles for the entering vehicle from the acquired images. Then, it estimates the traveling direction of the candidate vehicle from the traveling state of the candidate vehicle, and determines whether the estimated traveling direction is toward the traveling range.

[0031] The candidate vehicle is, for example, a vehicle included in the imaging range of the imaging device 20 installed at the intersection ahead. The traveling direction of the candidate vehicle is estimated based on the flashing state of the turn signal, the approaching speed to the intersection, the lane the candidate vehicle is traveling in, and the like. For example, if the left turn signal is flashing, it is estimated that the traveling direction of the candidate vehicle will change to the left; if the vehicle does not decelerate when approaching the intersection, it is estimated that the traveling direction of the vehicle will not change (i.e., it will proceed straight through the intersection); and if the candidate vehicle is traveling in a right-turn-only lane, it is estimated that the traveling direction of the candidate vehicle will change to the right. Note that if the traveling direction of the candidate vehicle cannot be estimated, it may be determined that the candidate vehicle is entering the traveling range.

[0032] In addition to determining whether or not an entering vehicle exists, the scene determination unit 51 also acquires an image from the imaging device 20 installed at the intersection ahead, and determines from the acquired image whether or not a space (hereinafter also referred to as an entry space) exists for the target vehicle 10 to enter between the intersection and an obstacle existing ahead in the traveling direction of the target vehicle 10. If the scene determination unit 51 determines that at least one of the entering vehicle and the entry space does not exist, the transmission unit 54 transmits the determination result of the existence of the entering vehicle and the entry space to the target vehicle 10. On the other hand, if the scene determination unit 51 determines that the entering vehicle and the entry space exist, the calculation unit 52 calculates the time required for avoidance determination, which will be described later.

[0033] 2 , the scene determination unit 51 detects parked vehicles Vx, Vy, and Vz in lane L1 from the detection results of the object detection device 11. The scene determination unit 51 also obtains the position P1 of the target vehicle 10 from the position detection device 13, and obtains the position of the intersection C from the map information in the database 40. Then, based on the positional relationship between the position P1, the intersection C, and the parked vehicles Vx, Vy, and Vz, it determines that parked vehicles Vx, Vy, and Vz exist between the target vehicle 10 and the intersection C.

[0034] Next, the scene determination unit 51 compares the widthwise lengths of the lane L1 and the parked vehicles Vx, Vy, and Vz to determine that the target vehicle 10 will travel in lane L2 to avoid the parked vehicles Vx, Vy, and Vz, and sets a travel range B1 in lane L2. The length of the travel range B1 is set based on, for example, the overall length of the parked vehicles Vx, Vy, and Vz and a predetermined travel distance when the target vehicle 10 changes lanes.

[0035] Next, the scene determination unit 51 acquires images from the fixed cameras 20a and 20b and detects vehicles V1 and V2, which are candidate vehicles, from the image acquired from the fixed camera 20b. Because vehicles V1 and V2 travel straight through intersection C, vehicle V1 is determined to be an entering vehicle entering driving range B1. In addition, the scene determination unit 51 detects entry space B2 from the image acquired from the fixed camera 20a. Then, the scene determination unit 51 determines that vehicle V1, which is an entering vehicle, and entry space B2 exist, and instructs the calculation unit 52 to calculate the first time and the second time.

[0036] The calculation unit 52 calculates a first time until the entering vehicle enters the travel area based on traffic light information related to the timing at which the light state of a traffic light installed at the intersection ahead changes (hereinafter also referred to as traffic light information related to timing). The traffic light state is, for example, the state of the light color of the traffic light, and the traffic light information related to the timing at which the light state changes is information such as the length of time a certain light color (traffic signal) will continue and the time at which one light color will switch to another light color. The calculation unit 52 obtains the traffic light information related to timing from the light control device 30 or the database 40.

[0037] The calculation unit 52 calculates the first time based on the traveling speed of the entering vehicle and the traveling position of the entering vehicle relative to the intersection ahead. For example, after the entering vehicle enters the intersection ahead, the calculation unit 52 calculates the traveling time from the current position of the entering vehicle to the traveling area as the first time. On the other hand, before the entering vehicle enters the intersection ahead, the calculation unit 52 calculates the first time as the sum of the traveling time from the current position of the entering vehicle to the intersection ahead, the traveling time from the intersection ahead to the traveling area, and the stopping time at the intersection ahead. The stopping time at the intersection ahead is calculated based on traffic light information related to timing. For example, when the traffic light color is red (a traffic light indicating a stop before the intersection), the stopping time is the time until the traffic light color of the traffic light changes from red to green (a traffic light indicating entry into the intersection).

[0038] The calculation unit 52 may acquire and store images from the imaging device 20 installed at the intersection ahead, and acquire traffic light information related to timing from the stored images. For example, the calculation unit 52 may acquire images from the fixed cameras 20a, 20b at regular time intervals (e.g., every 0.5 to 2 seconds), store the images in the database 40, detect changes in the stored images over time, and acquire traffic light information related to timing from the detected changes. Alternatively, the calculation unit 52 may identify intersections (including the intersection ahead) that the entering vehicle will pass through before entering the driving range from the map information and management vehicle information in the database 40, acquire traffic light information for each identified intersection, and calculate the first time using the acquired traffic light information.

[0039] The calculation unit 52 calculates the second time required for the target vehicle 10 to travel to the entry space together with the first time. Specifically, the calculation unit 52 acquires the travel speed of the target vehicle 10 from the state detection device 12, acquires the current position of the target vehicle 10 from the position detection device 13, and calculates the time required for the target vehicle 10 to travel from the current position to the entry space at the acquired travel speed as the second time. Then, the calculation unit 52 outputs the calculated first time and second time to the avoidance determination unit 53.

[0040] In the driving scene shown in FIG. 2 , the calculation unit 52 acquires an image from the fixed camera 20b and detects the position Q1 of the vehicle V1 from the acquired image. Because the position Q1 is located before the intersection C in the direction of travel of the vehicle V1, the calculation unit 52 calculates the travel time from the position Q1 to the intersection C and the travel time from the intersection C to the driving range B1. The calculation unit 52 also acquires traffic light information from the light control device 30 and detects the light color of the traffic light D2. Because the light color of the traffic light D2 is red, the calculation unit 52 calculates the time until the light color of the traffic light D2 changes from red to green as the stopping time of the vehicle V1. The calculation unit 52 then calculates the stopping time by adding the two calculated traveling times to the stopping time. In addition, the calculation unit 52 acquires the traveling speed of the target vehicle 10 from the state detection device 12 and calculates the second time it takes for the target vehicle 10 to travel from the position P1 to the entry space B2.

[0041] The avoidance determination unit 53 compares the first time with the second time to determine whether the target vehicle 10 needs to avoid the entering vehicle behind the obstacle. Hereinafter, this determination will be referred to as avoidance determination. In the avoidance determination, if the first time is equal to or greater than the second time, it is determined that the target vehicle 10 does not need to avoid the entering vehicle behind the obstacle, and if the first time is less than the second time, it is determined that the target vehicle 10 needs to avoid the entering vehicle behind the obstacle. In other words, if the first time is equal to or greater than the second time, the avoidance determination unit 53 determines that the target vehicle 10 can travel to the entry space (or will not obstruct the travel of the entering vehicle), and if the first time is less than the second time, it determines that the target vehicle 10 cannot travel to the entry space (or will obstruct the travel of the entering vehicle).

[0042] The transmitter 54 transmits the result of the avoidance determination to the target vehicle 10. Upon receiving the result of the avoidance determination, the target vehicle 10 generates a travel trajectory based on the result of the avoidance determination using the controller 15, and outputs a control signal to the vehicle control device 14 so that the target vehicle 10 travels along the generated travel trajectory. Note that, if there are multiple entering vehicles, the calculator 52 calculates the first time for each entering vehicle, the avoidance determination unit 53 performs the avoidance determination using the shortest first time among the multiple first times, and the transmitter 54 transmits the result of the avoidance determination to the target vehicle 10.

[0043] Alternatively, the transmitter 54 may transmit the first time and the second time calculated by the calculator 52 to the target vehicle 10, and cause the controller 15 of the target vehicle 10 to execute an avoidance determination. The controller 15 executes an avoidance determination using the received first time and second time, generates a traveling trajectory based on the result of the avoidance determination, and outputs a control signal to the vehicle control device 14 so that the target vehicle 10 travels along the generated traveling trajectory. Note that when there are multiple entering vehicles, the calculator 52 calculates the first time for each entering vehicle, and the transmitter 54 transmits the shortest first time of the multiple first times to the target vehicle 10.

[0044] Furthermore, if the second time is less than the first time, the transmitter 54 transmits a proceed command to the target vehicle 10 to travel in the oncoming lane and avoid the obstacle. When the controller 15 receives a proceed command to move the target vehicle 10 forward, the controller 15 executes proceeding control to move the target vehicle 10 forward by autonomous driving control. In other words, the controller 15 supports the progress of the target vehicle 10 to travel in the oncoming lane and avoid the obstacle. On the other hand, when the second time is equal to or greater than the first time, the transmitter 54 transmits a stop command to the target vehicle 10 to avoid an intruding vehicle behind the obstacle. When the controller 15 receives a stop command to stop the target vehicle 10 behind the obstacle, the controller 15 executes stop control to stop the target vehicle 10 by autonomous driving control. In other words, the controller 15 supports the stopping of the target vehicle 10 to avoid an intruding vehicle behind the obstacle.

[0045] An example of autonomous driving control by the controller 15 in the driving scene shown in FIG. 2 will be described with reference to FIG. 3 . In the driving scene shown in FIG. 3 , the time during which the light color of traffic light D2 is red (i.e., the time during which vehicle V1 is stopped at intersection C) is relatively long, and the first time is longer than the second time. In this case, in order to obtain a determination result that the target vehicle 10 can travel to the entry space B2, the controller 15 generates a driving trajectory T1 traveling from position P1 to position P2 just before the intersection C and outputs a control signal to the vehicle control device 14 so that the target vehicle 10 travels along the driving trajectory T1. As a result, while vehicle V1 travels from position Q1 to position Q3 along the driving trajectory U1 and is stopped at position Q3, the target vehicle 10 can travel to position P2 while avoiding parked vehicles Vx, Vy, and Vz. Note that while the target vehicle 10 is traveling along the driving trajectory T1, vehicle V2 travels along the driving trajectory U2 from position Q2 to position Q4.

[0046] Next, other examples of autonomous driving control by the controller 15 will be described with reference to FIGS. 4 to 6. The driving scene shown in FIG. 4 is the same as the driving scene shown in FIG. 2 except that the light colors of traffic lights D1 and D2 are green, the light colors of traffic lights D3 and D4 are red, and vehicle V2 turns left at intersection C. The driving scene shown in FIG. 4 differs from the driving scene shown in FIG. 3 in that there are two entering vehicles, vehicles V1 and V2, and therefore a first time is calculated for each of vehicles V1 and V2. In the driving scene shown in FIG. 4, vehicle V1 does not stop at intersection C, so the first time for vehicle V1 is equal to or shorter than the second time, and vehicle V2 stops at intersection C, so the first time for vehicle V2 is longer than the second time.

[0047] In this case, the controller 15 obtains, from the avoidance determination for vehicle V1, a determination result that the target vehicle 10 cannot travel to the entry space B2, and obtains, from the avoidance determination for vehicle V2, a determination result that the target vehicle 10 can travel to the entry space B2. In order to avoid vehicle V1 entering the travel range B1 earlier, the controller 15 generates a travel trajectory T1a traveling from position P1 to position P3, and outputs a control signal to the vehicle control device 14 so that the target vehicle 10 travels along the travel trajectory T1a and stops at position P3. While the target vehicle 10 is stopped at position P3, vehicle V1 travels from position Q1 to position Q5 along travel trajectory U3, and vehicle V2 travels from position Q2 to position Q6 along travel trajectory U4 and stops at position Q6.

[0048] After avoiding vehicle V1 at position P3, the controller 15 generates a travel trajectory T1b for vehicle V2 traveling from position P3 to position P2, as shown in FIG. 5 , so that vehicle V2 can travel to entry space B2 before entering travel range B1. Then, the controller 15 outputs a control signal to the vehicle control device 14 so that the target vehicle 10 travels along the travel trajectory T1b and stops at position P2. This allows the target vehicle 10 to travel to position P2 while vehicle V2 is stopped at position Q6. Thereafter, as shown in FIG. 6 , when the light color of traffic lights D1 and D2 changes to red and the light color of traffic lights D3 and D4 changes to green, vehicle V2 travels from position Q6 to position Q7 along the travel trajectory U5.

[0049] The calculation unit 52 may calculate the first time of an entering vehicle that enters the travel range by traveling straight through the intersection from the near side in the direction of travel of the oncoming lane, based on traffic light information of a traffic light that displays a traffic signal to the target vehicle 10. For example, in the travel scene shown in Fig. 4 , the calculation unit 52 calculates the first time of a vehicle V1 that enters the travel range B1 by traveling straight through the intersection C from the lane L4, based on traffic light information of a traffic light D1 that displays a traffic signal to the target vehicle 10.

[0050] Alternatively or in addition, the calculation unit 52 may calculate the first time of an entering vehicle that turns right or left at an intersection and enters the travel range B1, based on traffic light information of a traffic light that displays a traffic signal for vehicles traveling in an intersecting lane that intersects with an oncoming lane. For example, in the travel scene shown in Fig. 4 , the calculation unit 52 calculates the first time of a vehicle V2 that turns left at an intersection C and enters the travel range B1, based on traffic light information of a traffic light D3 that displays a traffic signal for a vehicle V2 traveling in a lane L5 that intersects with lane L2.

[0051] When detecting an entering vehicle, the scene determination unit 51 may search for a first entry lane within the driving range through which a vehicle can enter, and for each first entry lane, set a first determination range having a first predetermined length in the vehicle's traveling direction (i.e., along the lane's traveling direction) based on a first predetermined time and the speed limit of the first entry lane, and detect a vehicle traveling within the first determination range as an entering vehicle. The scene determination unit 51 may search for the first entry lane using map information in the database 40 and obtain the speed limit of the first entry lane from the map information. The first predetermined time may be set to an appropriate value within a range that allows accurate detection of an entering vehicle, such as the time during which the traffic lights at the intersection ahead are red. The first predetermined length may correspond, for example, to the product of the first predetermined time and the speed limit of the first entry lane.

[0052] Furthermore, if the first determination range includes a new intersection located on the near side of the first entrance lane in the direction of travel, the scene determination unit 51 may search for a second entrance lane through which the vehicle can enter the new intersection. For each second entrance lane, the scene determination unit 51 may set a second determination range having a second predetermined length shorter than the first predetermined length based on a second predetermined time shorter than the first predetermined time and the speed limit of the second entrance lane. A vehicle traveling within the second determination range may be detected as an entering vehicle. The scene determination unit 51 may search for the second entrance lane using map information in the database 40 and obtain the speed limit of the second entrance lane from the map information. The second predetermined time is calculated by multiplying the first predetermined time by a coefficient (e.g., 0.1 to 0.9), and the first predetermined length corresponds to, for example, the product of the second predetermined time and the speed limit of the second entrance lane.

[0053] A specific example of the determination range will be described with reference to FIG. 7 . The driving scene shown in FIG. 7 is the same as the driving scene shown in FIG. 2 , except that a new intersection Ca is present on a road extending in the vertical direction of the drawing. In the driving scene shown in FIG. 7 , the scene determination unit 51 searches for lanes that a vehicle can enter into the driving range B1 from the map information in the database 40 and extracts lanes L4, L5, and L8. Next, for each of lanes L4, L5, and L8, it sets first determination ranges B3, B4, and B5 based on a first predetermined time and the speed limits of lanes L4, L5, and L8. Next, because intersection Ca is present in front of lane L9 in the direction of travel within the first determination range B3, it searches for lanes that a vehicle can enter into intersection Ca from the map information in the database 40 and extracts lane L12. Then, it sets a second determination range B6 for lane L12 based on a second predetermined time and the speed limit of lane L12.

[0054] 8 to 10, the information processing procedure in the remote support system 1 will be described. The processing described below is executed by a processor (CPU) provided in each of the controller 15 and the remote support device 50.

[0055] 8 and 9 are flowcharts showing an example of a processing procedure in the remote assistance system 1. In step S1 of FIG. 8, the controller 15 detects an obstacle present before the intersection C from the detection result of the object detection device 11, and in the subsequent step S2, determines whether the situation ahead of the obstacle can be detected. If it is determined that the situation ahead of the obstacle can be detected, the process proceeds to step S3, where normal autonomous driving control is executed. On the other hand, if it is determined that the situation ahead of the obstacle cannot be detected, the process proceeds to step S4, where a request for remote assistance is transmitted to the remote assistance device 50. In step S5, the scene determination unit 51 requests information about the traveling scene of the target vehicle 10 from the controller 15. In step S6, the controller 15 acquires the detection results of sensors such as the object detection device 11 and transmits them as traveling scene information. In step S7, the scene determination unit 51 receives the traveling scene information from the controller 15, and in step S8, acquires image data from the imaging device 20 installed at the intersection C.

[0056] In step S9 of FIG. 9 , the remote assistance device 50 determines whether an entering vehicle and the entry space B2 are present. If it is determined that at least one of the entering vehicle and the entry space B2 is not present, the remote assistance device 50 outputs the determination result to the controller 15 and proceeds to step S10. Then, in step S10, the controller 15 stops the target vehicle 10 behind the obstacle or drives it to the entry space B2 depending on the driving scene. On the other hand, if it is determined that an entering vehicle and the entry space B2 are present, the remote assistance device 50 proceeds to step S11. In step S11, the calculation unit 52 acquires traffic light information from the light control device 30, and in step S12, calculates the first time and the second time. In the following step S13, the avoidance determination unit 53 performs an avoidance determination, and in the following step S14, the transmission unit 54 transmits the determination result of the avoidance determination to the controller 15. Then, in step S15, the controller 15 performs autonomous driving control based on the received determination result.

[0057] Next, FIG. 10 is a flowchart showing another example of the processing procedure in the remote assistance system 1. Note that explanations of steps that overlap with the steps shown in FIGS. 8 and 9 will be omitted. If it is determined in step S9 of FIG. 10 that an entering vehicle and entry space B2 are present, the process proceeds to step S11a. In step S11a, the calculation unit 52 acquires traffic light information from the stored image, and in step S12, calculates the first time and the second time. In the following step S13a, the transmission unit 54 transmits the first time and the second time to the controller 15 and causes the controller 15 to perform an avoidance determination. In step S14a, the controller 15 performs an avoidance determination using the received first time and second time, and then proceeds to step S15.

[0058] According to this embodiment, when assisting the travel of a target vehicle 10, an obstacle between the target vehicle 10 and an intersection C ahead in the traveling direction of the target vehicle 10 is detected, and when the obstacle is present and the target vehicle 10 travels in an oncoming lane to avoid the obstacle, an intruding vehicle entering a travel range B1 in the oncoming lane in which the target vehicle 10 travels is detected, and whether or not a space B2 for the target vehicle 10 to enter exists between the obstacle and the intersection C is detected, and the timing at which the lighting states of traffic lights D1 to D4 installed at the intersection C change is detected. The present invention provides a driving assistance method and a driving assistance device that acquire traffic light information related to a traffic jam, calculate a first time until the entering vehicle enters the driving range B1 based on the traffic light information, calculate a second time until the target vehicle 10 travels to the space B2, and if the second time is less than the first time, assist the target vehicle 10 in traveling in the oncoming lane to avoid the obstacle, and if the second time is equal to or greater than the first time, assist the target vehicle 10 in stopping behind the obstacle to avoid the entering vehicle. This makes it possible to prevent the target vehicle 10 from missing an opportunity to avoid the obstacle.

[0059] In the driving assistance method and driving assistance device of the present embodiment, when there are a plurality of the entering vehicles, the first time may be calculated for each of the entering vehicles, and the shortest first time among the plurality of first times may be used to perform avoidance determination for determining whether the target vehicle 10 needs to avoid the entering vehicle behind the obstacle. This makes it possible to prevent obstruction to the traveling of the entering vehicles when there are a plurality of entering vehicles.

[0060] In the driving assistance method and driving assistance device of the present embodiment, instead of performing an avoidance determination to determine whether or not the target vehicle 10 needs to avoid the entering vehicle behind the obstacle based on the first time and the second time it takes for the target vehicle 10 to travel to the space B2 and transmitting the result of the avoidance determination to the target vehicle 10, the first time and the second time it takes for the target vehicle 10 to travel to the space B2 may be transmitted to the target vehicle 10, and the controller 15 of the target vehicle 10 may be caused to perform an avoidance determination to compare the first time and the second time to determine whether or not the target vehicle 10 needs to avoid the entering vehicle behind the obstacle. This makes it possible to prevent the target vehicle 10 from missing an opportunity to avoid an obstacle.

[0061] In the driving assistance method and driving assistance device of the present embodiment, when there are a plurality of entering vehicles, the first time may be calculated for each of the entering vehicles, and the shortest first time among the plurality of first times may be transmitted to the target vehicle 10. This makes it possible to prevent the driving of the entering vehicles from being obstructed when there are a plurality of entering vehicles.

[0062] In the assistance method and driving assistance device of the present embodiment, the first time of the entering vehicle that travels straight through the intersection C from the near side in the traveling direction of the oncoming lane and enters the traveling range B1 may be calculated based on the traffic light information of the traffic light D1 that displays a traffic signal to the target vehicle 10. This makes it possible to accurately calculate the first time of the entering vehicle traveling straight through the intersection C.

[0063] In the driving assistance method and driving assistance device of the present embodiment, the first time of the entering vehicle turning right or left at the intersection C and entering the driving range B1 may be calculated based on the traffic light information of the traffic lights D3 and D4 that display traffic signals to vehicles traveling in an intersecting lane that intersects with the oncoming lane. This makes it possible to accurately calculate the first time of the entering vehicle turning right or left at the intersection C.

[0064] In the driving assistance method and driving assistance device of this embodiment, a first entry lane that a vehicle can enter into the driving range B1 may be searched for, and for each of the first entry lanes, first determination ranges B3 to B5 having a first predetermined length in the driving direction may be set based on a first predetermined time and the speed limit of the first entry lane, and a vehicle traveling within the first determination ranges B3 to B5 may be detected as the entering vehicle. This allows for more accurate detection of the entering vehicle.

[0065] In the driving assistance method and driving assistance device of this embodiment, if the first determination range includes a new intersection Ca that is located on the near side in the direction of travel of the first entrance lane, a second entrance lane through which the vehicle can enter the new intersection Ca may be searched for, and for each second entrance lane, a second determination range B6 having a second predetermined length shorter than the first predetermined length may be set based on a second predetermined time that is shorter than the first predetermined time and the speed limit of the second entrance lane, and the vehicle traveling in the second determination range B6 may be detected as the entering vehicle. This allows road traffic conditions to be reflected in the detection of the entering vehicle.

[0066] In the driving assistance method and driving assistance device of this embodiment, images may be acquired from the imaging device 20 installed at the intersection C, stored, and the traffic light information may be acquired from the stored images. This makes it possible to acquire traffic light information from a source other than the light control device 30 and the database 40.

[0067] Note that each step of this embodiment includes a part that is performed by a controller 15 that is mounted on the target vehicle 10 and controls the traveling of the target vehicle 10, and a part that is performed by a remote assistance device 50 that is external to the target vehicle 10 and communicably connected to the controller 15, and each step may be performed by either one. For example, the remote assistance device 50 detects the obstacle between the target vehicle 10 and the intersection C ahead in the traveling direction of the target vehicle 10, and when the obstacle exists and the target vehicle 10 travels in the oncoming lane to avoid the obstacle, detects the entering vehicle that enters the traveling range B1 in the oncoming lane in which the target vehicle 10 travels, detects whether or not the space B2 into which the target vehicle 10 enters exists between the obstacle and the intersection C, acquires the traffic light information related to the timing at which the light states of traffic lights D1 to D4 installed at the intersection C change, and determines whether or not the space B2 is in which the target vehicle 10 enters based on the traffic light information. The controller 15 may be configured to calculate a first time until the entering vehicle enters the traveling range B1, calculate a second time until the target vehicle 10 travels to the space B2, and if the second time is less than the first time, send a proceed command to the target vehicle 10 to travel in the oncoming lane to avoid the obstacle, and if the second time is equal to or greater than the first time, send a stop command to the target vehicle 10 to avoid the entering vehicle behind the obstacle, and the controller 15 may be configured to receive the proceed command or the stop command and perform proceed control or stop control based on the proceed command or the stop command.

[0068] It should be noted that some steps of the remote assistance device 50 may be performed by the vehicle control device 14 or the controller 15. As an example, the remote assistance device 50 detects the obstacle between the target vehicle 10 and the intersection C ahead in the traveling direction of the target vehicle 10, and when the obstacle exists and the target vehicle 10 travels in the oncoming lane to avoid the obstacle, detects whether or not the space B2 into which the target vehicle 10 can enter exists between the obstacle and the intersection C, and transmits information about the space B2 between the obstacle and the intersection C to the controller 15. The controller 15 receives information about the space B2, detects the entering vehicle in the oncoming lane entering the driving range B1 in which the target vehicle 10 is driving, acquires the traffic light information regarding the timing at which the light states of the traffic lights D1 to D4 installed at the intersection C change, calculates a first time until the entering vehicle enters the driving range B1 based on the traffic light information, calculates the second time until the target vehicle 10 drives to the space B2, and if the second time is less than the first time, performs advance control to drive in the oncoming lane and avoid the obstacle, and if the second time is equal to or greater than the first time, performs stop control to avoid the entering vehicle behind the obstacle.

[0069] As another example, the remote assistance device 50 detects the obstacle between the target vehicle 10 and the intersection C ahead in the direction of travel of the target vehicle 10, and when the obstacle is present and the target vehicle 10 travels in the oncoming lane to avoid the obstacle, detects the entering vehicle entering the driving range B1 in the oncoming lane in which the target vehicle 10 is traveling, detects whether the space B2 for the target vehicle 10 to enter exists between the obstacle and the intersection C, and transmits information regarding the entering vehicle and information regarding the space B2 between the obstacle and the intersection C to the controller 15. The controller 15 receives information about the entering vehicle and information about the space B2, acquires the traffic light information regarding the timing at which the lighting states of the traffic lights D1 to D4 installed at the intersection C change, calculates a first time until the entering vehicle enters the driving range B1 based on the traffic light information, calculates the second time until the target vehicle 10 travels to the space B2, and if the second time is less than the first time, performs advance control to travel in the oncoming lane to avoid the obstacle, and if the second time is equal to or greater than the first time, performs stop control to avoid the entering vehicle behind the obstacle.

[0070] As yet another example, the remote assistance device 50 detects the obstacle between the target vehicle 10 and the intersection C ahead in the direction of travel of the target vehicle 10, and when the obstacle is present and the target vehicle 10 travels in the oncoming lane to avoid the obstacle, detects the entering vehicle in the oncoming lane entering the driving range B1 in which the target vehicle 10 is traveling, detects whether the space B2 for the target vehicle 10 to enter exists between the obstacle and the intersection C, acquires the traffic light information regarding the timing at which the light states of traffic lights D1 to D4 installed at the intersection C change, calculates a first time until the entering vehicle enters the driving range B1 based on the traffic light information, and transmits information regarding the entering vehicle, information regarding the space B2 between the obstacle and the intersection C, the traffic light information, and the first time to the controller 15. The controller 15 receives information about the entering vehicle, information about the space B2, the traffic light information, and the first time, calculates the second time for the target vehicle 10 to travel to the space B2, and if the second time is less than the first time, performs advance control to travel in the oncoming lane to avoid the obstacle, and if the second time is equal to or greater than the first time, performs stop control to avoid the entering vehicle behind the obstacle.

[0071] As yet another example, the remote assistance device 50 detects the obstacle between the target vehicle 10 and the intersection C ahead in the direction of travel of the target vehicle 10, and when the obstacle is present and the target vehicle 10 travels in the oncoming lane to avoid the obstacle, detects the entering vehicle in the oncoming lane entering the driving range B1 in which the target vehicle 10 is traveling, detects whether the space B2 for the target vehicle 10 to enter exists between the obstacle and the intersection C, acquires the traffic light information regarding the timing at which the light states of traffic lights D1 to D4 installed at the intersection C change, calculates a first time until the entering vehicle enters the driving range B1 based on the traffic light information, calculates the second time until the target vehicle 10 travels to the space B2, and transmits the first time and the second time to the controller 15. The controller 15 receives the first time and the second time, and if the second time is less than the first time, performs advance control to travel in the oncoming lane to avoid the obstacle, and if the second time is equal to or greater than the first time, performs stop control to avoid the approaching vehicle behind the obstacle.

[0072] As yet another example, the remote assistance device 50 detects the obstacle between the target vehicle 10 and the intersection C ahead in the traveling direction of the target vehicle 10, and when the obstacle exists and the target vehicle 10 travels in the oncoming lane to avoid the obstacle, detects the entering vehicle in the oncoming lane that enters the traveling range B1 in which the target vehicle 10 travels, detects whether or not the space B2 into which the target vehicle 10 enters exists between the obstacle and the intersection C, and outputs the signal related to the timing at which the light states of the traffic lights D1 to D4 installed at the intersection C change. The controller 15 acquires traffic light information, calculates a first time until the entering vehicle enters the travel range B1 based on the traffic light information, calculates a second time until the target vehicle 10 travels to the space B2, and if the second time is less than the first time, sends a proceed command to the target vehicle 10 to travel in the oncoming lane to avoid the obstacle, causing the controller 15 to execute proceeding control, and if the second time is equal to or greater than the first time, sends a stop command to the target vehicle 10 to avoid the entering vehicle behind the obstacle, causing the controller 15 to execute stop control.

[0073] 1... remote support system, 10... target vehicle, 11... object detection device, 12... status detection device, 13... position detection device, 14... vehicle control device, 15... controller, 20... imaging device, 20a, 20b... fixed camera, 30... light control device, 40... database, 50... remote support device, 51... scene determination unit, 52... calculation unit, 53... avoidance determination unit, 54... transmission unit, A1, A2... imaging range, B1... driving range, B2... Approach space, B3, B4, B5...first judgment range, B6...second judgment range, C, Ca...intersection, D1, D2, D3, D4...traffic light, L1, L2, L3, L4, L5, L6, L7, L8...lane, P1 , P2, P3, Px, Q1, Q2, Q3, Q4, Q5, Q6, Q7...Position, T1, T1a, T1b, U1, U2, U3, U4, U5...Travel trajectory, V1, V2...Vehicle, Vx, Vy, Vz...Parked vehicle

Claims

1. In a driving support method executed by a driving support device that supports the driving of a target vehicle, the driving support device detects an obstacle between the target vehicle and an intersection ahead in the traveling direction of the target vehicle, and when the obstacle exists and the target vehicle travels in the oncoming lane to avoid the obstacle, detects an approaching vehicle that enters the traveling range in which the target vehicle travels in the oncoming lane, detects whether there is a space for the target vehicle to enter between the obstacle and the intersection, acquires traffic signal information regarding the timing at which the lighting state of a traffic signal installed at the intersection changes, calculates a first time until the approaching vehicle enters the traveling range based on the traffic signal information, calculates a second time for the target vehicle to travel to the space, when the second time is less than the first time, supports the traveling of the target vehicle to travel in the oncoming lane to avoid the obstacle, and when the second time is greater than or equal to the first time, supports the stopping of the target vehicle to avoid the approaching vehicle behind the obstacle.

2. The driving support device is composed of a controller mounted on the target vehicle for controlling the driving of the target vehicle and a remote support device located outside the target vehicle and communicably connected to the controller. The remote support device detects an obstacle between the target vehicle and the intersection ahead in the traveling direction of the target vehicle. When the obstacle exists and the target vehicle travels in the oncoming lane to avoid the obstacle, the remote support device detects an approaching vehicle that enters the traveling range in which the target vehicle travels in the oncoming lane, detects whether there is a space for the target vehicle to enter between the obstacle and the intersection, acquires signal information regarding the timing at which the lighting state of a traffic signal installed at the intersection changes, calculates a first time until the approaching vehicle enters the traveling range based on the signal information, calculates a second time for the target vehicle to travel to the space, when the second time is less than the first time, transmits a traveling command to the target vehicle to travel in the oncoming lane to avoid the obstacle, when the second time is greater than or equal to the first time, transmits a stop command to the target vehicle to avoid the approaching vehicle behind the obstacle, and the controller receives the traveling command or the stop command and executes traveling control or stop control based on the traveling command or the stop command. The driving support method according to claim 1.

3. When there are a plurality of the approaching vehicles, the driving support device calculates the first time for each of the approaching vehicles, and executes an avoidance determination for determining whether it is necessary for the target vehicle to avoid the approaching vehicle behind the obstacle by using the shortest first time among the plurality of first times. The driving support method according to claim 1 or 2.

4. In a remote assistance method executed by a remote assistance device that supports the travel of a target vehicle from outside the target vehicle, the remote assistance device, when there is an obstacle between the target vehicle and an intersection ahead in the traveling direction of the target vehicle and the target vehicle travels in an oncoming lane to avoid the obstacle, and when there is an approaching vehicle that enters the traveling range in which the target vehicle travels in the oncoming lane and a space into which the target vehicle enters between the obstacle and the intersection, calculates a first time until the approaching vehicle enters the traveling range based on traffic signal information regarding the timing at which the state of the traffic signal installed at the intersection changes, transmits the first time and a second time for the target vehicle to travel to the space to the target vehicle, and causes a controller of the target vehicle to execute an avoidance determination to compare the first time and the second time and determine whether it is necessary for the target vehicle to avoid the approaching vehicle behind the obstacle. Remote assistance method.

5. The remote assistance device, when there are a plurality of the approaching vehicles, calculates the first time for each of the approaching vehicles and transmits the shortest first time among the plurality of the first times to the target vehicle. The remote assistance method according to claim 4.

6. The travel assistance device calculates the first time of the approaching vehicle that travels straight through the intersection from the near side in the traveling direction of the oncoming lane and enters the traveling range based on the traffic signal information of the traffic signal that displays a traffic signal to the target vehicle. The travel assistance method according to any one of claims 1 to 3.

7. The travel assistance device calculates the first time of the approaching vehicle that turns right or left at the intersection and enters the traveling range based on the traffic signal information of the traffic signal that displays a traffic signal to a vehicle traveling in an intersecting lane that intersects with the oncoming lane. The travel assistance method according to any one of claims 1 to 3 and 6.

8. The travel assistance device searches for a first entry lane into which a vehicle can enter the traveling range, sets a first determination range having a first predetermined length in the traveling direction based on a first predetermined time and a speed limit of the first entry lane for each of the first entry lanes, and detects a vehicle traveling in the first determination range as the approaching vehicle. The travel assistance method according to any one of claims 1 to 3, 6, and 7.

9. When the driving support device includes a new intersection existing on the front side in the traveling direction of the first entry lane within the first determination range, the driving support device searches for a second entry lane into which the vehicle can enter the new intersection, and for each of the second entry lanes, based on a second predetermined time shorter than the first predetermined time and the speed limit of the second entry lane, sets a second determination range having a second predetermined length shorter than the first predetermined length, and detects the vehicle traveling within the second determination range as the entry vehicle. The driving support method according to claim 8.

10. The driving support device acquires and stores an image from an imaging device installed at the intersection, and acquires the traffic signal information from the stored image. The driving support method according to any one of claims 1 to 3 and 6 to 9.

11. A driving support device that supports the driving of a target vehicle, the driving support device detecting an obstacle between the target vehicle and an intersection ahead in the traveling direction of the target vehicle, detecting an entry vehicle that enters a traveling range in which the target vehicle travels in an oncoming lane when the obstacle exists and the target vehicle travels in the oncoming lane to avoid the obstacle, detecting whether there is a space for the target vehicle to enter between the obstacle and the intersection, acquiring traffic signal information regarding a timing at which a lighting state of a traffic signal installed at the intersection changes, calculating a first time until the entry vehicle enters the traveling range based on the traffic signal information, calculating a second time for the target vehicle to travel to the space, when the second time is less than the first time, supporting the traveling of the target vehicle to travel in the oncoming lane to avoid the obstacle, and when the second time is greater than or equal to the first time, supporting the stopping of the target vehicle to avoid the entry vehicle behind the obstacle.

12. A remote assistance device that supports the driving of the target vehicle from outside the target vehicle. When there is an obstacle between the target vehicle and an intersection ahead in the traveling direction of the target vehicle, and the target vehicle travels in the oncoming lane to avoid the obstacle, when there is an approaching vehicle that enters the traveling range in which the target vehicle travels in the oncoming lane and a space into which the target vehicle enters between the obstacle and the intersection, a calculation unit that calculates a first time until the approaching vehicle enters the traveling range based on traffic signal information regarding the timing at which the lighting state of a traffic signal installed at the intersection changes; a transmission unit that transmits the first time and a second time for the target vehicle to travel to the space to the target vehicle; and a transmission unit that causes a controller of the target vehicle to execute an avoidance determination for comparing the first time and the second time to determine whether or not the target vehicle needs to avoid the approaching vehicle behind the obstacle. Remote assistance device.

Images