Traveling assistance apparatus for vehicle
A traveling assistance apparatus for a vehicle includes a first recognizer acquiring surrounding environment information, a second recognizer acquiring vehicle condition information, a notifier notifying a driver of predetermined information, and a control processing unit performing vehicle traveling control and including a determiner and first and second processors. The determiner determines whether the vehicle is in a stuck state, based on the vehicle condition information, and evaluates a stuck level when the vehicle is in the stuck state. The first processor executes first recovery assistance control that automatically assists the vehicle in recovering from the stuck state. The second processor executes second recovery assistance control that outputs, to the notifier, first recovery operation instruction information based on which the vehicle is to recover from the stuck state. The control processing unit executes either of the first recovery assistance control or the second recovery assistance control, depending on the stuck level.
1 . A traveling assistance apparatus for a vehicle, the traveling assistance apparatus comprising:
a first recognizer configured to acquire surrounding environment information on the vehicle;
a second recognizer configured to acquire vehicle condition information on the vehicle;
a notifier configured to notify a driver who drives the vehicle of predetermined information; and
a control processing unit configured to perform traveling control for the vehicle, the control processing unit comprising one or more processors and one or more memories storing instructions that, when executed by the one or more processors, cause the control processing unit to:
determine whether the vehicle is in a stuck state, based on the vehicle condition information, and make an evaluation of a stuck level when the vehicle is determined to be in the stuck state, the stuck level being evaluated based on a number of wheels of the vehicle that are idling or skidding and an angle of the vehicle in a front-rear direction or a left-right direction,
execute first recovery assistance control that automatically assists the vehicle in recovering from the stuck state, and
execute second recovery assistance control that outputs, to the notifier, first recovery operation instruction information based on which the driver of the vehicle is to perform a recovery operation to recover the vehicle from the stuck state, wherein
the control processing unit is configured to execute any one of the first recovery assistance control or the second recovery assistance control, depending on the stuck level.
2 . The traveling assistance apparatus according to claim 1 , wherein, when the stuck state continues even after execution of any one of the first recovery assistance control or the second recovery assistance control, the one or more processors of the control processing unit are configured to execute third recovery assistance control that outputs, to the notifier, second recovery operation instruction information different from the first recovery operation instruction information.
3 . The traveling assistance apparatus according to claim 2 , further comprising a communicator configured to establish interactive communication between the vehicle and an external system, wherein,
the control processing unit is configured to, when the stuck state continues even after execution of the third recovery assistance control,
send a rescue assistance request to the external system through the interactive communication between the vehicle and the external system established by the communicator, and
transmit the surrounding environment information and the vehicle condition information to the external system.
4 . The traveling assistance apparatus according to claim 1 , further comprising an operation member configured to cancel a start of the execution of the first recovery assistance control, wherein
the control processing unit is configured to execute the second recovery assistance control, regardless of a result of the evaluation of the stuck level.
5 . A traveling assistance apparatus for a vehicle, the traveling assistance apparatus comprising circuitry configured to:
acquire surrounding environment information on the vehicle;
acquire vehicle condition information on the vehicle;
cause a notifier to notify a driver who drives the vehicle of predetermined information;
and
perform traveling control for the vehicle, wherein the circuitry is configured to
determine whether the vehicle is in a stuck state, based on the vehicle condition information, and evaluate a stuck level when the vehicle is determined to be in the stuck state, the stuck level being evaluated based on a number of wheels of the vehicle that are idling or skidding and an angle of the vehicle in a front-rear direction or a left-right direction,
execute first recovery assistance control that automatically assists the vehicle in recovering from the stuck state,
execute second recovery assistance control that outputs, to the notifier, first recovery operation instruction information based on which the driver of the vehicle is to perform a recovery operation to recover the vehicle from the stuck state, and
execute any one of the first recovery assistance control or the second recovery assistance control, depending on the stuck level.
6 . The traveling assistance apparatus according to claim 1 , wherein the first recovery operation instruction information is determined based on a stuck pattern corresponding to a road surface condition under which the vehicle has gotten stuck, and the first recovery operation instruction information includes at least one of a traveling mode to be selected, a shift position to be selected, a degree of accelerator pedal operation, or a steering angle to be set.
7 . The traveling assistance apparatus according to claim 6 , wherein the one or more processors of the control processing unit are configured to output, to the notifier, a reference movie corresponding to the stuck pattern.
8 . The traveling assistance apparatus according to claim 5 , wherein, when the stuck state continues even after execution of any one of the first recovery assistance control or the second recovery assistance control, the circuitry is configured to execute third recovery assistance control that outputs, to the notifier, second recovery operation instruction information different from the first recovery operation instruction information.
9 . The traveling assistance apparatus according to claim 8 , further comprising a communicator configured to establish interactive communication between the vehicle and an external system, wherein the circuitry is configured to, when the stuck state continues even after execution of the third recovery assistance control, send a rescue assistance request to the external system through the interactive communication between the vehicle and the external system established by the communicator, and transmit the surrounding environment information and the vehicle condition information to the external system.
10 . The traveling assistance apparatus according to claim 5 , further comprising an operation member configured to cancel a start of the execution of the first recovery assistance control, wherein the circuitry is configured to execute the second recovery assistance control, regardless of a result of the evaluation of the stuck level.
11 . The traveling assistance apparatus according to claim 5 , wherein the first recovery operation instruction information is determined based on a stuck pattern corresponding to a road surface condition under which the vehicle has gotten stuck, and the first recovery operation instruction information includes at least one of a traveling mode to be selected, a shift position to be selected, a degree of accelerator pedal operation, or a steering angle to be set.
12 . The traveling assistance apparatus according to claim 11 , wherein the circuitry is configured to output, to the notifier, a reference movie corresponding to the stuck pattern.