Travel support method, remote support device, and controller

Abstract

In the present invention, remote support for the travelling of a first vehicle (V1) is provided, in at least one of the case where the first vehicle (V1) changes lanes from a first lane (L1) to an adjacent second lane (L2) and the case where a second vehicle (V2) is estimated to change lanes from the second lane (L2) to the first lane (L1), when it is determined that the first vehicle (V1) has approached the second vehicle (V2) and has stopped on the first lane (L1) and that the second vehicle (V2) is stopped on the second lane (L2) or is travelling at a speed lower than a prescribed speed even through the traffic situation permits starting from the stopped state.

Description

Driving assistance method, remote assistance device, and controller

[0001] The present invention relates to a driving assistance method, and a remote assistance device and a controller used in the driving assistance method.

[0002] A vehicle control device is known that, when an abnormality occurs in a vehicle, generates driving instructions for controlling the vehicle's driving, sets a priority for notifying the operator of the content of the driving instructions for the abnormality that has occurred, notifies the operator of the content of the driving instructions in order of highest priority, and, if the content of the driving instructions is changed by the operator, transmits the changed driving instructions to the vehicle (Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2020-102159

[0004] In the above-mentioned conventional technology, when a second vehicle is stopped to give way to a first vehicle, the first vehicle cannot recognize that the second vehicle is waiting for the first vehicle to pass, and therefore is unable to continue driving under autonomous driving control when it approaches the second vehicle, and ends up stopping in the lane it is traveling in. Therefore, the above-mentioned conventional technology has a problem in that it cannot appropriately respond to an abnormality in which the first vehicle is unable to start even though the traffic conditions are such that the first vehicle can start.

[0005] The problem to be solved by the present invention is to provide a driving assistance method, a remote assistance device, and a controller that can prevent a vehicle from continuing to be stopped in a traffic situation where the vehicle can start.

[0006] The present invention solves the above problem by remotely assisting the driving of a first vehicle when the first vehicle approaches the second vehicle and stops on the first lane, at least in one of cases where the first vehicle changes lanes from the first lane to the adjacent second lane, or when it is estimated that the second vehicle will change lanes from the second lane to the first lane, and it is determined that the second vehicle is stopped on the second lane or traveling at less than a predetermined speed, even in traffic conditions where it is possible for the second vehicle to start from a stopped state.

[0007] According to the present invention, it is possible to prevent a vehicle from remaining stopped in a traffic situation where the vehicle can start.

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

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

[0010] [Configuration of Driving Assistance System] Fig. 1 is a block diagram showing an example of an embodiment of a driving assistance system according to the present invention. As driving assistance, the driving assistance system drives a vehicle under autonomous driving control, and if driving under autonomous driving control cannot be continued, attempts to resume driving under autonomous driving control by remote assistance or the like. For example, the driving assistance system may notify the occupant to drive manually, or an operator outside the vehicle may send instructions to the vehicle, or an operator outside the vehicle may remotely operate the vehicle. The operator provides driving assistance from outside the vehicle (for example, from a remote location such as a management center that centrally manages vehicle driving).

[0011] Autonomous driving control is the autonomous control of a vehicle's driving operations, which include all driving operations such as acceleration, deceleration, starting, stopping, and steering. The autonomous control of driving operations is performed by a controller installed in the vehicle using the vehicle's devices. The controller controls the driving operations within a predetermined range. Driving operations that are not controlled by the controller are manually operated by the driver. When the driver drives the vehicle manually, the controller does not perform autonomous control of driving operations, and the vehicle's driving operations are controlled by the driver's operation.

[0012] Remote assistance refers to controlling the vehicle's driving from outside the vehicle when autonomous driving control of the vehicle cannot be continued, when a driver operating manually performs an operation requesting remote assistance, etc. Remote assistance includes remotely operating the vehicle, sending instructions to the vehicle, and providing information to the vehicle's occupants. Remote assistance may be performed by an operator outside the vehicle or by a remote assistance device. The operator provides remote assistance upon request or unrequested, and the remote assistance device provides remote assistance upon request or unrequested.

[0013] 1, the driving assistance system 1 includes a remote assistance device 10 and a first vehicle 20. The remote assistance device 10 and the first vehicle 20 are communicably connected to a network (not shown) and exchange information with each other via the network. The network refers to a telecommunications network such as the Internet, and the communication format is not particularly limited.

[0014] The remote assistance device 10 is installed outside the vehicle and is used by an operator to remotely assist the vehicle, and the device itself performs remote assistance for the vehicle. The remote assistance device 10 is a computer (e.g., a server) and includes a processor (CPU) as a central processing unit, a read-only memory (ROM) in which programs are stored, and a random access memory (RAM) that functions as an accessible storage device. The CPU is an operating circuit for executing the programs stored in the ROM and performing processing related to remote assistance.

[0015] The remote assistance device 10 is communicably connected to a plurality of vehicles, including the first vehicle 20, via a network. The remote assistance device 10 also includes a device for an operator to input information necessary for remote assistance of the vehicle. Examples of such a device include a touch panel, a keyboard, a liquid crystal display, a steering wheel, an accelerator pedal, and a brake pedal.

[0016] On the other hand, the first vehicle 20 is a vehicle that is the target of driving assistance by the driving assistance system 1, including remote assistance by the remote assistance device 10, and is equipped with an imaging device 21, a distance measuring device 22, an on-board sensor 23, an actuator 24, a display device 25, and a controller 26. These devices are communicably connected via a CAN (Controller Area Network) or other on-board LAN, and can exchange information with each other.

[0017] The imaging device 21 is a camera equipped with an imaging element such as a CCD, and captures an image of an object around the first vehicle 20 to obtain an image including the object. The imaging device 21 may be an infrared camera, a stereo camera, or the like. In order to prevent blind spots where an object cannot be captured, a plurality of imaging devices 21 are provided on the front grille, side mirrors, rear bumper, etc. of the first vehicle 20.

[0018] The ranging device 22 detects the relative distance and relative speed between the first vehicle 20 and an object. The ranging device 22 includes a laser radar, a millimeter wave radar, a LiDAR (light detection and ranging) unit, etc. In order to prevent blind spots where an object cannot be detected, a plurality of ranging devices 22 are provided on one first vehicle 20.

[0019] The objects detected by the imaging device 21 and the distance measuring device 22 are objects that exist on the road and its surroundings, including lane boundaries, center lines, road markings, medians, guardrails, curbs, road signs, traffic lights, crosswalks, etc. The objects also include obstacles that may affect the travel of the first vehicle 20, such as other automobiles, motorcycles, bicycles, and pedestrians.

[0020] The remote support device 10 (first determination unit 11) and the controller 26 acquire image information from the imaging device 21 and acquire object position information from the distance measuring device 22, and recognize the objects and the driving environment around the first vehicle 20. The remote support device 10 and the controller 26 acquire information at predetermined time intervals (for example, every 0.1 to 1 millisecond). The remote support device 10 and the controller 26 may integrate or combine the information acquired from the imaging device 21 and the distance measuring device 22 to recognize the driving environment.

[0021] The on-board sensors 23 detect the traveling state of the first vehicle 20. The on-board sensors 23 include a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, and the like. Any known sensor can be used without any particular limitations, and the arrangement and number of sensors can be set appropriately within a range that allows appropriate detection of the traveling state of the first vehicle 20. The remote assistance device 10 (first determination unit 11) and the controller 26 acquire the detection results of each sensor at predetermined time intervals (for example, every 0.1 to 1 millisecond).

[0022] The actuator 24 is a device that converts an electrical control signal input from the controller 26 into mechanical work, and includes a servo motor, a hydraulic motor, a hydraulic cylinder, etc. The actuator 24 operates the drive device and steering device of the first vehicle 20.

[0023] The display device 25 is a device that provides information to the vehicle occupants, such as a liquid crystal display or a head-up display (HUD). The display device 25 includes an input device that enables the vehicle occupants to input instructions to the controller 26. Examples of the input device include a touch panel and a switch. The display device 25 may also include a speaker as an output device.

[0024] The controller 26 is a device that controls and cooperates with the devices that make up the first vehicle 20, and executes autonomous driving control of the first vehicle 20. The controller 26 is, for example, a computer, and includes a CPU that is a processor, a ROM that stores programs, and a RAM that functions as an accessible storage device. The CPU executes the programs stored in the ROM, and is an operating circuit that enables the controller 26 to execute autonomous driving control.

[0025] [Functions of Remote Assistance Device and Controller] The remote assistance device 10 includes a first determination unit 11 that performs a process (hereinafter also referred to as a "scene determination process") to determine whether a driving scene requires remote assistance so that an operator can provide remote assistance and the device itself can perform remote assistance, and a remote assistance unit 12 that transmits information including remote operation instructions to the vehicle and controls the driving of the vehicle. Meanwhile, the controller 26 includes a second determination unit 27 that performs a scene determination process to perform driving assistance through autonomous driving control, and a driving control unit 28 that generates a control signal to output to the actuator 24 and controls the driving operation of the first vehicle 20. For convenience, these components are illustrated in FIG. 1 as functional blocks.

[0026] The first determination unit 11 executes a scene determination process based on information acquired from the imaging device 21, the distance measuring device 22, and the on-board sensor 23, and outputs the determination result to the remote support unit 12. When the remote support unit 12 recognizes from the input determination result that the driving scene of the first vehicle 20 is a driving scene that requires remote support, it executes remote support and transmits an instruction to the driving control unit 28 to control the driving of the first vehicle 20.

[0027] On the other hand, similar to the first determination unit 11, the second determination unit 27 executes a scene determination process based on information acquired from the imaging device 21, the distance measuring device 22, and the on-board sensor 23, and outputs the determination result to the driving control unit 28. When the driving control unit 28 recognizes from the input determination result that the driving scene of the first vehicle 20 is a driving scene requiring remote assistance, it requests remote assistance from the remote assistance device 10 (remote assistance unit 12).

[0028] Upon receiving the request for remote assistance, the remote assistance unit 12 notifies the operator of the receipt of the request, for example, via a liquid crystal display, and prompts the operator to provide remote assistance. The operator notifies the occupant of the first vehicle 20 from the remote assistance unit 12 that remote assistance has begun, and begins remote assistance if the occupant's consent is obtained. The operator then transmits instructions to the controller 26 (travel control unit 28), such as instructions to start the first vehicle 20 from a stopped state. The travel control unit 28 generates a control signal to be output to the actuator 24 based on the received instructions.

[0029] Fig. 2 is a plan view showing an example of a driving scene in which driving assistance is performed by the driving assistance system 1 of Fig. 1. The road shown in Fig. 2 has a first lane L1 in which vehicles travel from left to right in the drawing, and a second lane L2 adjacent to the first lane L1 in which vehicles travel from left to right in the drawing. In the driving scene shown in Fig. 2, a first vehicle 20 travels at position P1 in the first lane L1, a second vehicle 30 travels at position P2 in the lane L2, and a third vehicle 40 travels at position P3 in the lane L2. The first vehicle 20 shown in Fig. 2 travels under autonomous driving control toward a destination (not shown) on the right side of the drawing.

[0030] 2 , when the first vehicle 20 changes lanes from the first lane L1 to the second lane L2, the controller 26 sets a position Px where the lane change driving operation is completed, generates a driving trajectory Tx for driving from the position P1 to the position Px, blinks the left turn signals A1 and A2, and autonomously controls the driving operation of the first vehicle 20 so that the first vehicle 20 drives along the driving trajectory Tx. When the first vehicle 20 drives along the driving trajectory Tx, the controller 26 stops the first vehicle 20 on the first lane L1 to ensure a sufficient distance from the second vehicle 30 driving alongside it, and waits until the second vehicle 30 has passed so that the second vehicle 30 can drive ahead.

[0031] On the other hand, the second vehicle 30, having recognized the lane change of the first vehicle 20 from the flashing of the turn signals A1 and A2, may stop on the second lane L2 to give way to the first vehicle 20 and wait until the first vehicle 20 has completed the lane change. In this case, the controller 26 fails to recognize that the second vehicle 30 is waiting until the first vehicle 20 has passed, and the first vehicle 20 continues to stop on the first lane L1, making it unable to continue traveling under autonomous driving control (becoming stuck).

[0032] This type of stuck state can also occur when the second vehicle 30 changes lanes from the second lane L2 to the first lane L1. Figure 3 is a plan view showing another example of a driving scene in which driving assistance is performed by the driving assistance system 1 of Figure 1. The driving scene shown in Figure 3 is the same as the driving scene shown in Figure 2, except that the first vehicle 20 is traveling at position P1a on the first lane L1, the second vehicle 30 is traveling at position P2a on the lane L2, and a fourth vehicle 50 is traveling at position P4 on the lane L1 instead of the third vehicle 40.

[0033] 3, because the turn signals A3 and A4 on the right side of the second vehicle 30 are flashing, it is estimated that the second vehicle 30 will travel along the travel trajectory Ty from position P2a to position Py and change lanes from the second lane L2 to the first lane L1. The controller 26 stops the first vehicle 20 on the first lane L1 to ensure a sufficient distance from the second vehicle 30, which is estimated to be entering ahead of the first vehicle 20, and makes the first vehicle 20 wait until the second vehicle 30 has completed the lane change.

[0034] On the other hand, the second vehicle 30 may stop on the second lane L2 to give way to the first vehicle 20 traveling parallel to it and wait until the first vehicle 20 has passed. In this case, the controller 26 fails to recognize that the second vehicle 30 is waiting until the first vehicle 20 has passed, and the first vehicle 20 continues to stop on the first lane L1, resulting in it becoming stuck.

[0035] In this way, when two vehicles traveling side by side give way to each other and stop, the autonomous driving control cannot recognize that one vehicle is waiting for the other vehicle to pass, and the two vehicles stop in the same lane and become stuck. Therefore, in the driving assistance system 1 of this embodiment, when it is determined that the first vehicle 20 is stuck, remote assistance is performed for the first vehicle 20.

[0036] The first determination unit 11 and the second determination unit 27 execute a scene determination process to determine whether the first vehicle 20 is stuck and whether the driving scene requires remote assistance. Fig. 4 is a flowchart showing an example of the scene determination process executed by the remote assistance device 10 using the function of the first determination unit 11 and executed by the controller 26 using the function of the second determination unit 27. The process shown in Fig. 4 is executed at predetermined time intervals (e.g., every 0.1 to 1 millisecond) by processors (CPUs) included in the remote assistance device 10 and the controller 26.

[0037] First, in step S1, the remote assistance device 10 and the controller 26 recognize objects around the first vehicle 20 and determine whether or not a second vehicle 30 is present in the second lane L2, which is an adjacent lane to the first lane L1. If it is determined that the second vehicle 30 is not present in the second lane L2, the process proceeds to step S8, where it is determined that the first vehicle 20 is not stuck. On the other hand, if it is determined that the second vehicle 30 is present in the second lane L2, the process proceeds to step S2.

[0038] In step S2, the remote assistance device 10 and the controller 26 determine whether the first vehicle 20 will change lanes from the first lane L1 to the second lane L2 based on the travel route to the destination generated by the navigation device (not shown). If it is determined that the first vehicle 20 will change lanes from the first lane L1 to the second lane L2, the process proceeds to step S4. On the other hand, if it is determined that the first vehicle 20 will not change lanes from the first lane L1 to the second lane L2, the process proceeds to step S3.

[0039] In step S3, the remote assistance device 10 and the controller 26 detect the traveling state of the second vehicle 30 using the imaging device 21 and the distance measuring device 22, and determine whether or not it is estimated that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1. If it is estimated that the second vehicle 30 will not change lanes from the second lane L2 to the first lane L1, the process proceeds to step S8. On the other hand, if it is estimated that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1 because, for example, the turn signal on the first lane L1 side of the second vehicle 30 is flashing or a part of the body of the second vehicle 30 has entered the first lane L1, the process proceeds to step S4.

[0040] The processes of steps S2 and S3 may be executed in parallel. That is, step S4 is executed when the first vehicle 20 changes lanes from the first lane L1 to the second lane L2 or when it is estimated that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1.

[0041] In step S4, the remote assistance device 10 and the controller 26 determine whether the first vehicle 20 has approached the second vehicle 30 and stopped on the first lane L1. If it is determined from the vehicle speed acquired from the on-board sensor 23 that the first vehicle 20 is not stopped, the process proceeds to step S8. On the other hand, if the first vehicle 20 has stopped to avoid contact with the second vehicle 30, it is determined that the first vehicle 20 has approached the second vehicle 30 and stopped on the first lane L1, and the process proceeds to step S5.

[0042] Furthermore, in step S4, the remote assistance device 10 and the controller 26 may determine whether a certain time (e.g., 30 seconds to 3 minutes) has elapsed since the first vehicle 20 approached the second vehicle 30 and stopped on the first lane L1. For example, if the first vehicle 20 stops to avoid contact with the second vehicle 30, and the inter-vehicle distance between the first vehicle 20 and the second vehicle 30 is maintained, and the first vehicle 20 is unable to start due to autonomous driving control for a certain time or longer, the process proceeds to step S5. On the other hand, if the first vehicle 20 starts before the certain time has elapsed, the process proceeds to step S8.

[0043] In step S5, the remote assistance device 10 and the controller 26 determine whether the second vehicle 30 is stopped on the second lane L2 even in traffic conditions that allow it to start from a stopped state (hereinafter also referred to as a "start-possible situation"). If it is determined that the second vehicle 30 is stopped on the second lane L2 even in a start-possible situation, the process proceeds to step S7, where it is determined that the first vehicle 20 is stuck due to the second vehicle 30 giving way. On the other hand, if it is determined that the second vehicle 30 is not stopped or if it is determined that the traffic conditions prevent the second vehicle 30 from starting, the process proceeds to step S6.

[0044] Traffic conditions are road conditions, including the positions of objects, the relative positions of objects, the lighting status of traffic lights, etc., and are vehicle driving scenes. A starting-possible condition refers to a road condition (driving scene) in which a vehicle can start without coming into contact with an obstacle or violating traffic laws, and specifically includes a condition in which there are no obstacles ahead of the vehicle when the vehicle is driving along a lane, a condition in which there is space for the vehicle to enter the lane into which the vehicle is changing lanes, and a condition in which a traffic light installed at the intersection is displaying a traffic signal indicating that the vehicle can enter the intersection when the vehicle is stopped before an intersection.

[0045] In step S6, the remote assistance device 10 and the controller 26 determine whether the second vehicle 30 is traveling at less than a predetermined speed based on the vehicle speed of the second vehicle 30 detected by the distance measuring device 22. If the second vehicle 30 is stopped in traffic conditions that make it impossible for the second vehicle 30 to start, or if the second vehicle 30 is traveling at or above the predetermined speed, it is determined that the second vehicle 30 is not traveling at less than the predetermined speed, and the process proceeds to step S8. On the other hand, if it is determined that the second vehicle 30 is traveling at less than the predetermined speed, the process proceeds to step S7. The predetermined speed can be set to an appropriate value within a range in which the second vehicle 30 does not obstruct traffic on the second lane L2, and is, for example, higher than 0 km / h and equal to or lower than 10 km / h.

[0046] When the first determination unit 11 of the remote assistance device 10 determines that the second vehicle 30 is stopped in the second lane L2 or traveling at less than a predetermined speed even when the second vehicle 30 is in a state where it can start (i.e., when the first determination unit 11 determines that the first vehicle 20 is stuck by the second vehicle 30), the remote assistance unit 12 remotely assists the traveling of the first vehicle 20. For example, in the traveling scene shown in FIG. 2 , when the first determination unit 11 determines that the first vehicle 20 is stuck by the second vehicle 30, the remote assistance unit 12 transmits an instruction to the traveling control unit 28 to start the first vehicle 20 from a stopped state, starts the first vehicle 20, and causes it to travel along the traveling trajectory Tx by autonomous traveling control. On the other hand, when the first determination unit 11 determines that the first vehicle 20 is not stuck, the remote assistance unit 12 does not remotely assist the traveling of the first vehicle 20.

[0047] On the other hand, if the second determination unit 27 of the controller 26 determines that the second vehicle 30 is stopped on the second lane L2 or traveling at less than the predetermined speed even when the second vehicle 30 is in a state where it can start (i.e., if the second vehicle 30 determines that the first vehicle 20 is stuck), the traveling control unit 28 requests remote assistance from the remote assistance device 10. For example, in the traveling scene shown in FIG. 3 , if the second determination unit 27 determines that the first vehicle 20 is stuck by the second vehicle 30, the traveling control unit 28 requests remote assistance from the remote assistance unit 12. The remote assistance unit 12 transmits an instruction to the traveling control unit 28 to start the first vehicle 20 from a stopped state. Upon receiving the instruction, the traveling control unit 28 starts the first vehicle 20. On the other hand, if the second determination unit 27 determines that the first vehicle 20 is not stuck, the traveling control unit 28 does not request remote assistance from the remote assistance unit 12.

[0048] Furthermore, if the second determination unit 27 determines that the first vehicle 20 is stuck by the second vehicle, the driving control unit 28 may notify the occupant of the first vehicle 20 to drive the first vehicle 20 manually. For example, in the driving scene shown in FIG. 2 , if the second determination unit 27 determines that the first vehicle 20 is stuck by the second vehicle 30, the driving control unit 28 displays an image on the display device 25 prompting the occupant of the first vehicle 20 to manually drive the first vehicle 20 and enter the second lane L2. The driving control unit 28 resumes autonomous driving control after completing a lane change to the second lane L2. On the other hand, if the second determination unit 27 determines that the first vehicle 20 is not stuck, the driving control unit 28 continues the autonomous driving control that is currently being executed.

[0049] Note that, if necessary, either the first determination unit 11 or the second determination unit 27 may be omitted. That is, the scene determination process is executed by at least one of the remote support device 10 (first determination unit 11) and the controller 26 (second determination unit 27).

[0050] Fig. 5 is a flowchart showing another example of the scene determination process. The process shown in Fig. 5 is executed at predetermined time intervals by the processors included in the remote assistance device 10 and the controller 26 when the first vehicle 20 changes lanes from the first lane L1 to the second lane L2, as in the driving scene shown in Fig. 2, and there are a second vehicle 30 traveling in a position corresponding to the rear of the first vehicle 20 on the second lane L2, and a third vehicle 40 traveling in a position corresponding to the front of the first vehicle 20 on the second lane L2.

[0051] First, in step S11, the remote assistance device 10 and the controller 26 determine whether the first vehicle 20 will change lanes from the first lane L1 to the second lane L2, similar to step S2 shown in Fig. 4. If it is determined that the first vehicle 20 will change lanes from the first lane L1 to the second lane L2, the process proceeds to step S12. On the other hand, if it is determined that the first vehicle 20 will not change lanes from the first lane L1 to the second lane L2, the process proceeds to step S20, where it is determined that the first vehicle 20 is not stuck.

[0052] In step S12, the remote assistance device 10 and the controller 26 determine whether the first vehicle 20 has approached the second vehicle 30 and stopped on the first lane L1, similar to step S4 shown in Fig. 4. If it is determined that the first vehicle 20 has not stopped, the process proceeds to step S20. On the other hand, if it is determined that the first vehicle 20 has approached the second vehicle 30 and stopped on the first lane L1, the process proceeds to step S13.

[0053] In step S13, the remote assistance device 10 and the controller 26 determine whether the second vehicle 30 is stopped in the second lane L2 at a position corresponding to the rear of the first vehicle 20, based on the image acquired by the imaging device 21 and the vehicle speed of the second vehicle 30 detected by the distance measuring device 22. If it is determined that the second vehicle 30 is stopped in the second lane L2 at a position corresponding to the rear of the first vehicle 20, the process proceeds to step S15. On the other hand, if it is determined that the second vehicle 30 is not stopped, the process proceeds to step S14.

[0054] In step S14, the remote assistance device 10 and the controller 26 determine whether the second vehicle 30 is traveling at a speed less than a predetermined speed, similar to step S6 shown in Fig. 4. If it is determined that the second vehicle 30 is traveling at a speed equal to or greater than the predetermined speed, the process proceeds to step S20. On the other hand, if it is determined that the second vehicle 30 is traveling at a speed less than the predetermined speed, the process proceeds to step S15.

[0055] In step S15, the remote support device 10 and the controller 26 acquire a first distance between the first vehicle 20 and the second vehicle 30 using the distance measuring device 22. In the following step S16, the remote support device 10 and the controller 26 acquire a second distance between the first vehicle 20 and the third vehicle 40 using the distance measuring device 22, and instead of or in addition to this, acquire a first time that has elapsed since the third vehicle 40 started moving from a stopped state.

[0056] In step S17, the remote assistance device 10 and the controller 26 determine whether the first distance is equal to or greater than a first threshold. If it is determined that the first distance is less than the first threshold, the process proceeds to step S20. On the other hand, if it is determined that the first distance is equal to or greater than the first threshold, the process proceeds to step S18. The first distance is, for example, the distance between the rear end of the first vehicle 20 and the front end of the second vehicle 30. The first threshold can be set to an appropriate value within a range in which it can be accurately determined that the front end of the second vehicle 30 is located behind the rear end of the first vehicle 20, and is, for example, 0.5 to 5 m.

[0057] In step S18, the remote assistance device 10 and the controller 26 determine whether at least one of the following conditions is met: the second distance is equal to or greater than the second threshold value; and the first time is equal to or greater than the first predetermined time. If it is determined that at least one of the following conditions is met: the second distance is equal to or greater than the second threshold value; and the first time is equal to or greater than the first predetermined time, the process proceeds to step S19, where it is determined that the first vehicle 20 is stuck due to the second vehicle 30 that is yielding to the right of way. In contrast, if it is determined that the second distance is less than the second threshold value and the first time is less than the first predetermined time, the process proceeds to step S20.

[0058] The second distance is, for example, the distance between the front end of the first vehicle 20 and the rear end of the third vehicle 40. The second threshold value can be set to an appropriate value within a range in which it can be accurately determined that there is space behind the third vehicle 40 for the first vehicle 20 to enter, for example, 2.5 to 10 m. The first predetermined time period can be set to an appropriate value within a range in which it can be accurately determined that there is space behind the third vehicle 40 for the first vehicle 20 to enter, for example, 5 to 20 seconds.

[0059] When the first determination unit 11 of the remote assistance device 10 determines that at least one of the following conditions is satisfied: the first distance is equal to or greater than the first threshold, the second distance is equal to or greater than the second threshold, and the first distance is equal to or greater than the first threshold and the first time is equal to or greater than the first predetermined time (i.e., when it is determined that the first vehicle 20 is stuck by the second vehicle 30), the remote assistance unit 12 remotely assists the traveling of the first vehicle. On the other hand, when the first determination unit 11 determines that the first distance is less than the first threshold, or when it determines that at least one of the following conditions is satisfied: the first distance is equal to or greater than the first threshold but the second distance is less than the second threshold, and the first time is less than the first predetermined time (i.e., when it is determined that the first vehicle 20 is not stuck), the remote assistance unit 12 does not remotely assist the traveling of the first vehicle 20.

[0060] On the other hand, when the second determination unit 27 of the controller 26 determines that at least one of the following conditions is satisfied: the first distance is equal to or greater than the first threshold, the second distance is equal to or greater than the second threshold, and the first distance is equal to or greater than the first threshold and the first time is equal to or greater than the first predetermined time (i.e., when the second vehicle 30 determines that the first vehicle 20 is stuck), the traveling control unit 28 requests remote assistance from the remote assistance device 10. In this case, the traveling control unit 28 may notify the occupant of the first vehicle 20 to manually drive the first vehicle 20. On the other hand, when the first determination unit 11 determines that the first distance is less than the first threshold, or when the first determination unit 11 determines that at least one of the following conditions is satisfied: the first distance is equal to or greater than the first threshold but the second distance is less than the second threshold, and the first time is less than the first predetermined time (i.e., when the first vehicle 20 is determined not to be stuck), the traveling control unit 28 does not request remote assistance from the remote assistance unit 12.

[0061] Fig. 6 is a flowchart showing another example of the scene determination process. The process shown in Fig. 6 is executed at predetermined time intervals by the processors included in the remote assistance device 10 and the controller 26 when it is estimated that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1, as in the driving scene shown in Fig. 3, and when the second vehicle 30 is traveling in a position corresponding to the front of the first vehicle 20 on the second lane L2 and the fourth vehicle 50 is traveling in front of the first vehicle 20 on the first lane L1.

[0062] First, in step S21, the remote assistance device 10 and the controller 26 determine whether or not it is estimated that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1, similar to step S3 shown in Fig. 4. If it is estimated that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1, the process proceeds to step S22. On the other hand, if it is estimated that the second vehicle 30 will not change lanes from the second lane L2 to the first lane L1, the process proceeds to step S28, where it is determined that the first vehicle 20 is not stuck.

[0063] In step S22, the remote assistance device 10 and the controller 26 determine whether the first vehicle 20 has approached the second vehicle 30 and stopped on the first lane L1, similar to step S4 shown in Fig. 4. If it is determined that the first vehicle 20 has not stopped, the process proceeds to step S28. On the other hand, if it is determined that the first vehicle 20 has approached the second vehicle 30 and stopped on the first lane L1, the process proceeds to step S23.

[0064] In step S23, the remote assistance device 10 and the controller 26 determine whether the second vehicle 30 is stopped in the second lane L2 at a position corresponding to the front of the first vehicle 20, based on the image acquired by the imaging device 21 and the vehicle speed of the second vehicle 30 detected by the distance measuring device 22. If it is determined that the second vehicle 30 is stopped in the second lane L2 at a position corresponding to the front of the first vehicle 20, the process proceeds to step S25. On the other hand, if it is determined that the second vehicle 30 is not stopped, the process proceeds to step S24.

[0065] In step S24, the remote assistance device 10 and the controller 26 determine whether the second vehicle 30 is traveling at a speed less than a predetermined speed, similar to step S6 shown in Fig. 4. If it is determined that the second vehicle 30 is traveling at a speed equal to or greater than the predetermined speed, the process proceeds to step S28. On the other hand, if it is determined that the second vehicle 30 is traveling at a speed less than the predetermined speed, the process proceeds to step S25.

[0066] In step S25, the remote assistance device 10 and the controller 26 acquire a third distance between the first vehicle 20 and the fourth vehicle 50 using the distance measuring device 22, and instead of or in addition to this, acquire a second time that has elapsed since the fourth vehicle 50 started moving from a stopped state. The third distance is, for example, the distance between the front end of the first vehicle 20 and the rear end of the fourth vehicle 50.

[0067] In the following step S26, the remote assistance device 10 and the controller 26 determine whether or not at least one of the following conditions is met: the third distance is equal to or greater than the third threshold value; and the second time is equal to or greater than the second predetermined time. If it is determined that at least one of the following conditions is met: the third distance is equal to or greater than the third threshold value; and the second time is equal to or greater than the second predetermined time, the process proceeds to step S27, where it is determined that the first vehicle 20 is stuck due to the second vehicle 30 that is yielding to the right of way. In contrast, if it is determined that the third distance is less than the third threshold value and the second time is less than the second predetermined time, the process proceeds to step S28.

[0068] The third threshold value can be set to an appropriate value, for example, 2.5 to 10 meters, within a range in which it can be accurately determined that there is space for the first vehicle 20 to travel behind the fourth vehicle 50. The second predetermined time period can be set to an appropriate value, for example, 5 to 20 seconds, within a range in which it can be accurately determined that there is space for the first vehicle 20 to travel behind the fourth vehicle 50.

[0069] When the first determination unit 11 of the remote assistance device 10 determines that at least one of the third distance being equal to or greater than the third threshold and the second time being equal to or greater than the second predetermined time is satisfied (i.e., when the first determination unit 11 determines that the first vehicle 20 is stuck by the second vehicle 30), the remote assistance unit 12 remotely assists the driving of the first vehicle. On the other hand, when the first determination unit 11 determines that the third distance is less than the third threshold and the second time is less than the second predetermined time (i.e., when the first determination unit 11 determines that the first vehicle 20 is not stuck), the remote assistance unit 12 does not remotely assist the driving of the first vehicle 20.

[0070] On the other hand, if the second determination unit 27 of the controller 26 determines that at least one of the conditions that the third distance is equal to or greater than the third threshold and the second time is equal to or greater than the second predetermined time is met (i.e., if the second vehicle 30 determines that the first vehicle 20 is stuck), the traveling control unit 28 requests remote assistance from the remote assistance device 10. In this case, the traveling control unit 28 may also notify the occupant of the first vehicle 20 to manually drive the first vehicle 20. In contrast, if the first determination unit 11 determines that the third distance is less than the third threshold and the second time is less than the second predetermined time (i.e., if the first vehicle 20 is not stuck), the traveling control unit 28 does not request remote assistance from the remote assistance unit 12.

[0071] When remote assistance is requested from multiple vehicles, the remote assistance unit 12 may set priorities for processing the requests for remote assistance so that requests that need to be handled first are processed in order of priority, depending on the driving state of the vehicle that requested remote assistance, the allowable waiting time of the vehicle that requested remote assistance, etc. For example, when remote assistance is requested from multiple vehicles, the remote assistance unit 12 may set the priority for processing the request from the first vehicle 20 (hereinafter also referred to as the "first priority") higher than the priority for processing requests from other vehicles (hereinafter also referred to as the "second priority"). This allows the first vehicle 20 to be cleared of being stuck more quickly.

[0072] When remote assistance is requested by the first vehicle 20, the remote assistance unit 12 may acquire displays, signals, etc. issued by the first vehicle 20 from images acquired by the imaging device 21, etc., and determine whether the second vehicle 30 is traveling under autonomous driving control. If it is determined that the second vehicle 30 is traveling under autonomous driving control, the remote assistance unit 12 sets the first priority higher than when it is determined that the second vehicle 30 is not traveling under autonomous driving control. This is because it is more difficult to resolve a stuck vehicle when the second vehicle 30 is also traveling under autonomous driving control. On the other hand, if it is determined that the second vehicle 30 is not traveling under autonomous driving control, the remote assistance unit 12 sets the first priority to normal.

[0073] When remote assistance is requested by the first vehicle 20, the remote assistance unit 12 determines whether or not it is possible to remotely assist the driving of the second vehicle 30, and if it determines that it is possible to remotely assist the driving of the second vehicle 30, it may transmit to the second vehicle 30 an instruction to start or an instruction to increase the driving speed to a predetermined speed or higher. In other words, when the vehicles communicably connected to the remote assistance device 10 via a network include a second vehicle 30 equipped with a group of devices similar to those of the first vehicle 20, the remote assistance unit 12 may remotely assist the second vehicle 30 instead of or in addition to the first vehicle 20, and resolve the first vehicle 20 becoming stuck.

[0074] When the first vehicle 20 requests remote assistance when changing lanes from the first lane L1 to the second lane L2, the remote assistance unit 12 may transmit to the first vehicle 20 an instruction to travel to the second lane L2 in front of the second vehicle 30. For example, in the driving scene shown in FIG. 2 , the remote assistance unit 12 transmits to the first vehicle 20 an instruction to travel to a position Px. This makes it easier for the first vehicle 20 to be unstuck.

[0075] When remote assistance is requested by a plurality of vehicles and the first priority is set higher than the second priority, the remote assistance unit 12 may set the volume of information to be received from the first vehicle 20 to be larger than the volume of information to be received from the other vehicles. Alternatively or in addition, when remote assistance is requested by a plurality of vehicles and the first priority is set higher than the second priority, the remote assistance unit 12 may set the volume of information to be received from the other vehicles to be smaller than the volume of information to be received from the first vehicle 20. This allows the remote assistance unit 12 (or the operator) to provide smooth remote assistance to the first vehicle 20.

[0076] When the remote support unit 12 receives a request for remote support from the first vehicle 20 in a case where it estimates that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1, the remote support unit 12 determines whether or not it is possible to remotely support the driving of the second vehicle 30, and when it determines that it is possible to remotely support the driving of the second vehicle 30, it may transmit an instruction to the second vehicle 30 to start moving and change lanes to the first lane L1. For example, in the driving scene shown in FIG. 3 , the remote support unit 12 transmits an instruction to the second vehicle 30 to drive to a position Py.

[0077] Furthermore, when the remote support unit 12 transmits an instruction to the second vehicle 30 to start and change lanes to the first lane L1, if the remote support unit 12 receives a determination result from the second vehicle 30 that the second vehicle 30 cannot change lanes to the first lane L1 under the autonomous driving control, the remote support unit 12 may transmit a start instruction to the first vehicle 20. For example, in the driving scene shown in FIG. 3 , when the controller of the second vehicle 30 determines that the second vehicle 30 cannot change lanes to the first lane L1 under the autonomous driving control and the remote support unit 12 receives this determination result, the remote support unit 12 transmits an instruction to the first vehicle 20 to start and travel to position Py. This makes it possible to more easily rectify the stuck state of the first vehicle 20.

[0078] When the remote support unit 12 estimates that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1 and receives a request for remote support from the first vehicle 20, the remote support unit 12 may transmit to the first vehicle 20 an instruction to travel to a position in the first lane L1 that corresponds to the front of the second vehicle 30. For example, in the driving scene shown in Fig. 3, the remote support unit 12 transmits to the first vehicle 20 an instruction to start traveling and travel to a position Py. This makes it possible to more easily resolve the stuck state of the first vehicle 20.

[0079] When the first vehicle 20 changes lanes from the first lane L1 to the second lane L2, the controller 26 may request remote assistance from the remote assistance device 10, and may determine whether the first vehicle 20 can change lanes to the second lane L2 by autonomous driving control when an instruction to start the first vehicle 20 is received from the remote assistance device 10. If it is determined that the first vehicle 20 can change lanes to the second lane L2 by autonomous driving control, the driving control unit 28 of the controller 26 causes the first vehicle 20 to change lanes to the second lane L2.

[0080] On the other hand, if it is determined that the first vehicle 20 cannot change lanes to the second lane L2 through autonomous driving control, the driving control unit 28 of the controller 26 executes a driving action to prompt the second vehicle 30 to travel ahead of the first vehicle 20. Alternatively or in addition, if it is determined that the first vehicle 20 cannot change lanes to the second lane L2 through autonomous driving control, the controller 26 may transmit to the remote assistance device 10 a determination result that the first vehicle 20 cannot change lanes to the second lane L2 through autonomous driving control. Examples of driving actions to prompt the second vehicle 30 to travel ahead include flashing the headlights of the first vehicle 20 or activating the horn of the first vehicle 20 for a short period of time. This can more easily resolve the first vehicle 20 becoming stuck.

[0081] The remote support device 10 may cause the controller 26 to execute the above-described processing in the controller 26. The controller 26 may also cause the remote support device 10 to execute the above-described processing in the remote support device 10.

[0082] 7 to 10, the procedure for information processing by the remote assistance device 10 and the controller 26 will be described. FIG. 7 is an example of a flowchart showing information processing executed in the driving assistance system 1 of this embodiment. The processing described below is executed by a processor (CPU) provided in the remote assistance device 10 and the controller 26.

[0083] First, in step S31, the controller 26 acquires information necessary for the scene determination process from the imaging device 21, the ranging device 22, and the on-board sensor 23, and then in step S32, transmits the acquired information to the remote support device 10. In step S33, the remote support device 10 receives the information transmitted from the controller 26 and executes scene determination process, and then in step S34, performs remote support for the first vehicle 20 in accordance with the determination result of the scene determination process. In step S35, the remote support device 10 transmits to the first vehicle 20 an instruction to control the driving of the first vehicle 20. In step S36, the controller 26 receives the instruction transmitted from the remote support device 10 and executes autonomous driving control in accordance with the instruction.

[0084] 8 is a flowchart showing another example of information processing executed in the driving assistance system 1 of this embodiment. The processing described below is executed by the processors included in the remote assistance device 10 and the controller 26.

[0085] First, in step S41, the controller 26 acquires information necessary for the scene determination process from the imaging device 21, the ranging device 22, and the on-board sensor 23, and then executes the scene determination process in step S42. In step S43, the controller 26 requests remote assistance from the remote assistance device 10 according to the determination result of the scene determination process. At this time, the controller 26 transmits the information acquired in step S41 to the remote assistance device 10. In step S44, the remote assistance device 10 sets a priority for processing the request for remote assistance, and then in step S45, executes remote assistance for the first vehicle 20. In step S46, the remote assistance device 10 transmits an instruction to the first vehicle 20 to control the traveling of the first vehicle 20.

[0086] In step S47, the controller 26 determines whether the instruction received from the remote support device 10 can be executed, and if it is determined that the instruction cannot be executed, in the following step S48, the controller 26 transmits the determination result of whether the instruction can be executed to the remote support device 10. On the other hand, if it is determined that the instruction received from the remote support device 10 can be executed, the controller 26 executes autonomous driving control in accordance with the instruction. In step S49, the remote support device 10 executes remote support again, and transmits an instruction to notify the occupant of the first vehicle 20 to perform manual driving. In step S50, the controller 26 displays a notification on the display device 25 urging the occupant to perform manual driving in accordance with the instruction received from the remote support device 10.

[0087] 9 is a flowchart illustrating another example of information processing executed in the driving assistance system 1 of this embodiment. The processing described below is executed by a processor included in the controller 26 of the first vehicle 20 that drives under autonomous driving control.

[0088] First, in step S51, the controller 26 acquires information necessary for the scene determination process from the imaging device 21, the distance measuring device 22, and the on-board sensor 23, and then in step S52, executes the scene determination process. In step S53, the controller 26 determines whether the first vehicle 20 is stuck because of the second vehicle 30. If it is determined that the first vehicle 20 is stuck because of the second vehicle 30, the controller proceeds to step S54, where a notification urging the occupant to perform manual driving is displayed on the display device 25. On the other hand, if it is determined that the first vehicle 20 is not stuck because of the second vehicle 30, the controller proceeds to step S55, where the current autonomous driving control is continued.

[0089] 10 is yet another example of a flowchart showing information processing executed in the driving assistance system 1 of this embodiment, which is processing performed after the scene determination processing is executed and it is determined that the first vehicle 20 is stuck by the second vehicle 30. The processing described below is performed by processors provided in the remote assistance device 10 and the controller 26, and a processor provided in the second vehicle 30 that has a device group similar to that of the first vehicle 20.

[0090] First, in step S61, the remote support device 10 starts remote support of the first vehicle 20, and then in step S62, determines whether remote support of the second vehicle 30 is possible. If it is determined that remote support of the second vehicle 30 is possible, the process proceeds to step S63, where a remote support instruction is transmitted to the second vehicle 30. In step S64, the second vehicle 30 determines whether the instruction received from the remote support device 10 can be executed, and if it determines that the instruction cannot be executed, in step S65, the second vehicle 30 transmits the determination result of whether the instruction can be executed to the remote support device 10. In step S66, the remote support device 10 transmits a start instruction to the first vehicle 20. In step S67, the controller 26 executes autonomous driving control to start the first vehicle 20 in accordance with the received start instruction.

[0091] If it is determined in step S62 that remote assistance of the second vehicle 30 is not possible, the process proceeds to step S66. If it is determined in step S64 that the instruction received from the remote assistance device 10 can be executed, the second vehicle 30 drives the second vehicle 30 in accordance with the instruction.

[0092] [Embodiments of the Present Invention] According to this embodiment, in a driving assistance method executed by a remote assistance device 10 that remotely assists driving of a first vehicle 20 when the first vehicle 20 is traveling on a first lane L1 and a second vehicle 30 is traveling on a second lane L2 adjacent to the first lane L1, the remote assistance device 10 estimates that the first vehicle 20 will change lanes from the first lane L1 to the second lane L2 and that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1. In the above, when the first vehicle 20 approaches the second vehicle 30 and stops on the first lane L1, the method determines whether the second vehicle 30 is stopped on the second lane L2 or traveling at less than a predetermined speed even in a traffic situation where the second vehicle 30 can start from a stopped state, and when it is determined that the second vehicle 30 is stopped on the second lane L2 or traveling at less than the predetermined speed even in the traffic situation, the method remotely supports the traveling of the first vehicle 20. This makes it possible to prevent the first vehicle 20 from continuing to be stopped in a traffic situation where the second vehicle 30 can start.

[0093] In the driving assistance method of this embodiment, when the first vehicle 20 changes lanes from the first lane L1 to the second lane L2, the remote assistance device 10 detects whether the first vehicle 20 approaches the second vehicle 30 that is stopped behind the first vehicle 20 in the second lane L2 and stops on the first lane L1, or whether the first vehicle 20 approaches the second vehicle 30 that is traveling behind the first vehicle 20 at less than the predetermined speed and stops on the first lane L1 and is traveling ahead of the first vehicle 20 in the second lane L2. When a third vehicle 40 is present, a first distance between the first vehicle 20 and the second vehicle 30 is acquired, and at least one of a second distance between the first vehicle 20 and the third vehicle 40 and a first time that has elapsed since the third vehicle 40 started moving from a stopped state is acquired, and if at least one of the following is satisfied: the first distance is equal to or greater than a first threshold value and the second distance is equal to or greater than a second threshold value, or the first distance is equal to or greater than the first threshold value and the first time is equal to or greater than a first predetermined time, remote assistance is provided for the traveling of the first vehicle 20. This makes it possible to further prevent the first vehicle 20 from remaining stopped in traffic conditions in which it is possible for the vehicle to start.

[0094] In the driving assistance method of this embodiment, when the remote assistance device 10 estimates that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1, if the first vehicle 20 approaches the second vehicle 30 that is stopped in front of the first vehicle 20 on the second lane L2 and stops on the first lane L1, or if the first vehicle 20 approaches the second vehicle 30 that is traveling in front of the first vehicle 20 at less than the predetermined speed and stops on the first lane L1, and there is a fourth vehicle 50 traveling in front of the first vehicle 20 on the first lane L1, the remote assistance device 10 acquires at least one of a third distance between the first vehicle 20 and the fourth vehicle 50 and a second time that has elapsed since the fourth vehicle 50 started from a stopped state, and if at least one of the third distance is equal to or greater than a third threshold and the second time is equal to or greater than a second predetermined time, the remote assistance device 10 remotely assists the driving of the first vehicle 20. This can further prevent the first vehicle 20 from remaining stopped in traffic conditions where it is possible to start.

[0095] In the driving assistance method of this embodiment, when remote assistance requests are received from a plurality of vehicles, the remote assistance device 10 sets a first priority for processing the request from the first vehicle 20 higher than a second priority for processing requests from the other vehicles, thereby enabling the first vehicle 20 to be cleared from being stuck more quickly.

[0096] In the driving assistance method of this embodiment, when the remote assistance device 10 receives a request for remote assistance from the first vehicle 20, it determines whether the second vehicle 30 is driving under autonomous driving control, and if it determines that the second vehicle 30 is driving under the autonomous driving control, it sets a first priority for processing the request for remote assistance from the first vehicle 20 higher than if it determines that the second vehicle 30 is not driving under the autonomous driving control. This makes it possible to more reliably resolve the stuck state of the first vehicle 20.

[0097] In the driving assistance method of this embodiment, when the remote assistance device 10 receives a request for remote assistance from the first vehicle 20, the remote assistance device 10 determines whether or not it is possible to remotely assist the driving of the second vehicle 30, and if it determines that it is possible to remotely assist the driving of the second vehicle 30, it transmits to the second vehicle 30 an instruction to start or an instruction to increase the driving speed to the predetermined speed or higher. This makes it possible to remotely assist the second vehicle 30 and resolve the stuck state of the first vehicle 20.

[0098] In the driving assistance method of the present embodiment, when the first vehicle 20 requests remote assistance when the first vehicle 20 changes lanes from the first lane L1 to the second lane L2, the remote assistance device 10 transmits to the first vehicle 20 an instruction to travel in the second lane L2 to a position ahead of the second vehicle 30. This makes it possible to more reliably resolve the stuck state of the first vehicle 20.

[0099] In the driving assistance method of this embodiment, when remote assistance requests are received from a plurality of vehicles, if the first priority for processing the request from the first vehicle 20 is set higher than the second priority for processing requests from the other vehicles, the remote assistance device 10 sets the volume of information to be received from the first vehicle 20 to be larger than the volume of information to be received from the other vehicles. This makes it possible to provide smooth remote assistance to the first vehicle 20.

[0100] In the driving assistance method of the present embodiment, when the remote assistance device 10 receives a request for remote assistance from the first vehicle 20, if it estimates that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1, it determines whether or not it is possible to remotely assist the driving of the second vehicle 30, and when it determines that it is possible to remotely assist the driving of the second vehicle 30, it transmits an instruction to the second vehicle 30 to start and change lanes to the first lane L1, and when it receives a determination result from the second vehicle 30 that it is not possible to change lanes to the first lane L1 under autonomous driving control, it transmits a start instruction to the first vehicle 20. This makes it possible to more reliably resolve the stuck state of the first vehicle 20.

[0101] In the driving assistance method of this embodiment, when the remote assistance device 10 estimates that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1 and receives a request for remote assistance from the first vehicle 20, the remote assistance device 10 transmits to the first vehicle 20 an instruction to travel in the first lane L1 to a position ahead of the second vehicle 30. This makes it possible to more reliably resolve the stuck state of the first vehicle 20.

[0102] Furthermore, according to this embodiment, in a driving assistance method executed by the controller 26 of the first vehicle 20 when the first vehicle 20 is traveling on a first lane L1 and the second vehicle 30 is traveling on a second lane L2 adjacent to the first lane L1, the controller 26 determines whether the first vehicle 20 is approaching the second vehicle 30 and is about to change lanes from the first lane L1 to the second lane L2 or whether the second vehicle 30 is about to change lanes from the second lane L2 to the first lane L1. When the first vehicle 20 is stopped on L1, the second vehicle 30 determines whether it is stopped on the second lane L2 or traveling at less than a predetermined speed even in a traffic situation where the second vehicle 30 can start from a stopped state, and when it determines that the second vehicle 30 is stopped on the second lane L2 or traveling at less than the predetermined speed even in the traffic situation, the first vehicle 20 requests remote assistance from a remote assistance device 10 that remotely assists the driving of the first vehicle 20, or notifies an occupant of the first vehicle 20 to manually drive the first vehicle 20. This makes it possible to prevent the first vehicle 20 from continuing to be stopped in a traffic situation where the second vehicle 30 can start.

[0103] In the driving assistance method of the present embodiment, when the first vehicle 20 changes lanes from the first lane L1 to the second lane L2, if the first vehicle 20 approaches the second vehicle 30 that is stopped behind the first vehicle 20 on the second lane L2 and stops on the first lane L1, or if the first vehicle 20 approaches the second vehicle 30 that is traveling behind the first vehicle 20 at less than the predetermined speed and stops on the first lane L1, and if there is a third vehicle 40 traveling ahead of the first vehicle 20 on the second lane L2, the controller 26 The remote assistance device 10 requests the remote assistance or notifies the occupant to manually drive the first vehicle 20. This makes it possible to further prevent the first vehicle 20 from remaining stopped in a traffic situation where the first vehicle 20 can start.

[0104] In the driving assistance method of the present embodiment, when it is estimated that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1, the controller 26 determines whether the first vehicle 20 approaches the second vehicle 30 that is stopped in front of the first vehicle 20 on the second lane L2 and stops on the first lane L1, or whether the first vehicle 20 approaches the second vehicle 30 that is traveling in front of the first vehicle 20 at less than the predetermined speed and stops on the first lane L1, and When a fourth vehicle 50 is present traveling ahead of the first vehicle 20, at least one of a third distance between the first vehicle 20 and the fourth vehicle 50 and a second time that has elapsed since the fourth vehicle 50 started from a stopped state is acquired, and when at least one of the third distance being equal to or greater than a third threshold value and the second time being equal to or greater than a second predetermined time is satisfied, the remote assistance device 10 is requested to provide the remote assistance or the occupant is notified to drive the first vehicle 20 manually. This makes it possible to further prevent the first vehicle 20 from remaining stopped in traffic conditions in which the vehicle can start.

[0105] In the driving assistance method of the present embodiment, when the first vehicle 20 changes lanes from the first lane L1 to the second lane L2, the controller 26 requests the remote assistance from the remote assistance device 10, and when receiving an instruction to start the first vehicle 20 from the remote assistance device 10, the controller 26 determines whether the first vehicle 20 can change lanes to the second lane L2 by autonomous driving control, and if it determines that the first vehicle 20 cannot change lanes to the second lane L2 by autonomous driving control, executes a driving operation to prompt the second vehicle 30 to travel ahead of the first vehicle 20. This makes it possible to more reliably resolve the stuck state of the first vehicle 20.

[0106] In the driving assistance method of the present embodiment, when the first vehicle 20 changes lanes from the first lane L1 to the second lane L2, the controller 26 requests the remote assistance from the remote assistance device 10, and when an instruction to start the first vehicle 20 is received from the remote assistance device 10, the controller 26 determines whether the first vehicle 20 can change lanes to the second lane L2 by autonomous driving control, and if it determines that the first vehicle 20 cannot change lanes to the second lane L2 by autonomous driving control, the controller 26 transmits a determination result that the first vehicle 20 cannot change lanes to the second lane L2 by autonomous driving control to the remote assistance device 10. This makes it possible to more reliably resolve a stuck state of the first vehicle 20.

[0107] According to the present embodiment, the remote assistance device 10 remotely assists the traveling of the first vehicle 20 when the first vehicle 20 is traveling on a first lane L1 and the second vehicle 30 is traveling on a second lane L2 adjacent to the first lane L1, and the remote assistance device 10 is configured to detect whether the first vehicle 20 is approaching the second vehicle 30 in at least one of a case where the first vehicle 20 changes lanes from the first lane L1 to the second lane L2 and a case where the second vehicle 30 is estimated to change lanes from the second lane L2 to the first lane L1. The remote assistance device 10 includes a first determination unit 11 that, when the second vehicle 30 is stopped on the first lane L1, determines whether the second vehicle 30 is stopped on the second lane L2 or traveling at less than a predetermined speed even in a traffic situation where the second vehicle 30 can start from a stopped state, and a remote assistance unit 12 that remotely assists the traveling of the first vehicle 20 when the first determination unit 11 determines that the second vehicle 30 is stopped on the second lane L2 or traveling at less than the predetermined speed even in the traffic situation. This makes it possible to further prevent the first vehicle 20 from continuing to be stopped in a traffic situation where the first vehicle 20 can start.

[0108] According to the present embodiment, the controller 26 autonomously controls the traveling of the first vehicle 20 when the first vehicle 20 is traveling on a first lane L1 and the second vehicle 30 is traveling on a second lane L2 adjacent to the first lane L1, and when the first vehicle 20 approaches the second vehicle 30 and stops on the first lane L1 in at least one of a case where the first vehicle 20 changes lanes from the first lane L1 to the second lane L2 and a case where it is estimated that the second vehicle 30 will change lanes from the second lane L2 to the first lane L1, the controller 26 controls the traveling of the first vehicle 20 autonomously when the first vehicle 20 approaches the second vehicle 30 and stops on the first lane L1. A controller 26 is provided, which includes a second determination unit 27 that determines whether the second vehicle 30 is stopped on the second lane L2 or traveling at less than a predetermined speed even in a traffic situation where the second vehicle 30 can start from a vehicle state, and a driving control unit 28 that, when the second determination unit 27 determines that the second vehicle 30 is stopped on the second lane L2 or traveling at less than the predetermined speed even in the traffic situation, requests remote assistance from a remote assistance device 10 that remotely assists the driving of the first vehicle 20 or notifies an occupant of the first vehicle 20 to manually drive the first vehicle 20. This makes it possible to further prevent the first vehicle 20 from continuing to be stopped in a traffic situation where the first vehicle 20 can start.

[0109] 1...Driving assistance system, 10...Remote assistance device, 11...First determination unit, 12...Remote assistance unit, 20...First vehicle, 21...Imaging device, 22...Range measuring device, 23...On-board sensor, 24...Actuator, 25...Display device, 26...Controller, 27...Second determination unit, 28...Driving control unit, 30...Second vehicle, 40...Third vehicle, 50...Fourth vehicle, A1, A2, A3, A4...Turn indicator, L1...First lane, L2...Second lane, P1, P1a, P2, P2a, P3, P4, Px, Py...Position, Tx, Ty...Driving trajectory

Claims

1. A driving assistance method executed by a remote assistance device that remotely assists the driving of a first vehicle when the first vehicle is driving in a first lane and a second vehicle is driving in a second lane adjacent to the first lane, wherein the remote assistance device, when the first vehicle approaches the second vehicle and stops on the first lane in at least one of a case where the first vehicle changes lanes from the first lane to the second lane and a case where it is estimated that the second vehicle will change lanes from the second lane to the first lane, determines whether the second vehicle is stopped on the second lane or traveling at less than a predetermined speed even in traffic conditions that allow it to start from a stopped state, and remotely assists the driving of the first vehicle when it determines that the second vehicle is stopped on the second lane or traveling at less than the predetermined speed even in the traffic conditions.

2. The driving assistance method described in claim 1, wherein, when the first vehicle changes lanes from the first lane to the second lane, if the first vehicle approaches the second vehicle that is stopped behind the first vehicle in the second lane and stops on the first lane, or if the first vehicle approaches the second vehicle that is traveling behind the first vehicle at less than the predetermined speed and stops on the first lane, and there is a third vehicle traveling in front of the first vehicle in the second lane, the remote assistance device acquires a first distance between the first vehicle and the second vehicle, and also acquires at least one of a second distance between the first vehicle and the third vehicle and a first time that has elapsed since the third vehicle started from a stopped state, and remotely assists the driving of the first vehicle if at least one of the following is satisfied: the first distance is equal to or greater than a first threshold value and the second distance is equal to or greater than a second threshold value, or the first distance is equal to or greater than the first threshold value and the first time is equal to or greater than a first predetermined time.

3. The driving assistance method according to claim 1 or 2, wherein, when it is estimated that the second vehicle will change lanes from the second lane to the first lane, if the first vehicle approaches the second vehicle stopped in front of the first vehicle on the second lane and stops on the first lane, or if the first vehicle approaches the second vehicle traveling in front of the first vehicle at less than the predetermined speed and stops on the first lane, and there is a fourth vehicle traveling in front of the first vehicle on the first lane, the remote assistance device acquires at least one of a third distance between the first vehicle and the fourth vehicle and a second time that has elapsed since the fourth vehicle started moving from a stopped state, and if at least one of the third distance is equal to or greater than a third threshold and the second time is equal to or greater than a second predetermined time, the remote assistance device remotely assists the driving of the first vehicle.

4. A driving assistance method according to any one of claims 1 to 3, wherein, when remote assistance requests are received from a plurality of vehicles, the remote assistance device sets a first priority for processing the request from the first vehicle higher than a second priority for processing requests from other vehicles.

5. A driving assistance method according to any one of claims 1 to 4, wherein, when a request for remote assistance is received from the first vehicle, the remote assistance device determines whether the second vehicle is driving under autonomous driving control, and, if it determines that the second vehicle is driving under the autonomous driving control, sets a first priority for processing the request for remote assistance from the first vehicle higher than if it determines that the second vehicle is not driving under the autonomous driving control.

6. A driving assistance method according to any one of claims 1 to 5, wherein, when remote assistance is requested from the first vehicle, the remote assistance device determines whether or not it is possible to remotely assist the driving of the second vehicle, and if it determines that it is possible to remotely assist the driving of the second vehicle, transmits to the second vehicle an instruction to start or an instruction to increase the driving speed to above the predetermined speed.

7. A driving assistance method according to any one of claims 1 to 6, wherein when the first vehicle requests remote assistance when changing lanes from the first lane to the second lane, the remote assistance device transmits to the first vehicle an instruction to drive ahead of the second vehicle in the second lane.

8. A driving assistance method according to any one of claims 1 to 7, wherein, when remote assistance is requested from a plurality of vehicles, if a first priority for processing a request from the first vehicle is set higher than a second priority for processing requests from the other vehicles, the remote assistance device sets the volume of information received from the first vehicle to be larger than the volume of information received from the other vehicles.

9. A driving assistance method according to any one of claims 1 to 8, wherein the remote assistance device, when it estimates that the second vehicle will change lanes from the second lane to the first lane and receives a request for remote assistance from the first vehicle, determines whether or not it is possible to remotely assist the driving of the second vehicle; when it determines that it is possible to remotely assist the driving of the second vehicle, sends an instruction to the second vehicle to start and change lanes to the first lane; and when it receives a determination result from the second vehicle that it is not possible to change lanes to the first lane under autonomous driving control, sends a start instruction to the first vehicle.

10. A driving assistance method according to any one of claims 1 to 9, wherein, when the remote assistance device estimates that the second vehicle will change lanes from the second lane to the first lane and receives a request for remote assistance from the first vehicle, the remote assistance device transmits to the first vehicle an instruction to drive ahead of the second vehicle in the first lane.

11. A driving assistance method executed by a controller of a first vehicle when a first vehicle is traveling in a first lane and a second vehicle is traveling in a second lane adjacent to the first lane, wherein the controller, when the first vehicle approaches the second vehicle and stops on the first lane in at least one of a case where the first vehicle changes lanes from the first lane to the second lane and a case where it is estimated that the second vehicle will change lanes from the second lane to the first lane, determines whether the second vehicle is stopped on the second lane or traveling at less than a predetermined speed even in traffic conditions that allow it to start from a stopped state, and when it determines that the second vehicle is stopped on the second lane or traveling at less than the predetermined speed even in the traffic conditions, requests remote assistance from a remote assistance device that remotely assists the driving of the first vehicle, or notifies an occupant of the first vehicle to drive the first vehicle manually.

12. When the first vehicle changes lanes from the first lane to the second lane, if the first vehicle approaches the second vehicle that is stopped behind the first vehicle on the second lane and stops on the first lane, or if the first vehicle approaches the second vehicle that is traveling behind the first vehicle at less than the predetermined speed and stops on the first lane, and if there is a third vehicle traveling ahead of the first vehicle on the second lane, the controller acquires a first distance between the first vehicle and the second vehicle, and also acquires at least one of a second distance between the first vehicle and the third vehicle and a first time that has elapsed since the third vehicle started from a stopped state, 12. The driving assistance method according to claim 11, wherein, when at least one of the following conditions is met: the first distance is equal to or greater than a first threshold value and the second distance is equal to or greater than a second threshold value; or the first distance is equal to or greater than the first threshold value and the first time is equal to or greater than a first predetermined time, the remote assistance device is requested to provide the remote assistance, or the occupant is notified to drive the first vehicle manually.

13. The driving assistance method according to claim 11 or 12, wherein the controller, when it estimates that the second vehicle will change lanes from the second lane to the first lane, acquires at least one of a third distance between the first vehicle and the fourth vehicle and a second time that has elapsed since the fourth vehicle started moving from a stopped state, when the controller estimates that the second vehicle will change lanes from the second lane to the first lane, and when the first vehicle approaches the second vehicle that is stopped in front of the first vehicle on the second lane and stops on the first lane, or when the first vehicle approaches the second vehicle that is traveling in front of the first vehicle at less than the predetermined speed and stops on the first lane, and there is a fourth vehicle traveling in front of the first vehicle on the first lane, and when at least one of the third distance is equal to or greater than a third threshold and the second time is equal to or greater than a second predetermined time, requests the remote assistance from the remote assistance device or notifies the occupant to drive the first vehicle manually.

14. A driving assistance method according to any one of claims 11 to 13, wherein the controller requests the remote assistance from the remote assistance device when the first vehicle changes lanes from the first lane to the second lane, and when an instruction to start the first vehicle is received from the remote assistance device, determines whether the first vehicle can change lanes to the second lane through autonomous driving control, and if it determines that the first vehicle cannot change lanes to the second lane through autonomous driving control, executes a driving operation to prompt the second vehicle to drive ahead of the first vehicle.

15. A driving assistance method according to any one of claims 11 to 14, wherein the controller requests the remote assistance from the remote assistance device when the first vehicle changes lanes from the first lane to the second lane, and when an instruction to start the first vehicle is received from the remote assistance device, determines whether the first vehicle can change lanes to the second lane by autonomous driving control, and if it determines that the first vehicle cannot change lanes to the second lane by autonomous driving control, transmits to the remote assistance device a determination result that the first vehicle cannot change lanes to the second lane by autonomous driving control.

16. A remote assistance device that remotely assists the driving of a first vehicle when the first vehicle is driving in a first lane and a second vehicle is driving in a second lane adjacent to the first lane, comprising: a first determination unit that determines whether the second vehicle is stopped in the second lane or traveling at less than a predetermined speed when the first vehicle approaches the second vehicle and stops on the first lane, even in traffic conditions that allow the second vehicle to start from a stopped state, in at least one of a case where the first vehicle changes lanes from the first lane to the second lane and a case where it is estimated that the second vehicle will change lanes from the second lane to the first lane; and a remote assistance unit that remotely assists the driving of the first vehicle when the first determination unit determines that the second vehicle is stopped in the second lane or traveling at less than the predetermined speed, even in the traffic conditions.

17. A controller that autonomously controls driving of a first vehicle when the first vehicle is driving in a first lane and a second vehicle is driving in a second lane adjacent to the first lane, the controller comprising: a second determination unit that determines whether the second vehicle is stopped in the second lane or traveling at less than a predetermined speed when the first vehicle approaches the second vehicle and stops on the first lane, even in traffic conditions that allow the second vehicle to start from a stopped state, in at least one of a case where the first vehicle changes lanes from the first lane to the second lane and a case where it is estimated that the second vehicle will change lanes from the second lane to the first lane; and a driving control unit that requests remote assistance from a remote assistance device that remotely assists the driving of the first vehicle, or notifies an occupant of the first vehicle to drive the first vehicle manually, when the second determination unit determines that the second vehicle is stopped in the second lane or traveling at less than the predetermined speed even in the traffic conditions.

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