Evacuation travel assistance device, evacuation travel assistance method, and non-transitory computer readable recording medium

An evacuation travel assistance method comprising:

• determining whether a driver is capable of driving on a basis of driver state information which makes it possible to estimate whether the driver is in a state where the driver can perform a driving operation;
• generating measured map information for a side wall including a side wall of an evacuation spot on a basis of surrounding environment information including surrounding position information indicating a measured position of the side wall including the side wall of the evacuation spot and division line information indicating a measured division line of a traveling path;
• calculating a correction value obtained by multiplying a difference between a distance from a traveling center line of a host vehicle to the side wall including the side wall of the evacuation spot in base map information and a distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information by a reliability that is equal to or less than 1 when it is determined that the driving operation by the driver cannot be performed, and generating corrected map information obtained by applying the correction value to the base map information;
• generating an evacuation travel route with the evacuation spot as a destination spot by using host vehicle position information indicating a position of the host vehicle and the corrected map information when it is determined that the driving operation by the driver cannot be performed;
• and
• outputting a vehicle speed command on a basis of the evacuation travel route when it is determined that the driving operation by the driver cannot be performed, the vehicle speed command being a command for performing speed control and steering control of the host vehicle that performs evacuation travel.

A non-transitory computer readable recording medium having stored thereon a program to be executed on a computer, the program causing the computer to perform:

• determining whether a driver is capable of driving on a basis of driver state information which makes it possible to estimate whether the driver is in a state where the driver can perform a driving operation;
• generating measured map information for a side wall including a side wall of an evacuation spot on a basis of surrounding environment information including surrounding position information indicating a measured position of the side wall including the side wall of the evacuation spot and division line information indicating a measured division line of a traveling path;
• calculating a correction value obtained by multiplying a difference between a distance from a traveling center line of a host vehicle to the side wall including the side wall of the evacuation spot in base map information and a distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information by a reliability that is equal to or less than 1 when it is determined that the driving operation by the driver cannot be performed, and generating corrected map information obtained by applying the correction value to the base map information;
• generating an evacuation travel route with the evacuation spot as a destination spot by using host vehicle position information indicating a position of the host vehicle and the corrected map information when it is determined that the driving operation by the driver cannot be performed;
• and
• outputting a vehicle speed command on a basis of the evacuation travel route when it is determined that the driving operation by the driver cannot be performed, the vehicle speed command being a command for performing speed control and steering control of the host vehicle that performs evacuation travel.