Granted Patent B2

US 12,591,236 · App. 17/959,778 · Granted Mar 31, 2026

Inventors: Yusuke Hayashi (Susono, JP); Taichi Kawanai (Susono, JP); Daichi Hotta (Tokyo-to, JP)

Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA

G05D1/0077G05D1/0038G05D1/0212

Abstract

Claims (45)

1 . A remote support system configured to request a remote operator to perform remote support for passing through a predetermined area, when a vehicle is determined to be in a remote support request situation that a continuation of autonomous driving is difficult due to the vehicle during autonomous driving and one or more avoidance target vehicles approaching each other in the predetermined area, the system comprising:

a first processor associated with the vehicle; and

a second processor associated with a remote server;

wherein the first processor is configured to:

detect targets around the vehicle;

determine a trajectory of a first target among the detected targets;

determine whether a trajectory of the vehicle and the trajectory of the first target intersect;

upon determination that the trajectory of the vehicle and the trajectory of the first target intersect, determine whether a traffic environment of the vehicle with respect to the first target is non-prioritized at a location where the trajectory of the vehicle and the trajectory of the first target intersect;

upon determination that the traffic environment of the vehicle and the first target trajectory is non-prioritized at the location where the trajectory of the vehicle and the trajectory of the first target intersect, transmit display information comprising an overhead view of the vehicle and the first target to the remote server;

wherein the second processor is configured to:

receive the display information;

display the display information to the remote operator;

receive a starting reference vehicle selected by the remote operator pressing a button corresponding to the starting reference vehicle to be selected;

transmit the starting reference vehicle to the vehicle; and

wherein the first processor is configured to:

receive the starting reference vehicle;

determine whether the starting reference vehicle has passed through the predetermined area; and

cause the vehicle to pass through the predetermined area by autonomous driving in case where the system determines that the starting reference vehicle has passed through the predetermined area.

2 . The remote support system according to claim 1 ,

wherein the first processor is configured to cause the vehicle to wait at a predetermined waiting position by autonomous driving until the system determines that the starting reference vehicle has passed through the predetermined area.

3 . The remote support system according to claim 1 , wherein the second processor is configured to:

display each of the one or more avoidance target vehicles in an overhead view together with identification information, and

receive selection of the identification information by the remote operator.

4 . The remote support system according to claim 1 , wherein the second processor is configured to:

display an overhead view including each of the one or more avoidance target vehicles on a touch panel display, and

receive designation of the starting reference vehicle from the touch panel display.

5 . The remote support system according to claim 1 , wherein the second processor is configured to:

display a confirmation message specifying any one of the one or more avoidance target vehicles as the starting reference vehicle, and

receive whether the confirmation message is correct.

6 . The remote support system according to claim 1 ,

wherein when the vehicle is determined to be the remote support request situation, the first processor is configured to:

calculate predicted passing order in which the one or more avoidance target vehicles pass through the predetermined area, and

cancel reception of the starting reference vehicle in a case where a change occurs in the predicted passing order after the designation of the starting reference vehicle is received.

7 . A remote support method for requesting a remote operator to perform remote support for passing through the predetermined area, when a vehicle is determined to be in a remote support request situation that a continuation of autonomous driving is difficult due to the vehicle during autonomous driving and one or more avoidance target vehicles approaching each other in the predetermined area, the remote support method comprising:

detecting targets around the vehicle;

determining a trajectory of a first target among the detected targets;

determining whether a trajectory of the vehicle and the trajectory of the first target intersect;

upon determination that the trajectory of the vehicle and the trajectory of the first target intersect, determining whether a traffic environment of the vehicle with respect to the first target is non-prioritized at a location where the trajectory of the vehicle and the trajectory of the first target intersect;

upon determination that the traffic environment of the vehicle and the first target trajectory is non-prioritized at the location where the trajectory of the vehicle and the trajectory of the first target intersect, transmit display information comprising an overhead view of the vehicle and the first target to the remote server;

receiving the display information;

displaying the display information to the remote operator;

receiving a starting reference vehicle selected by the remote operator pressing a button corresponding to the starting reference vehicle to be selected;

transmitting the starting reference vehicle to the vehicle; and

determining whether the starting reference vehicle has passed through the predetermined area; and

causing the vehicle to pass through the predetermined area by autonomous driving in case where the system determines that the starting reference vehicle has passed through the predetermined area.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (19)