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

An autonomous driving assistance method, comprising:

• acquiring a planned travel route along which a host vehicle plans to travel;
• acquiring map information including lane information about a road that is included in the planned travel route;
• acquiring, from outside the host vehicle, obstacle information that includes a location of an obstacle on the road and that has been acquired by another vehicle that travels along the planned travel route ahead of the host vehicle;
• and
• generating, as assistance information that is used to perform autonomous driving assistance in the host vehicle that travels along the planned travel route, a plurality of travel trajectory candidates for the host vehicle based on the obstacle information and the lane information about the planned travel route, the assistance information including information about a target speed for the host vehicle, the target speed being set for each of the travel trajectory candidates;
• and
• setting the target speed for each of the travel trajectory candidates, based on the obstacle information and an upper limit speed of the host vehicle when the host vehicle travels along the travel trajectory candidate.

A computer-readable storage medium storing an autonomous driving assistance program that causes a computer to perform function comprising:

• acquiring a planned travel route along which a host vehicle plans to travel;
• acquiring map information including lane information about a road that is included in the planned travel route;
• acquiring, from outside the host vehicle, obstacle information that includes a location of an obstacle on the road and that has been acquired by another vehicle that travels along the planned travel route ahead of the host vehicle;
• generating, as assistance information that is used to perform autonomous driving assistance in the host vehicle that travels along the planned travel route, a plurality of travel trajectory candidates for the host vehicle based on the obstacle information and the lane information about the planned travel route, the assistance information including information about a target speed for the host vehicle, the target speed being set for each of the travel trajectory candidates;
• and
• setting the target speed for each of the travel trajectory candidates, based on the obstacle information and an upper limit speed of the host vehicle when the host vehicle travels along the travel trajectory candidate.