Vehicle control system, vehicle control method. and non-transitory computer-readable recording medium

A vehicle control method for controlling a vehicle that requests remote support in a predetermined area,

• the vehicle control method comprising:
• acquiring surrounding situation information including object information regarding an object around the vehicle;
• generating a target trajectory that penetrates the predetermined area, passes through a target exit, and extends to outside of the predetermined area;
• determining whether an intra-area interference occurs based on the object information, the intra-area interference meaning that the vehicle traveling in accordance with the target trajectory interferes with the object around the vehicle in the predetermined area before passing through the target exit;
• determining whether or not an exit passable condition is satisfied based on the surrounding situation information, the exit passable condition being a condition under which the vehicle traveling in accordance with the target trajectory is able to pass through the target exit to go out of the predetermined area without waiting;
• upon determination that the exit passable condition is not satisfied, withholding requesting the remote support in the predetermined area regardless of presence or absence of the intra-area interference and performing automatic driving so as not to cause interference between the vehicle and the object around the vehicle until a lifting condition is satisfied;
• upon determination that the exit passable condition is satisfied and the intra-area interference does not occur, continuing the automatic driving without requesting the remote support;
• and
• upon determination that the exit passable condition is satisfied and the intra-area interference does occur, requesting the remote support.

A non-transitory computer-readable recording medium on which a vehicle control program for controlling a vehicle that requests remote support in a predetermined area is recorded,

• the vehicle control program, when executed by a computer, causing the computer to execute:
• acquiring surrounding situation information including object information regarding an object around the vehicle;
• generating a target trajectory that penetrates the predetermined area, passes through a target exit, and extends to outside of the predetermined area;
• determining whether an intra-area interference occurs based on the object information, the intra-area interference meaning that the vehicle traveling in accordance with the target trajectory interferes with the object around the vehicle in the predetermined area before passing through the target exit;
• determining whether or not an exit passable condition is satisfied based on the surrounding situation information, the exit passable condition being a condition under which the vehicle traveling in accordance with the target trajectory is able to pass through the target exit to go out of the predetermined area without waiting;
• upon determination that the exit passable condition is not satisfied, withholding requesting the remote support in the predetermined area regardless of presence or absence of the intra-area interference and performing automatic driving so as not to cause interference between the vehicle and the object around the vehicle until a lifting condition is satisfied;
• upon determination that the exit passable condition is satisfied and the intra-area interference does not occur, continuing the automatic driving without requesting the remote support;
• and
• upon determination that the exit passable condition is satisfied and the intra-area interference does occur, requesting the remote support.