Autonomous driving system, autonomous driving control method, and nontransitory storage medium

An autonomous driving control method, executed by one or more processors and controlling an autonomous driving vehicle that is a target of remote assistance, the autonomous driving control method comprising:

• determining presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to the autonomous driving vehicle;
• setting, when the abnormality is detected in the remote assistance system, any one of specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on specific position information, the specific position information indicating the specific positions at which there is a possibility that the remote assistance is required;
• setting a target retracting position such that the target retracting position is included in the target route from the current position to the limit position;
• and
• controlling the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position, the autonomous driving control method further comprising:
• acquiring a first specific position closest to the current position on the target route based on the specific position information;
• determining, when the abnormality in the remote assistance system is performance degradation, whether the first specific position satisfies a permitted condition, the permitted condition including a vehicle control amount that is required to stop the autonomous driving vehicle at a position before the first specific position, is equal to or lower than a control amount threshold value, the vehicle control amount including deceleration and a steering amount;
• acquiring, when the first specific position does not satisfy the permitted condition, a second specific position different from the first specific position on the target route based on the specific position information;
• setting, when the first specific position does not satisfy the permitted condition, the second specific position as the limit position;
• and
• setting, when the abnormality in the remote assistance system is a functional failure, the first specific position as the limit position.

A non-transitory storage medium storing instructions that are executable by a computer and that causes the computer to perform functions for controlling an autonomous driving vehicle that is a target of remote assistance, the functions comprising:

• determining presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to the autonomous driving vehicle;
• setting, when the abnormality is detected in the remote assistance system, any one of specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on specific position information, the specific position information indicating the specific positions at which there is a possibility that the remote assistance is required;
• setting a target retracting position such that the target retracting position is included in the target route from the current position to the limit position;
• and
• controlling the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position, the functions further comprising:
• acquiring a first specific position closest to the current position on the target route based on the specific position information;
• determining, when the abnormality in the remote assistance system is performance degradation, whether the first specific position satisfies a permitted condition, the permitted condition including a vehicle control amount that is required to stop the autonomous driving vehicle at a position before the first specific position, is equal to or lower than a control amount threshold value, the vehicle control amount including deceleration and a steering amount;
• acquiring, when the first specific position does not satisfy the permitted condition, a second specific position different from the first specific position on the target route based on the specific position information;
• setting, when the first specific position does not satisfy the permitted condition, the second specific position as the limit position;
• and
• setting, when the abnormality in the remote assistance system is a functional failure, the first specific position as the limit position.