Patent Publication Number: US-2022221855-A1

Title: Remote assistance apparatus, method, and program

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application is a continuation application of International Application No. PCT/JP2020/028745, filed on Jul. 27, 2020, which claims priority to Japanese Patent Application No. 2019-178934, filed on Sep. 30, 2019. The contents of these applications are incorporated herein by reference in their entirety. 
    
    
     BACKGROUND 
     Technical Field 
     The present disclosure relates to a remote assistance technique that remotely assists an autonomous driving vehicle. 
     Related Art 
     Various remote assistance systems that remotely assist autonomous driving vehicles have been proposed. In such remote assistance systems, in a case in which a driver is not present in the autonomous driving vehicle and the autonomous driving vehicle stops as a result of an occurrence of a traveling abnormality during autonomous traveling, remote assistance instructions are issued to the autonomous driving vehicle from an operator in a control room, through a remote assistance center. The traveling abnormality is addressed based on the remote assistance instructions from the operator and autonomous traveling is resumed. 
     SUMMARY 
     One aspect of the present disclosure provides a remote assistance apparatus that records, in an assistance content recording unit, assistance contents for remote assistance to be provided to an autonomous driving vehicle in which the assistance contents include an assistance location. The remote assistance apparatus detects an autonomous driving vehicle that is expected to pass through a predetermined assistance location that is included in predetermined assistance contents that are recorded in the assistance content recording unit. The remote assistance apparatus determines an assistance method of the remote assistance to be provided to the autonomous driving vehicle that is detected by the assisted vehicle detecting unit based on the predetermined assistance contents that are recorded in the assistance content recording unit. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the accompanying drawings: 
         FIG. 1  is a block diagram illustrating a remote assistance system according to an embodiment of the present disclosure; 
         FIG. 2  is a flowchart illustrating an assistance content recording step in a remote assistance method according to an embodiment of the present disclosure; 
         FIG. 3  is a flowchart illustrating an assistance method determining step in a remote assistance method according to an embodiment of the present disclosure; and 
         FIG. 4  is a flowchart illustrating an assistance method executing step in a remote assistance method according to an embodiment of the present disclosure. 
     
    
    
     DESCRIPTION OF THE EMBODIMENTS 
     The following embodiments of the present disclosure relate to a remote assistance apparatus that remotely assists an autonomous driving vehicle, a method, and a program. 
     Conventionally, various remote assistance systems that remotely assist autonomous driving vehicles have been proposed (for example, refer to JP-A-2017-147626). In such remote assistance systems, in a case in which a driver is not present in the autonomous driving vehicle and the autonomous driving vehicle stops as a result of an occurrence of a traveling abnormality during autonomous traveling, remote assistance instructions are issued to the autonomous driving vehicle from an operator in a control room, through a remote assistance center. The traveling abnormality is addressed based on the remote assistance instructions from the operator and autonomous traveling is resumed. 
     When the traveling abnormality cannot be addressed even by the remote assistance instruction from the operator and autonomous traveling cannot be resumed, the operator requests assistance from assistance personnel and dispatches the assistance personnel to the autonomous driving vehicle. The assistance personnel addresses the traveling abnormality by manual driving and autonomous traveling is resumed. 
     As a result of detailed examination by the inventors, an issue has been found in that, when a stopping period of the autonomous driving vehicle during autonomous traveling increases, in addition to traffic flow being adversely affected, a passenger of the autonomous driving vehicle experiences unease and distrust. 
     It is thus desired to provide a remote assistance apparatus that is capable of shortening a stopping period of an autonomous driving vehicle during autonomous traveling, a method, and a program. 
     A first exemplary embodiment of the present disclosure provides a remote assistance apparatus that includes: an assistance content recording unit that records therein assistance contents for remote assistance to be provided to an autonomous driving vehicle in response to the autonomous driving vehicle stopping as a result of an occurrence of a traveling abnormality, and then resumes autonomous traveling as a result of remote assistance for the autonomous driving vehicle being provided by an operator, the assistance contents including an assistance location and operator instruction contents for the remote assistance instructed by the operator; an assisted vehicle detecting unit that detects an autonomous driving vehicle that is expected to pass through a predetermined assistance location that is included in predetermined assistance contents that are recorded in the assistance content recording unit; and an assistance method determining unit that determines an assistance method of the remote assistance to be provided to the autonomous driving vehicle that is detected by the assisted vehicle detecting unit based on the predetermined assistance contents that are recorded in the assistance content recording unit. 
     A second exemplary embodiment of the present disclosure provides a remote assistance method comprising: recording, in an assistance content recording unit, assistance contents of remote assistance to be provided to an autonomous driving vehicle in response to the autonomous driving vehicle stopping as a result of an occurrence of a traveling abnormality, and then resuming autonomous traveling as a result of remote assistance for the autonomous driving vehicle being provided by an operator, the assistance contents including an assistance location and operator instruction contents for the remote assistance instructed by the operator; detecting an autonomous driving vehicle that is expected to pass through a predetermined assistance location that is included in predetermined assistance contents that are recorded in the assistance content recording unit; and determining an assistance method of the remote assistance to be provided to the autonomous driving vehicle that is detected, based on the predetermined assistance contents that are recorded in the assistance content recording unit. 
     A third exemplary embodiment of the present disclosure provides a non-transitory computer-readable storage medium storing therein a remote assistance program that when read and executed by a computer, causes the computer to implement: recording, in an assistance content recording unit, assistance contents for remote assistance to an autonomous driving vehicle in response to the autonomous driving vehicle stopping as a result of an occurrence of a traveling abnormality, and then resuming autonomous traveling as a result of remote assistance for the autonomous driving vehicle being provided by an operator, the assistance contents including an assistance location and operator instruction contents for the remote assistance instructed by the operator; detecting an autonomous driving vehicle that is expected to pass through a predetermined assistance location that is included in predetermined assistance contents that are recorded in the assistance content recording unit; and determining an assistance method of the remote assistance to be provided to the autonomous driving vehicle that is detected, based on the predetermined assistance contents that are recorded in the assistance content recording unit. 
     As a result, a stopping period of an autonomous driving vehicle during autonomous traveling can be shortened. 
     The above-described object, other objects, characteristics, and advantages of the present disclosure will be further clarified through the contented description below, with reference to the accompanying drawings. 
     A remote assistance system and a method according to an embodiment of the present disclosure will be described with reference to  FIGS. 1 to 4 . 
     The remote assistance system according to the present embodiment will be described with reference to  FIG. 1 . 
     Configurations for implementing various functions of the remote assistance system will be successively described below, upon description of an overall configuration of the overall remote assistance system. 
     As shown in  FIG. 1 , the remote assistance system is formed by a remote assistance center  10 , a plurality of autonomous driving vehicles  30 , and a plurality of control rooms  40 . The remote assistance center  10  is formed in a cloud. Regarding the autonomous driving vehicle  30 , a driver is ordinarily not present. However, when assistance personnel is dispatched, the autonomous driving vehicle  30  can be manually driven by the assistance personnel. In addition, according to the present embodiment, the autonomous driving vehicle  30  is a vehicle that transports passengers, such as a taxi or a bus. The remote assistance center  10  and the autonomous driving vehicle  30  are capable of communicating with each other through respective communication units  11  and  31 . Furthermore, the remote assistance center  10  and the control room  40  are capable of communicating with each other through respective communication units  11  and  42 . 
     The remote assistance system provides a function for performing autonomous traveling of the autonomous driving vehicle  30 . 
     That is, in the remote assistance center  10 , a route calculating unit  12  calculates a route for autonomous traveling of the autonomous driving vehicle  30  and transmits the route information to the autonomous driving vehicle  30 . In the autonomous driving vehicle  30 , a traveling information acquiring unit  32  acquires traveling information from various sensors in the autonomous driving vehicle  30 . 
     The traveling information includes own vehicle state information that indicates a state of the own vehicle such as a position, speed, and the like of the own vehicle, and surrounding state information that indicates a state surrounding the own vehicle such as camera information and radar information on the surroundings of the own vehicle. 
     A traveling control unit  33  controls the autonomous driving vehicle  30  and performs autonomous traveling, based on the route information that is received from the route calculating unit  12  of the remote assistance center  10  and the traveling information that is acquired by the traveling information acquiring unit  32 . 
     When the autonomous driving vehicle  30  stops as a result of an occurrence of a traveling abnormality during autonomous traveling, the remote assistance system provides a function for performing remote assistance to the autonomous driving vehicle  30  and resuming autonomous traveling, and recording assistance contents for the remote assistance that is performed. 
     That is, the traveling information acquiring unit  32  transmits the acquired traveling information to the remote assistance center  10 . In the remote assistance center  10 , an operator calling unit  13  determines whether an operator call condition for calling an operator is established based on the received traveling information. When determined that the operator call condition is established, the operator calling unit  13  calls an appropriate control room  40  among the plurality of control rooms  40  and transmits the traveling information to the control room  40 . 
     In the control room  40 , a display unit  43  of an operator terminal  41  displays the received traveling information. The operator inputs a remote assistance instruction to an input unit  44  based on the traveling information that is displayed in the display unit  43 . When the remote assistance instruction is an instruction for the autonomous driving vehicle  30 , the operator terminal  41  transmits the remote assistance instruction to the remote assistance center  10 . In the remote assistance center  10 , a remote assisting unit  14  transmits the received remote assistance instruction to the autonomous driving vehicle  30 . In the autonomous driving vehicle  30 , the traveling control unit  33  controls the autonomous driving vehicle  30  based on the received remote assistance instruction, addresses the traveling abnormality, and resumes autonomous traveling. 
     Meanwhile, when the remote assistance instruction is an assistance request for an assistance personnel center (not shown), the operator terminal  41  transmits the assistance request to the assistance personnel center and also transmits the traveling information. The assistance personnel center dispatches assistance personnel to the autonomous driving vehicle  30  based on the received traveling information. The traveling abnormality is addressed through manual driving by the assistance personnel, and autonomous traveling is resumed. When the autonomous driving vehicle  30  starts autonomous traveling, the operator inputs, to the input unit  44 , operator determination contents that are determination contents that are determined by the operator in the remote assistance. 
     In the remote assistance center  10 , an assistance content recording unit  15  records therein assistance contents for remote assistance when the operator performs the remote assistance, and collects the plurality of assistance contents. Assistance content information that is recorded in the assistance content recording unit  15  includes various types of information below. 
     Assistance location information is information that indicates a location at which the remote assistance to the autonomous driving vehicle  30  is performed. Assistance time information is information that indicates time at which the remote assistance to the autonomous driving vehicle  30  is performed. Assistance period information is information that indicates a period of time from stopping of the autonomous driving vehicle  30  as a result of an occurrence of a traveling abnormality to resumption of autonomous traveling. The traveling information is as described above. Operator call reason information is information that indicates a reason for calling the operator. 
     According to the present embodiment, the operator call reason information is information that indicates establishment of the operator call condition. Operator instruction content information is information that indicates instructions of the remote assistance instruction by the operator. Operator determination content information is information that indicates the determination contents that are determined by the operator in the remote assistance and includes information that indicates specific contents of the traveling abnormality. 
     The remote assistance system provides a function for detecting, as an assisted vehicle, the autonomous driving vehicle  30  that is expected to pass through a predetermined assistance position that is included in predetermined assistance contents among the plurality of assistance contents that are collected, determining an assistance method of the remote assistance to the autonomous driving vehicle  30  that is detected as the assisted vehicle, and performing the remote assistance based on the assistance method. 
     That is, in the remote assistance center  10 , an assisted vehicle detecting unit  16  detects, as the assisted vehicle, the autonomous driving vehicle  30  that is expected to pass through the predetermined assistance position that is included in the predetermined assistance contents among the assistance contents that are collected in the assistance content recording unit  15 , based on the route information that is calculated by the route calculating unit  12 , the traveling information that is received from the autonomous driving vehicle  30 , and the assistance content information that is collected in the assistance content recording unit  15 . An assistance method determining unit  17  determines the assistance method of the remote assistance to the assisted vehicle based on the predetermined assistance contents. In addition, the assistance method determining unit  17  transmits advance instruction information that indicates the assistance method of the remote assistance to an appropriate configuration in advance. The remote assistance system performs the remote assistance based on the advance instruction information that indicates the assistance method. 
     According to the present embodiment, regarding the autonomous driving vehicle  30  that is detected by the assisted vehicle detecting unit  16 , the assistance method determining unit  17  causes the route calculating unit  12  to calculate a detour route that bypasses the predetermined assistance location. When rerouting via the detour route can be performed and a detour period that is required to bypass the assistance location is shorter than the predetermined assistance period that is included in the predetermined assistance contents, the assistance method determining unit  17  determines the assistance method to be rerouting via the detour route. However, when a predetermined resolution period that is based on the operator determination contents that are included in the predetermined assistance contents elapses from the predetermined assistance time that is included in the predetermined assistance contents, the assistance method determining unit  17  does not determine the assistance method to be rerouting via the detour route. When the assistance method is determined to be rerouting via the detour route, the assistance method determining unit  17  transmits detour route information to the autonomous driving vehicle  30  as the advance instruction information. In the autonomous driving vehicle  30 , the traveling control unit  33  controls the autonomous driving vehicle  30  based on the received detour route information and performs autonomous traveling. 
     When the autonomous driving vehicle  30  is determined to be capable of handling the predetermined recorded operator instruction contents that are included in the predetermined assistance contents that are recorded in the assistance content recording unit  15 , the assistance method determining unit  17  determines the assistance method to be execution of the predetermined recorded operator instruction contents. In addition, the assistance method determining unit  17  transmits predetermined recorded operator instruction content information and predetermined recorded surrounding state information that is included in the predetermined assistance contents to the autonomous driving vehicle  30  in advance as the advance instruction information. In the autonomous driving vehicle  30 , the traveling control unit  33  stores the predetermined recorded operator instruction content information and the predetermined recorded surrounding state information that are received as the advance instruction information. 
     When the operator calling unit  13  determines that the autonomous driving vehicle  30  has stopped as a result of an occurrence of a traveling abnormality in the predetermined assistance location, the traveling control unit  33  causes a surrounding state determining unit  34  to determine whether the predetermined recorded surrounding state and the surrounding state that is acquired by the traveling information acquiring unit  32  match. Then, when the surrounding state determining unit  34  determines that the predetermined recorded surrounding information and the acquired surrounding information match, the traveling control unit  33  controls the autonomous driving vehicle  30  based on the predetermined recorded operator instruction contents. 
     Meanwhile, when the autonomous driving vehicle  30  is determined to not be capable of handling the predetermined recorded operator instruction contents that are included in the predetermined assistance contents that are recorded in the assistance content recording unit  15 , the assistance method determining unit  17  determines the assistance method to be easing of the operator call condition. In addition, the assistance method determining unit  17  transmits operator-call-condition easing information to the operator calling unit  13  in advance as the advance instruction information. The operator calling unit  13  stores the operator-call-condition easing information that is received as the advance instruction information. Then, when determined that the own vehicle  30  has stopped as a result of an occurrence of a traveling abnormality in the predetermined assistance location, the operator calling unit  13  eases the operator call condition based on the operator-call-condition easing information. When the operator call condition that has been eased is determined to be established, the operator calling unit  13  calls the appropriate control room  40 . 
     The remote assistance system provides a function for updating the recorded assistance contents. 
     That is, in the remote assistance center  10 , regarding the autonomous driving vehicle  30  that is detected by the assisted vehicle detecting unit  16 , when the operator calling unit  13  does not determine that the autonomous driving vehicle  30  has stopped as a result of an occurrence of a traveling abnormality at the predetermined assistance location, regardless of the assistance method determining unit  17  having determined the assistance contents for the remote assistance at the predetermined assistance location, an assistance content updating unit  18  deletes the predetermined assistance contents should a deletion period that is based on the predetermined operator determination contents elapse from the predetermined assistance time. 
     A remote assistance method according to the present embodiment will be described with reference to  FIGS. 2 to 4 . 
     An assistance content recording step of the remote assistance method according to the present embodiment will be described with reference to  FIG. 2 . At the assistance content recording step, when the autonomous driving vehicle  30  stops as a result of an occurrence of a traveling abnormality during autonomous traveling, remote assistance to the autonomous driving vehicle  30  is performed and autonomous traveling is resumed. In addition, the assistance contents for the remote assistance that is performed are recorded. 
     Traveling Information Acquiring Step S 11   
     At a traveling information acquiring step S 11 , the traveling information of the autonomous driving vehicle  30  is acquired. 
     Operator-Call-Condition Establishment Determining Step S 12   
     At an operator-call-condition establishment determining step S 12 , whether the operator call condition for calling the operator is established is determined based on the traveling information of the autonomous driving vehicle  30  that is acquired at the traveling information acquiring step S 11 . When the operator call condition is established, the remote assistance method proceeds to an operator calling step S 13 . Meanwhile, when the operator call condition is not established, the remote assistance method returns to the traveling information acquiring step S 11 . Here, the remote assistance to the autonomous driving vehicle  30  by the operator is required when the autonomous driving vehicle  30  stops as a result of an occurrence of a traveling abnormality, such as a traffic jam, roadside parking, or an accident scene, autonomous traveling cannot be resumed by the autonomous driving vehicle  30  alone, and stopping of the autonomous driving vehicle  30  is continued. According to the present embodiment, a stopping period of the autonomous driving vehicle  30  as a result of an occurrence of a traveling abnormality exceeding a predetermined threshold is used as the operator call condition. 
     Operator Calling Step S 13   
     At the operator calling step S 13 , the operator is called. 
     Remote Assistance Executing Step S 14   
     At a remote assistance executing step S 14 , the remote assistance to the autonomous driving vehicle  30  is performed by the operator that is called at the operator calling step S 13 . When determined that the traveling abnormality can be resolved and autonomous traveling can be resumed by the remote assistance instruction for the autonomous driving vehicle  30 , the operator issues the remote assistance instruction to the autonomous driving vehicle  30 . The autonomous driving vehicle  30  addresses the traveling abnormality based on the remote assistance instruction from the operator. 
     According to the present embodiment, the operator issues a stopping continuance instruction when the traveling abnormality is a traffic jam, an overtaking or lane change instruction when the traveling abnormality is roadside parking, a detour instruction when the traveling abnormality is an accident scene, and the like. Meanwhile, when determined that the traveling abnormality cannot be resolved and autonomous traveling cannot be resumed by the remote assistance instruction for the autonomous driving vehicle  30 , the operator issues the assistance request to the assistance personnel center as the remote assistance instruction. The assistance personnel center dispatches assistance personnel to the autonomous driving vehicle  30  based on the assistance request from the operator, and the assistance personnel addresses the traveling abnormality by manual driving. 
     Autonomous Traveling Resuming Determining Step S 15   
     At an autonomous traveling resumption determining step S 15 , whether the autonomous driving vehicle  30  has resumed autonomous traveling as a result of execution of the remote assistance to the autonomous driving vehicle  30  by the operator at the remote assistance executing step S 14  is determined. When the autonomous driving vehicle  30  is determined to have resumed autonomous traveling, the remote assistance method proceeds to an assistance content recording step S 16 . When the autonomous driving vehicle  30  is determined to have not resumed autonomous traveling, the remote assistance method returns to the remote assistance executing step S 14  and the remote assistance to the autonomous driving vehicle  30  by the operator is continued. 
     Assistance Content Recording Step S 16   
     At the assistance content recording step S 16 , after the autonomous driving vehicle  30  is determined to have resumed autonomous traveling at the autonomous traveling resumption determining step S 15 , the assistance contents for the remote assistance to be provided to the autonomous driving vehicle  30  by the operator are recorded. The assistance contents include the operator determination contents that are determination contents that are determined by the operator in the remote assistance and inputted by the operator. Specific contents of the traveling abnormality are included in the operator determination contents. According to the present embodiment, the specific contents of the traveling abnormality includes a traffic jam, roadside parking, an accident scene, and the like. 
     The assistance content recording step described above is repeatedly performed for the plurality of instances of remote assistance to the plurality of autonomous driving vehicles  30 . The plurality of assistance contents for the remote assistance to be provided to the plurality of autonomous driving vehicles  30  by the operator are collected. 
     An assistance method determining step of the remote assistance method according to the present embodiment will be described with reference to  FIG. 3 . At the assistance method determining step, the autonomous driving vehicle  30  that is expected to pass through a predetermined assistance position that is included in predetermined assistance contents among the plurality of assistance contents that are collected is detected as the assisted vehicle, and the assistance method of the remote assistance to the autonomous driving vehicle is determined based on the predetermined assistance contents. 
     Assistance Content Acquiring Step S 21   
     At an assistance content acquiring step S 21 , the predetermined assistance contents are acquired from the plurality of assistance contents that have been collected. 
     Assisted Vehicle Detecting Step S 22   
     At an assisted vehicle detecting step S 22 , the autonomous driving vehicle  30  that is expected to pass through the predetermined assistance location that is included in the predetermined assistance contents that are acquired at the assistance content acquiring step S 21  is detected as the assisted vehicle. 
     Rerouting Possibility Determining Step S 23   
     At a rerouting possibility determining step S 23 , whether rerouting via a detour route that bypasses the predetermined assistance location is possible is determined regarding the autonomous driving vehicle  30  that is detected at the assisted vehicle detecting step S 22 . When rerouting via the detour route is determined to be possible, the remote assistance method proceeds to a detour period determining step S 24 . Meanwhile, when rerouting via the detour route is determined to not be possible, the remote assistance method proceeds to an instruction content determining step S 27 . 
     Here, as a result of the autonomous driving vehicle  30  being made to autonomously travel on the detour route that bypasses the predetermined assistance location, the autonomous driving vehicle  30  stopping as a result of the occurrence of the traveling abnormality at the predetermined assistance location can be prevented. Here, a case in which rerouting via the detour route not possible is when a detour route is not present and a detour route cannot be used. 
     Detour Period Determining Step S 24   
     At the detour period determining step S 24 , whether the detour period that is required to bypass the predetermined assistance location is shorter than the predetermined assistance period that is included in the predetermined assistance contents is determined. When the detour period is determined to be shorter than the predetermined assistance period, the remote assistance method proceeds to a resolution period determining step S 25 . Meanwhile, when the detour period is determined to not be shorter than the predetermined assistance period, the remote assistance method proceeds to the instruction content determining step S 27 . 
     Here, when the detour period is shorter than the predetermined assistance period, a destination is reached earlier by the detour route that bypasses the predetermined assistance location being autonomously traveled than by an original route that passes through the predetermined assistance location being traveled while remote assistance is performed. Therefore, the detour route is preferably used. Meanwhile, when the detour period is not shorter than the predetermined assistance period, the destination is reached later by the detour route being traveled. 
     Resolution Period Determining Step S 25   
     In the resolution period determining step S 25 , whether the predetermined resolution period that is based on the predetermined operator determination contents that are included the predetermined assistance contents has elapsed from the predetermined assistance time that is included in the predetermined assistance contents is determined. When the predetermined resolution period is determined to have not elapsed from the predetermined assistance time, the remote assistance method proceeds to a reroute determining step S 26 . Meanwhile, when the predetermined resolution period is determined to have elapsed from the predetermined assistance time, the remote assistance method proceeds to the instruction content determining step S 27 . 
     Here, when the predetermined resolution period that is based on the operator determination contents has elapsed from the predetermined assistance time at which the remote assistance is performed at the predetermined assistance location, a likelihood that the traveling abnormality at the predetermined assistance location has been resolved is present. Therefore, when the predetermined resolution period has elapsed from the predetermined assistance time, the original route that passes through the predetermined assistance location is used without rerouting via the detour route being performed. When the traveling abnormality at the predetermined assistance location is resolved, the autonomous driving vehicle  30  can autonomously travel on the original route that passes through the predetermined assistance location without receiving the remote assistance. Here, the resolution period until the traveling abnormality is resolved is dependent on specific contents of the traveling abnormality such as a traffic jam, roadside parking, or an accident site. Therefore, the predetermined resolution period is determined based on the operator determination contents that include the specific contents of the traveling abnormality. 
     Reroute Determining Step S 26   
     At the reroute determining step S 26 , the assistance method for the remote assistance to the autonomous driving vehicle  30  is determined to be rerouting via the detour route that bypasses the predetermined assistance location. 
     Instruction Content Determining Step S 27   
     At the instruction content determining step S 27 , whether the autonomous driving vehicle  30  is capable of handling the predetermined recorded operator instruction contents that are included in the predetermined assistance contents is determined. When the autonomous driving vehicle  30  is determined to be capable of handling the predetermined recorded operator instruction contents, the remote assistance method proceeds to an instruction content execution determining step S 28 . Meanwhile, when the autonomous driving vehicle  30  is determined to not be capable of handling the predetermined recorded operator instruction contents, the remote assistance method proceeds to a call condition easing determining step S 29 . 
     Here, according to the present embodiment, a case in which the autonomous driving vehicle  30  is capable of handling the predetermined recorded operator instruction contents is a case in which the remote assistance instruction is an instruction for the autonomous driving vehicle  30  or the like, and the autonomous driving vehicle  30  itself is capable of addressing the traveling abnormality based on the operator instruction contents. Meanwhile, a case in which the autonomous driving vehicle  30  is not capable of handling the predetermined recorded operator instruction contents is a case in which the remote assistance instruction is an assistance request for the assistance personnel center or the like, and the autonomous driving vehicle  30  itself addressing the traveling abnormality based on the operator instruction contents is difficult. In such cases, providing remote assistance to the autonomous driving vehicle  30  by the operator is required. Therefore, the operator call condition is preferably eased such that the operator can be promptly called. 
     Instruction Content Execution Determining Step S 28   
     At the instruction content execution determining step S 28 , the assistance method of the remote assistance to the autonomous driving vehicle  30  is determined to be execution of the predetermined recorded operator instruction contents. 
     Call Condition Easing Determining Step S 29   
     At the call condition easing determining step S 29 , the assistance method of the remote assistance to the autonomous driving vehicle  30  is determined to be easing of the operator call condition. 
     With reference to  FIG. 4 , an assistance method executing step of the remote assistance method according to the present embodiment will be described. At the assistance method executing step, the remote assistance that is based on the assistance method that is determined at the assistance method determining step is performed. 
     Assistance Method-Determined Determining Step S 31   
     At an assistance method-determined determining step S 31 , whether the assistance method of the remote assistance is already determined is determined. When the assistance method of the remote assistance is determined to already be determined, the remote assistance method proceeds to a reroute determination determining step S 32 . Meanwhile, when the assistance method of the remote assistance is determined to not already be determined, the remote assistance method proceeds to the traveling information acquiring step S 11  of the assistance content recording step shown in  FIG. 2 . 
     Reroute Determination Determining Step S 32   
     At the reroute determination determining step S 32 , whether the assistance method of the remote assistance is rerouting via the detour route is determined. When the assistance method of the remote assistance is rerouting via the detour route, the remote assistance method proceeds to a reroute executing step S 33 . Meanwhile, when the assistance method of the remote assistance is not rerouting via the detour route, the remote assistance method proceeds to a traveling abnormality determining step S 34 . 
     Reroute Executing Step S 33   
     At the reroute executing step S 33 , the autonomous driving vehicle  30  is made to autonomously travel on the detour route to which the autonomous driving vehicle  30  is rerouted. Here, because the detour route bypasses the predetermined assistance location, the autonomous driving vehicle  30  stopping as a result of the occurrence of the traveling abnormality at the predetermined assistance location is prevented. In addition, because the detour period is shorter than the predetermined assistance period, the destination can be reached earlier than by the original route that passes through the predetermined assistance location being traveled while remote assistance is performed. 
     Traveling Abnormality Determining Step S 34   
     At the traveling abnormality determining step S 34 , whether the autonomous driving vehicle  30  has stopped as a result of the occurrence of the traveling abnormality at the predetermined assistance location is determined. When the autonomous driving vehicle  30  is determined to have stopped as a result of the occurrence of the traveling abnormality at the predetermined assistance location, the remote assistance method proceeds to an instruction content execution determination determining step S 35 . Meanwhile, when autonomous driving vehicle  30  is determined to have not stopped as a result of the occurrence of the traveling abnormality at the predetermined assistance location, the remote assistance method proceeds to an assistance content updating step S 42 . 
     Here, when the predetermined resolution period has elapsed from the predetermined assistance time and the original route that passes through the predetermined assistance location is used without rerouting via the detour route being performed, a likelihood that the traveling abnormality at the predetermined assistance location has been resolved and the autonomous driving vehicle  30  will not be stopped by the traveling abnormality at the predetermined assistance location is present. 
     Instruction Content Execution Determination Determining Step S 35   
     At the instruction content execution determination determining step S 35 , whether the assistance method of the remote assistance is execution of the predetermined recorded operator instruction contents is determined. When the assistance method of the remote assistance is determined to be execution of the predetermined recorded operator instruction contents, the remote assistance method proceeds to a surrounding state determining step S 36 . Meanwhile, when the assistance method of the remote assistance is determined to not be execution of the predetermined recorded operator instruction contents, the remote assistance method proceeds to a call condition easing step S 39 . 
     Surrounding State Determining Step S 36   
     At the surrounding state determining step S 36 , whether the predetermined recorded surrounding state that is included in the predetermined assistance contents and the surrounding state that is acquired by the autonomous driving vehicle  30  match is determined. When the predetermined recorded surrounding state and the acquired surrounding state match, the remote assistance method proceeds to an instruction content executing step S 37 . Meanwhile, when the predetermined recorded surrounding state and the acquired surrounding state do not match, the remote assistance method proceeds to a call condition establishment determining step S 40 . 
     Here, when the predetermined recorded surrounding state and the acquired surrounding state match, in a manner similar to that when the remote assistance based on the predetermined assistance contents is performed, a likelihood that the autonomous driving vehicle  30  can appropriately address the traveling abnormality and resume autonomous traveling by the autonomous driving vehicle  30  being controlled based on the predetermined recorded operator instruction contents is high. Therefore, the predetermined recorded operator instruction contents are preferably performed. However, when the predetermined recorded surrounding state and the acquired surrounding state do not match, even when the autonomous driving vehicle  30  is controlled based on the predetermined recorded operator instruction contents, a likelihood that the autonomous driving vehicle  30  cannot appropriately address the traveling abnormality is high. A likelihood of autonomous traveling being resumed is low. 
     Instruction Content Executing Step S 37   
     At the instruction content executing step S 37 , the autonomous driving vehicle  30  is made to perform the predetermined recorded operator instruction contents at the predetermined assistance location. 
     Autonomous Traveling Resumption Determining Step S 38   
     At an autonomous traveling resumption determining step S 38 , whether the autonomous driving vehicle  30  has resumed autonomous driving is determined. When the autonomous driving vehicle  30  is determined to have resumed autonomous driving, the assistance method executing step is ended. When the autonomous driving vehicle  30  is determined to not have resumed autonomous driving, the remote assistance method proceeds to an operator calling step S 41 . 
     Here, the predetermined recorded operator instruction contents include the predetermined assistance contents that include the predetermined assistance location, and can be handled by the autonomous driving vehicle  30 . In addition, the predetermined recorded surrounding state and the surrounding state that is acquired by the autonomous driving vehicle  30  match. Therefore, in a manner similar to that when the autonomous driving vehicle  30  performs the remote assistance based on the predetermined assistance contents, a likelihood that the traveling abnormality can be appropriately addressed and autonomous traveling can be resumed at an early stage is high. 
     Call Condition Easing Step S 39   
     At the calling condition easing step S 39 , the operator call condition is eased. According to the present embodiment, the threshold of the stopping period of the autonomous driving vehicle  30  for calling the operator is sufficiently decreased, and the operator is called immediately after stopping of the autonomous driving vehicle  30  as a result of the occurrence of the traveling abnormality. 
     Call Condition Establishment Determining Step S 40   
     At the call condition establishment determining step S 40 , whether the operator call condition is established is determined. When the operator call condition is established, the remote assistance method proceeds to the operator calling step S 41 . 
     Operator Calling Step S 41   
     At the operator calling step S 41 , the operator is called and the remote assistance method proceeds to the remote assistance executing step S 14  of the assistance content recording step shown in  FIG. 2 . 
     Assistance Content Updating Step S 42   
     At the assistance content updating step S 42 , when the autonomous driving vehicle  40  is determined to have not stopped as a result of the occurrence of the traveling abnormality at the predetermined assistance location at the traveling abnormality determining step S 34 , the predetermined assistance contents are deleted should the deletion period that is based on the predetermined operator determination contents elapse from the predetermined assistance time. 
     Here, when the traveling abnormality does not occur and the autonomous driving vehicle  30  does not stop at the predetermined assistance location, the traveling abnormality is considered resolved at a current time. When the predetermined deletion period that is based on the operator determination contents has elapsed from the predetermined assistance time, the traveling abnormality at the predetermined assistance location is considered completely resolved and the predetermined assistance contents that include the predetermined assistance location are deleted. The deletion period until the traveling abnormality is completely resolved is dependent on the specific contents of the traveling abnormality such as a traffic jam, roadside parking, or an accident site. Therefore, the predetermined deletion period is determined based on the operator determination contents that include the specific contents of the traveling abnormality. 
     The following effects are achieved by the remote assistance system and the method according to the present embodiment. 
     In the remote assistance system and the method according to the present embodiment, the assistance contents for the remote assistance to be provided to the autonomous driving vehicle  30  are recorded. The autonomous driving vehicle  30  that is expected to pass through the predetermined assistance location that is included in the predetermined assistance contents is detected as the assisted vehicle. The assistance method of the remote assistance to the autonomous driving vehicle  30  is determined based on the predetermined recorded assistance contents. Therefore, the remote assistance to the autonomous driving vehicle  30  can be accurately performed. The stopping period of the autonomous driving vehicle  30  during autonomous traveling can be shortened. 
     According to the present embodiment, the assistance method of the remote assistance is determined to be rerouting via the detour route that bypasses the predetermined assistance location, and the autonomous driving vehicle  30  is made to autonomously travel on the detour route. Therefore, the autonomous driving vehicle  30  stopping as a result of the occurrence of the traveling abnormality at the predetermined assistance location can be prevented. Occurrence of the stopping period of the autonomous driving vehicle  30  during autonomous traveling can be prevented. 
     Furthermore, when the detour period is shorter than the predetermined assistance period that is included in the predetermined assistance contents, the assistance method of the remote assistance is determined to be rerouting via the detour route. Therefore, the destination can be reached earlier than by the original route that passes through the predetermined assistance location being traveled while remote assistance is performed. 
     In addition, when the resolution period that is based on the operator determination contents has elapsed from the predetermined assistance time that is included in the predetermined assistance contents, the assistance method of the remote assistance is not determined to be rerouting via the detour route. Therefore, when the traveling abnormality at the predetermined assistance location has been resolved, the autonomous driving vehicle  30  can pass through the predetermined assistance location and autonomously travel on the original route without receiving remote assistance. 
     According to the present embodiment, the assistance method of the remote assistance is determined to be execution of the predetermined recorded operator instruction contents that are included in the predetermined assistance contents, and the autonomous driving vehicle  30  is made to perform the predetermined recorded operator instruction contents at the predetermined assistance location. Therefore, in a manner similar to that when the remote assistance based on the predetermined assistance contents is performed, the traveling abnormality can be appropriately addressed, autonomous traveling can be resumed at an early stage, and the stopping period of the autonomous driving vehicle  30  during autonomous traveling can be shortened. 
     In particular, when the predetermined operator instruction contents that are performed by the autonomous driving vehicle  30  can be handled by the autonomous driving vehicle  30 , and the predetermined recorded surrounding state and the surrounding state that is acquired by the autonomous driving vehicle  30  match, because the assistance method of the remote assistance is determined to be execution of the predetermined recorded operator instruction contents, in a manner similar to that when the remote assistance based on the predetermined assistance contents is performed, the traveling abnormality can be appropriately addressed and autonomous traveling can be resumed at an early stage. 
     According to the present embodiment, the assistance method of the remote assistance is determined to be easing of the operator call condition, and the operator call condition is eased. Therefore, the operator can be promptly called and the stopping period of the autonomous driving vehicle  30  during autonomous traveling can be shortened. 
     In particular, when the autonomous driving vehicle  30  is not capable of handling the predetermined recorded operator instruction contents, the autonomous driving vehicle  30  itself addressing the traveling abnormality based on the operator instruction contents is difficult, and remote assistance to the autonomous driving vehicle  30  by the operator is required, the assistance method of the remote assistance is determined to be easing of the operator call condition. Therefore, when calling of the operator is required in particular, the operator can be promptly called. 
     According to the present embodiment, because the recorded assistance contents are updated as required, appropriate assistance contents can be stored. In particular, when the traveling abnormality does not occur to the autonomous driving vehicle  30  at the predetermined assistance location and the autonomous driving vehicle  30  does not stop, the traveling abnormality is considered resolved at the current time. Furthermore, when the predetermined deletion period has elapsed from the predetermined assistance time, the traveling abnormality at the predetermined assistance location is considered completely resolved, and the predetermined assistance contents that include the predetermined assistance location are deleted. Therefore, unnecessary assistance contents can be deleted. 
     Here, according to the present embodiment, the operator calling unit  13  that determines whether the operator call condition is established and calls the operator is provided in the remote assistance center  10 . Instead, a calling unit that provides a function similar to that of the operator calling unit  13  may be provided in the autonomous driving vehicle  30 . In particular, when an extent of acquisition of the traveling information of the autonomous driving vehicle  30  is low and determination in the cloud regarding whether the operator call condition is established is not needed, the calling unit being provided in the autonomous driving vehicle  30  is appropriate. 
     In a present variation example, when operator call information is received from the calling unit of the autonomous driving vehicle  30 , the operator calling unit  13  of the remote assistance center  10  calls the appropriate control room  40 . In addition, when the assistance method of the remote assistance is determined, the assistance method determining unit  17  transmits the advance instruction information that indicates the assistance method of the remote assistance to the autonomous driving vehicle  30  in advance. In a manner similar to that according to the above-described embodiment, when the assistance method of the remote assistance is rerouting via the detour route, execution of the predetermined recorded operator instruction contents, or easing of the operator call condition, the advance instruction information is the detour route information, the predetermined recorded operator instruction contents and the predetermined recorded surrounding information, or the operator call condition easing information, respectively. 
     According to the above-described embodiments, the remote assistance system and the method are described. However, a program that actualizes the functions of the system on a computer, or a program that causes a computer to implement the steps of the method are also included in the scope of the present disclosure. 
     While the present disclosure has been described with reference to embodiments thereof, it is to be understood that the disclosure is not limited to the embodiments and constructions. The present disclosure is intended to cover various modification examples and modifications within the range of equivalency. In addition, various combinations and configurations, and further, other combinations and configurations including more, less, or only a single element thereof are also within the spirit and scope of the present disclosure.