Patent ID: 11919540
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Control (Instruments)
Classification: CPC B  G | IPC B

Claim 3:
4. A remote support method in which a remote control request is sent to a remote operator when a vehicle that is traveling by autonomous driving gets into a situation where the vehicle needs remote control, the remote support method comprising:
acquiring, by at least one processor that executes at least one program, map information around the vehicle, surrounding environment information on a surrounding environment of the vehicle, and vehicle environment information on a traveling state of the vehicle;
determining, by the at least one processor, whether the vehicle is in the situation where the vehicle needs the remote control, based on the map information, the surrounding environment information, and the vehicle environment information;
calculating a blind spot by the at least one processor based on the surrounding environment information and the vehicle environment information, the blind spot being an area where remote control determination information is detectable and where the surrounding environment information is not detectable from a current position of the vehicle, and the remote control determination information being information for determining whether the vehicle is in the situation where the vehicle needs the remote control;
calculating a blind spot elimination position by the at least one processor, the blind spot elimination position being a position of the vehicle at which the blind spot is eliminated;
calculating a control standby condition by the at least one processor based on the map information or the surrounding environment information, the control standby condition specifying a position and a speed of the vehicle at which the vehicle waits for start of the remote control when the at least one processor determines that the vehicle is in the situation where the vehicle needs the remote control;
generating, by the at least one processor, a speed plan for a first travel route from the blind spot elimination position to the position specified by the control standby condition, the speed plan specifying a speed of the vehicle for a position on the first travel route so as to meet a requirement, the requirement being that the vehicle be decelerated at a predetermined allowable deceleration or less for a predetermined time from the blind spot elimination position to satisfy the control standby condition;
instructing, for a second travel route from the current position of the vehicle to the blind spot elimination position, the vehicle to travel along the second travel route by autonomous driving by the at least one processor so as to cause the vehicle to reach the speed specified by the speed plan at the blind spot elimination position; and
instructing the vehicle to travel along the first travel route by autonomous driving according to the speed plan by the at least one processor when the at least one processor determines at the blind spot elimination position that the vehicle is in the situation where the vehicle needs the remote control.