Autonomous driving assistance system, autonomous driving assistance method, and computer program

An autonomous driving assistance method, comprising:

• obtaining lane information of a road on which a vehicle is traveling;
• setting a planned target section for which a lane change plan of the vehicle is to be created;
• obtaining, for each lane, a plurality of obstructive factors that are present on the road on which the vehicle is traveling and that obstruct continuation of autonomous driving assistance executed on the vehicle;
• setting, for each obtained obstructive factor, an avoidance route that passes through a lane avoiding the obstructive factor;
• setting, for each obtained obstructive factor, a level of influence defining a degree to which the obstructive factor affects continuation of the autonomous driving assistance;
• creating a lane change route that defines the lane change plan of the vehicle in the planned target section based on the level of influence set for the obtained obstructive factor and that is set so as to preferentially pass through the avoidance route set for each obtained obstructive factor;
• and
• executing the autonomous driving assistance of the vehicle based on the lane change route.

A computer-readable storage medium storing a computer-executable computer program that causes a computer to perform the following functions:

• obtaining lane information of a road on which a vehicle is traveling;
• setting a planned target section for which a lane change plan of the vehicle is to be created;
• obtaining, for each lane, a plurality of obstructive factors that are present on the road on which the vehicle is traveling and that obstruct continuation of autonomous driving assistance executed on the vehicle;
• setting, for each obtained obstructive factor, an avoidance route that passes through a lane avoiding the obstructive factor;
• setting, for each obtained obstructive factor, a level of influence defining a degree to which the obstructive factor affects continuation of the autonomous driving assistance;
• creating a lane change route that defines the lane change plan of the vehicle in the planned target section based on the level of influence set for the obtained obstructive factor and that is set so as to preferentially pass through the avoidance route set for each obtained obstructive factor;
• and
• executing the autonomous driving assistance of the vehicle based on the lane change route.