Remote assistance system, vehicle-mounted device, remote assistance method, and remote assistance program

Abstract

The remote assistance system (90) of the present invention comprises: an acquisition unit (21A) for acquiring management information (25B), wherein the management information manages at least one of the communication status between the autonomous driving assistance center and the autonomous driving vehicle at multiple locations where the autonomous driving vehicle can travel within the management object area of ​​the autonomous driving assistance center and the environmental status around the autonomous driving vehicle at multiple locations where the autonomous driving vehicle can travel within the management object area; and an execution unit (21B) for executing actions required to restrict the remote assistance that can be implemented by the operator on the operator performing remote assistance for the autonomous driving vehicle based on at least one of the communication status and the environmental status obtained according to the management information.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on Japanese application No. 2019-192349 filed on October 22, 2019, and the contents thereof are cited herein. Technical Field

[0003] The present disclosure relates to a remote assistance system, a vehicle-mounted device, a remote assistance method, and a remote assistance program. Background Art

[0004] For example, Patent Document 1 describes a remote monitoring system in which an autonomous driving assistance center periodically communicates with an autonomous driving vehicle to monitor the vehicle status of the autonomous driving vehicle. According to the remote assistance system, when the communication with the autonomous driving assistance center is interrupted, the autonomous driving vehicle automatically stops and sends a vehicle stop signal and a camera image to the autonomous driving assistance center. The autonomous driving assistance center checks the camera image and confirms whether the autonomous driving can be restarted. If the autonomous driving vehicle receives a start signal from the autonomous driving assistance center, it restarts the autonomous driving.

[0005] Patent document 1: Japanese Patent Application Publication No. 2019-87015.

[0006] In addition, depending on the communication status and environmental conditions of the autonomous driving vehicle, the remote assistance that can be implemented is sometimes limited. For example, when the communication status is unstable and image delay occurs, it is difficult to perform timing control such as "support for right turns at intersections". Therefore, in such a case, it is preferable to limit the timing control. In the technology described in the above-mentioned patent document 1, remote assistance of an autonomous driving vehicle can be performed. However, as mentioned above, it is not considered to limit the remote assistance that can be implemented according to the communication status and environmental conditions of the autonomous driving vehicle. Summary of the invention

[0007] The purpose of the present disclosure is to provide a remote assistance system, a vehicle-mounted device, a remote assistance method, and a remote assistance program that can appropriately perform remote assistance on an autonomous driving vehicle according to the communication status and environmental status of the autonomous driving vehicle.

[0008] The remote assistance system involved in the first method of the present disclosure comprises: an acquisition unit, which acquires management information, the above-mentioned management information manages at least one of the communication status between the above-mentioned autonomous driving assistance center and the above-mentioned autonomous driving vehicle at multiple locations where the autonomous driving vehicle can travel within the management object area of ​​the above-mentioned autonomous driving assistance center, and the environmental status around the above-mentioned autonomous driving vehicle at multiple locations where the above-mentioned autonomous driving vehicle can travel within the above-mentioned management object area; and an execution unit, which executes the actions required to restrict the remote assistance that can be implemented by the operator on the operator performing remote assistance for the above-mentioned autonomous driving vehicle based on at least one of the above-mentioned communication status and the above-mentioned environmental status obtained according to the above-mentioned management information.

[0009] The vehicle-mounted device involved in the second embodiment of the present disclosure is a vehicle-mounted device installed in an autonomous driving vehicle that is remotely assisted by the remote assistance system involved in the first embodiment, and comprises: a receiving unit that receives the above-mentioned management information; a changing unit that changes the parking position of the vehicle to a position where the communication status with the above-mentioned autonomous driving assistance center is stable when it is predicted based on the above-mentioned management information that the vehicle will park at a position where the communication status with the above-mentioned autonomous driving assistance center is unstable; and a sending unit that sends the assistance request of the vehicle from the parking position changed by the above-mentioned changing unit.

[0010] The remote assistance method involved in the third embodiment of the present disclosure includes: obtaining management information, the above-mentioned management information manages at least one of the communication status between the above-mentioned autonomous driving assistance center and the above-mentioned autonomous driving vehicle at multiple locations where the autonomous driving vehicle can travel within the management object area of ​​the autonomous driving assistance center and the environmental status around the above-mentioned autonomous driving vehicle at multiple locations where the autonomous driving vehicle can travel within the above-mentioned management object area; based on the above-mentioned communication status and at least one of the above-mentioned environmental status obtained according to the above-mentioned management information, performing actions required to restrict the remote assistance that can be implemented by the operator on the operator performing remote assistance for the above-mentioned autonomous driving vehicle.

[0011] The remote assistance program involved in the fourth method of the present disclosure enables a computer to function as an acquisition unit and an execution unit, the acquisition unit acquires management information, the management information manages at least one of the communication status between the autonomous driving assistance center and the autonomous driving vehicle at multiple locations where the autonomous driving vehicle can travel within the management object area of ​​the autonomous driving assistance center and the environmental status around the autonomous driving vehicle at multiple locations where the autonomous driving vehicle can travel within the management object area, and the execution unit performs the actions required to restrict the remote assistance that can be implemented by the operator on the operator performing remote assistance for the autonomous driving vehicle based on at least one of the communication status and the environmental status obtained according to the management information.

[0012] According to the disclosed technology, the following effect is achieved: remote assistance for the autonomous driving vehicle can be appropriately performed according to the communication status and environmental status of the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above-mentioned object and other objects, features and advantages of the present disclosure will become more apparent through the following detailed description with reference to the accompanying drawings.

[0014] Figure 1 It is a diagram showing an example of the electrical configuration of the remote assistance system according to the first embodiment.

[0015] Figure 2 This is a block diagram showing an example of the functional configuration of the remote assistance system according to the first embodiment.

[0016] Figure 3 This is a front view showing an example of a UI screen of the operator terminal according to the embodiment.

[0017] Figure 4 This is a front view showing an example of a UI screen in a state where some functions are restricted according to the embodiment.

[0018] Figure 5 This is a diagram showing an example of measurement information according to the embodiment.

[0019] Figure 6 This is a diagram showing an example of an operator management table according to the embodiment.

[0020] Figure 7 This is a flowchart showing an example of the flow of processing performed by the remote assistance program according to the first embodiment.

[0021] Figure 8 This is a flowchart showing an example of the flow of processing performed by the operator-side control program according to the first embodiment.

[0022] Fig. 9 This is a flowchart showing an example of the flow of processing performed by the vehicle-side control program according to the first embodiment.

[0023] Fig.10 This is a block diagram showing an example of the functional configuration of the remote assistance system according to the second embodiment.

[0024] Fig.11 This is a diagram for explaining processing when an instruction to drive an autonomous driving vehicle is given from a server device of an embodiment.

[0025] Fig.12This is a diagram for explaining another process in which a driving instruction is given to an autonomous driving vehicle from a server device of an embodiment.

[0026] Fig.13 This is a diagram for explaining another process in which an instruction to drive an autonomous driving vehicle is given from the server device of an embodiment.

[0027] Fig.14 This is a diagram for explaining another process in which an instruction to drive an autonomous driving vehicle is given from the server device of an embodiment.

[0028] Fig.15 This is a flowchart showing an example of the flow of processing performed by the remote assistance program according to the second embodiment.

[0029] Fig.16 This is a flowchart showing an example of the flow of processing performed by the vehicle-side control program according to the second embodiment.

[0030] Fig.17 This is a block diagram showing an example of the functional configuration of the remote assistance system according to the third embodiment.

[0031] Fig.18 (A) is a diagram showing a parking position of the autonomous driving vehicle before the change according to the embodiment. Fig.18 (B) is a diagram showing a changed parking position of the autonomous driving vehicle according to the embodiment. DETAILED DESCRIPTION

[0032] Hereinafter, an example of a mode for implementing the technology of the present disclosure will be described in detail with reference to the drawings.

[0033] [First embodiment]

[0034] Figure 1 It is a diagram showing an example of the electrical configuration of the remote assistance system 90 according to the first embodiment.

[0035] like Figure 1 As shown, the remote assistance system 90 of this embodiment includes an on-board device 10 mounted on an autonomous driving vehicle, a server device 20 installed in an autonomous driving assistance center, an operator terminal 30 installed in a dispatch room, and a staff terminal 40 that can be carried by a field staff. In addition, the dispatch room can be located in the autonomous driving assistance center or in a place different from the autonomous driving assistance center.

[0036] The vehicle-mounted device 10, the server device 20, the operator terminal 30, and the staff terminal 40 are connected to each other via a network N so as to be communicable. The network N may be, for example, the Internet, a WAN (Wide Area Network), or the like. In addition, the vehicle-mounted device 10 and the staff terminal 40 are connected to the network N via wireless communication. The server device 20 and the operator terminal 30 are connected to the network N via wired communication or wireless communication.

[0037] An autonomous vehicle is a vehicle that can travel automatically under specified conditions without relying on the operation of the driver. The vehicle-mounted device 10 has a function of generating a travel plan including a travel route to a destination based on information of a destination such as a residence or latitude and longitude, and a function of controlling the autonomous driving of the vehicle. The vehicle-mounted device 10 has a CPU (Central Processing Unit) 11, a memory 12, an operation unit 13, a display unit 14, a storage unit 15, a sensor group 16, and a communication unit 17.

[0038] CPU 11 is an example of a processor. The processor mentioned here refers to a processor in a broad sense, including a general-purpose processor (e.g., CPU), a dedicated processor (e.g., GPU: Graphics Processing Unit, ASIC: Application Specific Integrated Circuit, FPGA: Field Programmable Gate Array, programmable logic device, etc.). Memory 12 is composed of ROM (Read Only Memory), RAM (Random Access Memory), etc.

[0039] The storage unit 15 may include, for example, a HDD (Hard Disk Drive), an SSD (Solid State Drive), a flash memory, etc. A vehicle-side control program 15A for controlling the autonomous driving is stored in the storage unit 15. The vehicle-side control program 15A may be pre-installed in the vehicle-mounted device 10, for example. The vehicle-side control program 15A may also be implemented by storing it in a non-volatile non-transitory recording medium, or distributing it via a network N and installing it appropriately in the vehicle-mounted device 10. In addition, as examples of non-volatile non-transitory recording media, there are assumed to be CD-ROM (Compact Disc Read Only Memory), optical magnetic disk, HDD, DVD-ROM (Digital Versatile Disc Read Only Memory), flash memory, memory card, etc. In addition, the storage unit 15 stores map information required for generating a driving plan for autonomous driving.

[0040] The sensor group 16 is composed of various sensors for grasping the conditions around the vehicle. The sensor group 16 includes multiple cameras that shoot a specified range in a specified direction of the vehicle, a millimeter wave radar that sends a probe wave to a specified range outside the vehicle, and a LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) that scans at least a specified range in front of the vehicle. In addition, the sensor group 16 may also include a GPS (Global Positioning System) receiver mounted on the vehicle. Through this GPS receiver, information such as the current position and current time of the vehicle is obtained.

[0041] The operation unit 13 is configured as an interface for receiving operation input to the vehicle-mounted device 10. For example, a liquid crystal display (LCD) or an organic EL (Electro Luminescence) display is used as the display unit 14. The display unit 14 may have a touch panel integrally therewith.

[0042] The communication unit 17 is connected to a network N such as the Internet or a WAN and is a communication interface for communicating with the server device 20 .

[0043] In addition, the vehicle-mounted device 10 is connected to a driving device (not shown) required for automatic driving, and performs automatic driving by controlling the driving device. The driving device includes, as an example, an electric power steering device, an electronically controlled brake, an electronically controlled throttle, and the like.

[0044] The vehicle-mounted device 10 controls the driving, steering, and braking of the vehicle to perform automatic driving according to the travel plan of the vehicle. In addition, there are various known methods for automatic driving, and there is no particular limitation in this embodiment.

[0045] The server device 20 monitors the vehicle state of the autonomous vehicle by periodically communicating with the vehicle-mounted device 10 of the autonomous vehicle, and controls the autonomous vehicle to remotely assist the autonomous vehicle when there is an assistance request from the autonomous vehicle. In the server device 20, as an example, a general-purpose computer device such as a server computer and a personal computer (PC) is applied. The server device 20 includes a CPU 21, a memory 22, an operation unit 23, a display unit 24, a storage unit 25, and a communication unit 26.

[0046] The CPU 21 is an example of a processor. The processor referred to here is a processor in a broad sense as described above, including a general-purpose processor and a dedicated processor. The memory 22 is composed of a ROM, a RAM, and the like.

[0047] The storage unit 25 uses, for example, an HDD, an SSD, a flash memory, etc. A remote assistance program 25A for remote assistance of the autonomous driving vehicle is stored in the storage unit 25. The remote assistance program 25A may be pre-installed in the server device 20, for example. The remote assistance program 25A may also be implemented by being stored in a non-volatile non-transitional recording medium, or distributed via the network N, and appropriately installed in the server device 20.

[0048] The operation unit 23 is configured as an interface for receiving operation input to the server device 20. For example, a liquid crystal display (LCD), an organic EL display, etc. are used as the display unit 24. The display unit 24 may have a touch panel integrally therewith.

[0049] The communication unit 26 is a communication interface connected to a network N such as the Internet or a WAN for communicating with each of the vehicle-mounted device 10 , the operator terminal 30 , and the staff terminal 40 .

[0050] The operator terminal 30 is configured as a dedicated terminal used by an operator who remotely assists the autonomous vehicle, for example. The operator terminal 30 receives an operator call from the server device 20 when there is an assistance request from the autonomous vehicle. The operator terminal 30 communicates with the vehicle-mounted device 10, displays the image of the autonomous vehicle, and performs remote assistance according to the operator's operation. The operator terminal 30 includes a CPU 31, a memory 32, an operation unit 33, a display unit 34, a storage unit 35, and a communication unit 36.

[0051] The CPU 31 is an example of a processor. The processor referred to here is a processor in a broad sense as described above, including a general-purpose processor and a dedicated processor. The memory 32 is composed of a ROM, a RAM, and the like.

[0052] For example, a HDD, an SSD, a flash memory, etc. are used as the storage unit 35. An operator-side control program 35A is stored in the storage unit 35. The operator-side control program 35A may be pre-installed in the operator terminal 30, for example. The operator-side control program 35A may also be implemented by being stored in a non-volatile non-transitional recording medium, or distributed via the network N, and appropriately installed in the operator terminal 30.

[0053] The operation unit 33 is configured as an interface for receiving operation input to the operator terminal 30. For example, a liquid crystal display (LCD), an organic EL display, etc. are used as the display unit 34. The display unit 34 may have a touch panel integrally therewith.

[0054] The communication unit 36 ​​is a communication interface connected to a network N such as the Internet or a WAN for communicating with each of the server device 20 and the operator terminal 40. The operator terminal 30 can communicate with the vehicle-mounted device 10 via the server device 20, but can also communicate directly with the vehicle-mounted device 10 without going through the server device 20.

[0055] The staff terminal 40 is configured as a terminal device that can be carried by the on-site staff. In addition, the on-site staff refers to an assistant who can rush to and deal with the autonomous driving vehicle. In the staff terminal 40, as an example, a smart phone, a tablet terminal, etc. are applied. The staff terminal 40 includes a CPU 41, a memory 42, an operation unit 43, a display unit 44, a storage unit 45, and a communication unit 46.

[0056] Furthermore, the staff terminal 40 can be connected to a network N such as the Internet or a WAN, and can communicate with each of the server device 20 and the operator terminal 30 .

[0057] Next, refer to Figure 2 , the functional structure of the remote assistance system 90 is explained.

[0058] Figure 2 This is a block diagram showing an example of the functional configuration of the remote assistance system 90 according to the first embodiment.

[0059] like Figure 2 As shown, the CPU 21 of the server device 20 of the present embodiment functions as an acquisition unit 21A and an execution unit 21B. The acquisition unit 21A and the execution unit 21B are implemented by the CPU 21 reading the remote support program 25A and executing it.

[0060] The CPU 11 of the vehicle-mounted device 10 of the present embodiment functions as an automatic driving control unit 11A. The automatic driving control unit 11A is implemented by the CPU 11 reading out the vehicle-side control program 15A and executing it.

[0061] The CPU 31 of the operator terminal 30 of the present embodiment functions as a remote assistance control unit 31A. The remote assistance control unit 31A is implemented by the CPU 31 reading out the operator-side control program 35A and executing it.

[0062] First, the functional structure of the server device 20 will be described.

[0063] Management information 25B is stored in the storage unit 25. The management information 25B includes the communication status between the autonomous driving assistance center and the autonomous driving vehicle in multiple locations where the autonomous driving vehicle can travel within the management target area of ​​the autonomous driving assistance center. The communication status is represented as information related to the operational design domain (ODD: Operational Design Domain) of remote assistance. In this communication status, as an example, it includes area, communication speed, communication delay, etc. In addition, the management information 25B may also include the environmental status around the autonomous driving vehicle in multiple locations where the autonomous driving vehicle can travel within the management target area of ​​the autonomous driving assistance center. The environmental status is the same as the above-mentioned communication status, and is represented as information related to the operational design domain (ODD) of remote assistance. In this environmental status, as an example, it includes road curvature, blind spots, etc. Management information 25B is information for managing at least one of these communication statuses and environmental statuses.

[0064] In addition, the management information 25B may also include information related to the operation design area (ODD) of the autonomous driving vehicle. Specifically, in this information, as an example, it includes driving conditions, road shape, weather, road surface conditions, traffic conditions, etc. In driving conditions, as an example, it includes pedestrian-vehicle separation, paving conditions, etc. In road shape, as an example, it includes slope, lane width, etc. In weather, as an example, it includes rain, snow, wind speed, etc. In road surface conditions, as an example, it includes freezing, flooding, etc. In traffic conditions, as an example, it includes construction, accidents, and parking on the road, etc.

[0065] In addition, the storage unit 25 stores an operator management table 25C described later.

[0066] The acquisition unit 21A acquires the management information 25B from the storage unit 25. In addition, the acquisition unit 21A acquires the position information and time information of the autonomous driving vehicle from the vehicle-mounted device 10 of the autonomous driving vehicle. In addition, the acquisition unit 21A acquires the image of the autonomous driving vehicle from the vehicle-mounted device 10 of the autonomous driving vehicle. In addition, the image acquired by the acquisition unit 21A is transmitted from the server device 20 to the operator terminal 30.

[0067] The execution unit 21B performs the actions required to limit the remote assistance that can be implemented by the operator on the operator who performs remote assistance for the autonomous driving vehicle based on at least one of the communication state and the environmental state obtained from the management information 25B. Specifically, the actions required to limit the remote assistance refer to the actions of notifying the operator of the abnormal content of at least one of the communication state and the environmental state. For example, a message "Communication delay has occurred!" is displayed on the UI (User Interface) screen of the operator terminal 30. In addition, the notification may also include a prompt for the operator to take the next action based on the content of the abnormality.

[0068] In addition, the action required for limiting the remote assistance may be an action for limiting the remote assistance function of the operator terminal 30 used by the operator. For example, in the UI screen of the operator terminal 30, some buttons for remote assistance may be made unavailable (unpressible) or some buttons may be made not displayed (hidden). In addition, if the function is suddenly limited, the operator may be confused. Therefore, it is preferable that the function is limited after displaying a message such as "Function 0 is limited due to communication delay."

[0069] In addition, the execution unit 21B may also limit the function of controlling the timing of remote assistance when the communication state is a state where a communication delay of a certain time (e.g., 1 second) or more occurs. The execution unit 21B may also limit the function of controlling the timing of remote assistance when the environmental state is any of a long construction section, poor forward visibility, and poor rearward visibility. The timing mentioned here, as an example, includes the timing of safety confirmation of the oncoming vehicle in the oncoming lane or the rear vehicle in the adjacent lane when overtaking.

[0070] Figure 3 It is a front view showing an example of the UI screen 34A of the operator terminal 30 according to the present embodiment.

[0071] Figure 3 The UI screen 34A shown is a screen without functional restrictions. Multiple images (e.g., animations) of the autonomous driving vehicle are displayed in the center of the UI screen 34A. Figure 3 In the example, images of the left front, front, right front, left rear, inside the vehicle, and right rear of the autonomous driving vehicle are displayed. In addition, on the lower side of the UI screen 34A, as an example of multiple buttons for remote assistance, lane change [left], overtaking allowed, lane change [right], no assistance required, and end of assistance are displayed. The lane change [left] button is a button for indicating a change to the left lane. The overtaking allowed button is a button for indicating an overtaking from the driving lane. The lane change [right] button is a button for indicating a change to the right lane. The no assistance required button is a button for notifying that remote assistance is not required. The end assistance button is a button for notifying the end of remote assistance.

[0072] In addition, the "Operation Log" for managing the operation log of remote assistance is displayed at the lower right end of the UI screen 34A. In addition, on the right side of the UI screen 34A, as an example of multiple buttons used as needed, in-car calls, emergency notifications, police notifications, and staff dispatch are displayed. The in-car call button is a button for talking to the occupants of the autonomous driving vehicle. The emergency notification button is a button for making a notification to No. 119. The police notification button is a button for making a notification to No. 110. The staff dispatch button is a button for contacting on-site staff.

[0073] Figure 4 This is a front view showing an example of the UI screen 34A in a state where some functions of the present embodiment are restricted.

[0074] Figure 4 The UI screen 34A shown in FIG. 34A shows a state where a communication delay (for example, a delay of more than 1 second) occurs in the left front image. In this case, it is preferable to restrict lane changes to the left. Figure 4 In the example shown in FIG. 1 , the message “Communication delay has occurred!” is displayed in the left front image, and the Lane Change [Left] button is unavailable.

[0075] In addition, as an example, the execution unit 21B may also be based on Figure 5 The measurement information shown sets the content of the function of limiting remote assistance. The measurement information is information included in the management information 25B. The measurement information is information obtained by measuring an indicator representing the communication status within a certain period of time. The indicator representing the communication status mentioned here includes, as an example, communication speed, communication delay, etc.

[0076] Figure 5 is a diagram showing an example of measurement information according to this embodiment. Figure 5 In FIG. 1 , the vertical axis represents communication delay (t: time), and the horizontal axis represents time (t).

[0077] For example, if the function restriction is frequently switched between valid and invalid depending on the communication status, the operator may not be able to make the correct judgment. Figure 5 As shown, the communication quality during a certain period of time is measured (in Figure 5 In the example of communication delay), the function restriction content is set using a value that matches the side with poor communication quality. Specifically, when the communication delay is T1 (seconds), function 0 and function x are restricted, and when the communication delay is T2 seconds (<T1 seconds), function 0 and function x are restricted, according to T1 seconds on the side with poor communication quality, the content of limiting function 0 and function x is set even when the communication delay is T2 seconds.

[0078] In addition, the execution unit 21B may also make the content of the function of limiting the remote assistance different based on at least one of the skills and years of experience of the operator. Figure 6 The operator management table 25C is shown.

[0079] Figure 6 This is a diagram showing an example of the operator management table 25C according to the present embodiment.

[0080] Figure 6 The operator management table 25C shown is a table that registers the skills, years of experience, and functional restrictions for each operator. Figure 6 As shown, skills (in Figure 6 In the example, the higher the level (1 is the highest), the fewer restricted functions the operator can have, and the more years of experience the operator has, the fewer restricted functions the operator can have.

[0081] In addition, the execution unit 21B may also instruct the on-site staff who can rush to deal with the autonomous driving vehicle in place of the operator when the communication state is a state where the communication is interrupted for a certain period of time or a state where a certain communication band cannot be secured. Specifically, the instruction to the on-site staff is performed by displaying a message on the display unit 44 of the staff terminal 40.

[0082] Furthermore, although the acquisition unit 21A and the execution unit 21B in the present embodiment are provided in the server device 20 , the acquisition unit 21A and the execution unit 21B may be provided in the operator terminal 30 .

[0083] Next, the functional configurations of the vehicle-mounted device 10 and the operator terminal 30 will be described.

[0084] The automatic driving control unit 11A of the vehicle-mounted device 10 controls the automatic driving of the vehicle. When receiving remote assistance from the operator, the automatic driving control unit 11A controls the automatic driving according to a remote assistance signal from the operator terminal 30 .

[0085] The remote assistance control unit 31A of the operator terminal 30 performs remote assistance control of the autonomous driving vehicle. Specifically, when the operator performs remote assistance, the remote assistance control unit 31A transmits a remote assistance signal to the autonomous driving vehicle to perform remote assistance control.

[0086] Next, refer to Figure 7 , the function of the server device 20 of the first embodiment is described.

[0087] Figure 7 This is a flowchart showing an example of the flow of processing performed by the remote assistance program 25A according to the first embodiment.

[0088] First, when the server device 20 is instructed to monitor the vehicle state of the automatic driving vehicle, the remote assistance program 25A is started and the following steps are executed.

[0089] exist Figure 7 In step 100, CPU 21 obtains the position information and time information of the autonomous driving vehicle from the vehicle-mounted device 10 of the autonomous driving vehicle.

[0090] In step 101 , the CPU 21 acquires the management information 25B from the storage unit 25 .

[0091] In step 102, CPU 21 determines whether the communication state with the automatic driving vehicle is a state in which the communication is interrupted for a certain period of time. When it is determined that the communication is not interrupted for a certain period of time (the case of negative determination), the process moves to step 103; when it is determined that the communication is interrupted for a certain period of time (the case of positive determination), the process moves to step 107. In addition, here, it is determined whether a state in which the communication is interrupted for a certain period of time has occurred, but it can also be determined whether a state in which a communication band of a certain frequency cannot be ensured. That is, for example, when a sufficient communication band can be ensured by QoS (Quality of Service), the process moves to step 103; when a sufficient communication band cannot be ensured, the process moves to step 107.

[0092] In step 103, the CPU 21 determines whether an assistance request is received from the autonomous driving vehicle. If it is determined that an assistance request is received from the autonomous driving vehicle (in the case of a positive determination), the process moves to step 104. If it is determined that an assistance request is not received from the autonomous driving vehicle (in the case of a negative determination), the process returns to step 100 and repeats the process.

[0093] In step 104 , the CPU 21 makes an operator call to the operator terminal 30 .

[0094] In step 105, CPU 21 determines whether a restriction of remote assistance is required. The situation where a restriction of remote assistance is required is determined based on management information 25B. As an example, the situation where a restriction of remote assistance is required includes (1) a situation where it is predicted that the autonomous driving vehicle is traveling on a high-cost route (described later), (2) a situation where the image of the autonomous driving vehicle produces a communication delay of more than a certain period of time (for example, 1 second), (3) a situation where it is predicted that the autonomous driving vehicle will stop at a location with poor forward or rearward visibility, (4) a situation where it is predicted that the autonomous driving vehicle will stop at a location where the communication status with the autonomous driving assistance center is unstable, etc. In the case where it is determined that a restriction of remote assistance is required (affirmative determination), the process proceeds to step 106, and in the case where it is determined that a restriction of remote assistance is not required (negative determination), the process proceeds to step 108.

[0095] In step 106, the CPU 21 executes the operation required for limiting the remote assistance on the operator terminal 30, and the process moves to step 108. The operation required for limiting the remote assistance is, for example, the above-mentioned Figure 4 As shown, it is an operation to display a message notifying the operator terminal 30 that at least one of the communication state and the environmental state is abnormal, or an operation to limit the remote assistance function of the operator terminal 30.

[0096] Meanwhile, in step 107, the CPU 21 instructs the staff terminal 40 carried by the on-site staff to respond to the arrival of the autonomous driving vehicle, and the process proceeds to step 108. As an example, the CPU 21 instructs by displaying a message on the display unit 44 of the staff terminal 40 as described above.

[0097] In step 108, the CPU 21 determines whether the end timing of the remote assistance has arrived. If it is determined that the end timing of the remote assistance has not arrived (a negative determination), the CPU 21 returns to step 100 and repeats the process. If it is determined that the end timing of the remote assistance has arrived (a positive determination), the series of processes based on the remote assistance program 25A are terminated.

[0098] Next, refer to Figure 8 , the function of the operator terminal 30 according to the first embodiment will be described.

[0099] Figure 8 This is a flowchart showing an example of the flow of processing performed by the operator-side control program 35A according to the first embodiment.

[0100] exist Figure 8 In step 110, CPU 31 determines whether there is an operator call from server device 20. If it is determined that there is an operator call (affirmative determination), it moves to step 111, and if it is determined that there is no operator call (negative determination), it waits in step 110.

[0101] In step 111 , the CPU 31 responds to the operator call in step 110 described above.

[0102] In step 112, the CPU 31 determines whether there is a notification from the server device 20 indicating that at least one of the communication state and the environmental state is abnormal. In addition, the notification may include a prompt for the operator to take the next action according to the abnormal content as described above. If it is determined that there is a notification (in the case of positive determination), the process moves to step 113, and if it is determined that there is no notification (in the case of negative determination), the process moves to step 116.

[0103] In step 113, CPU 31, based on the notification of step 112, as an example, Figure 4 A message such as “Communication delay occurs!” is displayed as the notification content.

[0104] In step 114, the CPU 31 determines whether there is an instruction to limit the function of remote assistance from the server device 20. If it is determined that there is an instruction to limit the function of remote assistance (in the case of affirmative determination), the process moves to step 115, and if it is determined that there is no instruction to limit the function of remote assistance (in the case of negative determination), the process moves to step 116.

[0105] In step 115, CPU 31, according to the instruction of step 114, as an example, Figure 4 The functionality of Remote Assist is limited, as shown in the “Lane Change [Left] Button”.

[0106] time

[0107] In step 116 , the CPU 31 performs remote assistance on the automatic driving vehicle according to the operator's operation.

[0108] In step 117, the CPU 31 determines whether the end timing of the remote assistance has arrived. If it is determined that the end timing of the remote assistance has not arrived (in the case of a negative determination), the process returns to step 110 and repeats the process. If it is determined that the end timing of the remote assistance has arrived (in the case of a positive determination), the series of processes based on the operator-side control program 35A are terminated.

[0109] Next, refer to Fig. 9 , the function of the vehicle-mounted device 10 according to the first embodiment will be described.

[0110] Fig. 9 This is a flowchart showing an example of the flow of processing performed by the vehicle-side control program 15A according to the first embodiment.

[0111] exist Fig. 9 In step 120 , the CPU 11 transmits an assistance request for remote assistance to the server device 20 .

[0112] In step 121, the CPU 11 determines whether there is remote assistance from the operator terminal 30 in response to the assistance request sent in the above step 120. When it is determined that there is remote assistance from the operator terminal 30 (in the case of affirmative determination), the process moves to step 122, and when it is determined that there is no remote assistance from the operator terminal 30 (in the case of negative determination), the process moves to step 123.

[0113] In step 122 , the CPU 11 performs control according to remote assistance from the operator terminal 30 used by the operator.

[0114] In step 123, the CPU 11 determines whether the end timing of the remote assistance has arrived. If it is determined that the end timing of the remote assistance has not arrived (a negative determination), the process returns to step 120 and the process is repeated. If it is determined that the end timing of the remote assistance has arrived (a positive determination), the series of processes based on the vehicle-side control program 15A are terminated.

[0115] As described above, according to the present embodiment, when it is necessary to limit remote assistance in response to an assistance request from the autonomous driving vehicle, an action required for limiting remote assistance is performed on the operator. Therefore, it is possible to prevent the operator from performing erroneous remote assistance.

[0116] [Second Embodiment]

[0117] In the first embodiment, when the remote assistance needs to be limited in response to the assistance request from the autonomous vehicle, the method of performing the necessary actions on the operator to limit the remote assistance is described. In contrast, in this embodiment, when it is difficult for the operator to handle, the method of instructing the autonomous vehicle to drive from the autonomous driving assistance center is described.

[0118] Fig.10 1 is a block diagram showing an example of the functional configuration of the remote support system 91 according to the second embodiment. Components having the same functions as those of the remote support system 90 described in the first embodiment are denoted by the same reference numerals, and repeated description thereof is omitted.

[0119] like Fig.10 As shown, the CPU 21 of the server device 20 of this embodiment functions as an instruction unit 21C. The instruction unit 21C is implemented by the CPU 21 reading and executing the remote assistance program 25A. The server device 20 is different from the remote assistance system 90 of the first embodiment described above in that it includes the instruction unit 21C.

[0120] The instruction unit 21C instructs the autonomous driving vehicle to drive when a situation is difficult for the operator to deal with or may cause difficulty. Here, remote assistance is not always required, but is required when the autonomous driving vehicle alone cannot cope with the situation. Therefore, in a situation where remote assistance is required and remote assistance is difficult, problems such as the autonomous driving vehicle breaking down may occur. As an example of the so-called situation requiring remote assistance, there are also situations such as assistance in knowing in advance that a fire has occurred at the location, responding to flag signals in a construction area, etc. In addition, there are also situations that occur suddenly in any place, such as first aid response to passengers, overtaking due to parking on the road, etc. Therefore, it is preferred to instruct routes that avoid routes with a high risk of difficulty in remote assistance (situations that may cause difficulties). Refer to Figure 11 to Figure 14, specifically describing the manner of instructing the autonomous driving vehicle to travel. In addition, situations that are difficult for the operator to deal with or that may cause difficulties (hereinafter collectively referred to as "situations that are difficult for the operator to deal with") are determined based on management information 25B. Examples of situations that are difficult for the operator to deal with include (1) situations where the autonomous driving vehicle is predicted to travel on a high-cost route, (2) situations where the image of the autonomous driving vehicle has a communication delay of more than a certain period of time (e.g., 1 second), (3) situations where the autonomous driving vehicle is predicted to stop at a location with poor forward or rearward visibility, and (4) situations where the autonomous driving vehicle is predicted to stop at a location, etc.

[0121] Fig.11 This is a diagram for explaining processing when an instruction to drive an autonomous driving vehicle is given from the server device 20 of this embodiment.

[0122] exist Fig.11 In FIG. 1 , the point S indicates the starting point of the autonomous driving vehicle, and the point G indicates the destination point of the autonomous driving vehicle. Routes R1 to R3 indicate a plurality of routes connecting the point S to the point G.

[0123] The communication state and the environment state are indicated as information related to the remote-assisted operation design area as described above. The management information 25B includes information related to the remote-assisted operation design area and information related to the automatic driving vehicle operation design area.

[0124] Each of the plurality of routes that the autonomous vehicle can travel has a cost that reflects information related to the remote assistance's design area of ​​operation and information related to the autonomous vehicle's design area of ​​operation. Fig.11 , "narrow lane width" is an example of information related to the design operation area of ​​the autonomous driving vehicle, and "poor communication environment" and "blind spot at the rear" are examples of information related to the design operation area of ​​remote assistance. For example, a cost of "3" is preset for "narrow lane width", a cost of "2" is preset for "poor communication environment", and a cost of "2" is preset for "blind spot at the rear". In this case, route R2 includes "narrow lane width" and is therefore assigned a cost of "3". Route R3 includes "poor communication environment" and "blind spot at the rear" and is therefore assigned a total cost of "4". Route R1 does not include information related to the design operation area of ​​remote assistance and information related to the design operation area of ​​the autonomous driving vehicle and is therefore assigned a cost of "0".

[0125] When the instructing unit 21C predicts that the autonomous driving vehicle will travel on a route with a cost greater than a threshold value, the instructing unit 21C instructs the autonomous driving vehicle to change the route to be traveled to a route with the minimum cost. Fig.11In the example, the threshold is set to "3", and when it is predicted that the autonomous driving vehicle will travel on route R2, an instruction is given to change to the route with the lowest cost, that is, route R1.

[0126] That is, the route of the autonomous driving vehicle can be changed to a route with good communication and environmental conditions through instructions from the autonomous driving assistance center. Therefore, when the operator performs remote assistance, it can be performed in a state with good communication and environmental conditions.

[0127] Fig.12 This is a diagram for explaining another process in the case where the server device 20 of this embodiment instructs the automatic driving vehicle to travel.

[0128] exist Fig.12 In the figure, location S indicates the starting location of the autonomous driving vehicle, and location G indicates the destination location of the autonomous driving vehicle. Routes R1 to R3 indicate multiple routes connecting location S to location G. "Narrow lane width" and "Construction section" are examples of information related to the operation design area of ​​the autonomous driving vehicle, and "Poor communication environment" and "Blind spot behind" are examples of information related to the operation design area of ​​remote assistance.

[0129] The instruction unit 21C instructs the operator to reduce the speed of the autonomous driving vehicle when a communication delay of a certain period of time or longer occurs in the image of the autonomous driving vehicle monitored by the operator. Fig.12 In the example of FIG. 1 , it is assumed that the autonomous driving vehicle is traveling on route R1. Route R1 includes a "bad communication environment", which is a state where a communication delay of more than 1 second occurs at the location of the "bad communication environment". In this case, the speed of the autonomous driving vehicle traveling on route R1 is reduced.

[0130] That is, the speed of the autonomous driving vehicle can be reduced by the instruction from the autonomous driving assistance center, thereby reducing the relative speed with the oncoming vehicle. Therefore, when the operator performs remote assistance, it can be performed in the state where the communication state is restored.

[0131] Fig.13 This is a diagram for explaining another process in the case where the server device 20 of this embodiment instructs the automatic driving vehicle to travel.

[0132] exist Fig.13In the figure, location S indicates the starting location of the autonomous driving vehicle, and location G indicates the destination location of the autonomous driving vehicle. Routes R1 to R3 indicate multiple routes connecting location S to location G. "Narrow lane width" and "Construction section" are examples of information related to the operation design area of ​​the autonomous driving vehicle, and "Blind spot behind" is an example of information related to the operation design area of ​​remote assistance.

[0133] When it is predicted that the autonomous driving vehicle will park at a position with poor rear visibility, the instruction unit 21C instructs to set or change the parking position of the autonomous driving vehicle to a position with good rear visibility. For example, when the parking position is set ahead of the prediction (passenger's destination, etc.), the change is made; when the parking position is set behind the prediction (passenger's emergency response, etc.), a new setting is made. Specifically, Fig.13 In the example, it is assumed that the autonomous driving vehicle temporarily stops on route R1. Route R1 includes "blind spot at the rear", which means that the parking position with "blind spot at the rear" (before change) is a position with poor rear visibility. At this parking position (before change), for example, the desired parking location from passengers, a temporary stop location for emergency treatment, etc. are set. At this parking position (before change), there is a blind spot at the rear when resuming driving, so it is difficult to judge the departure. In this case, the parking position of the autonomous driving vehicle is changed from a position with poor rear visibility to a position with good rear visibility. In addition, the parking position (after change) indicates a position with good rear visibility.

[0134] That is, the parking position of the autonomous driving vehicle can be changed from a position with poor rear visibility to a position with good rear visibility by instructions from the autonomous driving assistance center. Therefore, when the operator performs remote assistance, it is possible to make a decision on the start of the vehicle when resuming driving.

[0135] Fig.14 This is a diagram for explaining another process in the case where the server device 20 of this embodiment instructs the automatic driving vehicle to travel.

[0136] exist Fig.14 In the figure, location S indicates the starting location of the autonomous driving vehicle, and location G indicates the destination location of the autonomous driving vehicle. Routes R1 to R3 indicate multiple routes connecting location S to location G. "Narrow lane width" and "Construction section" are examples of information related to the operation design area of ​​the autonomous driving vehicle, and "Large parked vehicle" and "Blind spot behind" are examples of information related to the operation design area of ​​remote assistance.

[0137] When it is predicted that the autonomous driving vehicle will park at a position where the front view is poor, the instruction unit 21C instructs the parking position of the autonomous driving vehicle to be set or changed to a position where the front view of the autonomous driving vehicle is good. Fig.14 In the example, assume that the autonomous driving vehicle temporarily stops on route R1. Route R1 includes "Large parked vehicle", which means that the parking position of "Large parked vehicle" (before change) is a position with poor vision in front of the large parked vehicle. The parking position (before change) is set, for example, in front of the large parked vehicle. At this parking position (before change), it is impossible to grasp the situation in front of the large parked vehicle, so it is difficult to overtake. In this case, the parking position of the autonomous driving vehicle is changed from a position with poor vision in front to a position with good vision in front. Fig.14 In the example of , it is changed to a position closer to the front side than the parking position (before change). In addition, the parking position (after change) indicates a position with a good front view.

[0138] That is, the parking position of the autonomous driving vehicle can be changed from a position with poor forward visibility to a position with good forward visibility by instructions from the autonomous driving assistance center. Therefore, overtaking judgment of large parked vehicles etc. can be performed with remote assistance from the operator.

[0139] In addition, when it is predicted that the autonomous driving vehicle will park at a position where the communication status with the autonomous driving assistance center is unstable, the instruction unit 21C may also instruct to set or change the parking position of the autonomous driving vehicle to a position where the communication status with the autonomous driving assistance center is stable. For example, as described above, when the parking position is set ahead of the prediction (passenger's destination, etc.), the change is made, and when the parking position is set behind the prediction (passenger's emergency response, etc.), a new setting is made. Specifically, in the above Fig.12 In the example of FIG. 1 , it is assumed that the autonomous driving vehicle temporarily stops on route R1. Route R1 includes a "bad communication environment", which is a state where a communication delay of more than 1 second occurs at the location of the "bad communication environment". In this case, the parking position of the autonomous driving vehicle is changed from a location where the communication state is unstable to a location where the communication state is stable.

[0140] That is, the parking position of the autonomous driving vehicle can be changed from a position where the communication state is unstable to a position where the communication state is stable by the instruction from the autonomous driving support center. Therefore, when the operator performs remote support, it can be performed in a stable communication state.

[0141] In this case, the instruction unit 21C may receive the assistance request of the autonomous driving vehicle from the parking position changed by the instruction from the autonomous driving assistance center. In this way, the assistance request can be received reliably.

[0142] Next, refer to Fig.15 , the function of the server device 20 of the second embodiment is described.

[0143] Fig.15 This is a flowchart showing an example of the flow of processing performed by the remote assistance program 25A according to the second embodiment.

[0144] First, when the server device 20 is instructed to monitor the vehicle state of the automatic driving vehicle, the remote assistance program 25A is started and the following steps are executed.

[0145] exist Fig.15 In step 130 , CPU 21 obtains the position information and time information of the autonomous driving vehicle from the vehicle-mounted device 10 of the autonomous driving vehicle.

[0146] In step 131 , the CPU 21 acquires the management information 25B from the storage unit 25 .

[0147] In step 132, the CPU 21 determines whether the communication state with the automatic driving vehicle is a state where the communication interruption continues for a certain period. If it is determined that the communication interruption is not a state where the communication interruption continues for a certain period (a negative determination), the process moves to step 133, and if it is determined that the communication interruption continues for a certain period (a positive determination), the process moves to step 138. In addition, it is determined whether the communication interruption continues for a certain period, but it is also possible to determine whether the communication band cannot be secured above a certain period.

[0148] In step 133, the CPU 21 determines whether an assist request is received from the autonomous driving vehicle. If it is determined that an assist request is received from the autonomous driving vehicle (in the case of a positive determination), the process moves to step 134. If it is determined that an assist request is not received from the autonomous driving vehicle (in the case of a negative determination), the process returns to step 130 and repeats the process.

[0149] In step 134, the CPU 21 determines whether the operator has difficulty coping. Whether the operator has difficulty coping is determined based on the management information 25B as described above. If it is determined that the operator has no difficulty coping, that is, the operator can coping (negative determination), the process moves to step 135. If it is determined that the operator has difficulty coping (positive determination), the process moves to step 139.

[0150] In step 135 , the CPU 21 makes an operator call to the operator terminal 30 .

[0151] In step 136, the CPU 21 determines whether or not the restriction of remote assistance is necessary. Whether or not the restriction of remote assistance is necessary is determined based on the management information 25B as described above. If it is determined that the restriction of remote assistance is necessary (affirmative determination), the process proceeds to step 137. If it is determined that the restriction of remote assistance is not necessary (negative determination), the process proceeds to step 140.

[0152] In step 137, the CPU 21 executes the action required for limiting the remote assistance on the operator terminal 30, and the process moves to step 140. The action required for limiting the remote assistance is, for example, the above-mentioned Figure 4 As shown, it is an operation to display a message notifying the operator terminal 30 that at least one of the communication state and the environmental state is abnormal, or an operation to limit the remote assistance function of the operator terminal 30.

[0153] Meanwhile, in step 138, the CPU 21 instructs the worker terminal 40 carried by the on-site worker to respond to the arrival of the autonomous driving vehicle, and the process proceeds to step 140. As an example, the CPU 21 instructs by displaying a message on the display unit 44 of the worker terminal 40 as described above.

[0154] On the other hand, in step 139, as an example, as described above Figure 11 to Figure 14 As shown, CPU 21 instructs the automatic driving vehicle to travel, returns to step 134, and repeats the process.

[0155] In step 140, the CPU 21 determines whether the end timing of the remote assistance has arrived. If it is determined that the end timing of the remote assistance has not arrived (a negative determination), the CPU 21 returns to step 130 and repeats the process. If it is determined that the end timing of the remote assistance has arrived (a positive determination), the series of processes based on the remote assistance program 25A are terminated.

[0156] Next, refer to Fig.16 , the function of the vehicle-mounted device 10 according to the second embodiment will be described.

[0157] Fig.16 This is a flowchart showing an example of the flow of processing performed by the vehicle-side control program 15A according to the second embodiment.

[0158] exist Fig.16 In step 150 , the CPU 11 transmits an assistance request for remote assistance to the server device 20 .

[0159] In step 151, the CPU 11 determines whether there is an instruction to drive from the server device 20 of the automatic driving assistance center in accordance with the assistance request sent in step 150. If it is determined that there is an instruction to drive (in the case of affirmative determination), the process moves to step 152, and if it is determined that there is no instruction to drive (in the case of negative determination), the process moves to step 153.

[0160] In step 152 , the CPU 11 performs control according to the driving instruction from the server device 20 of the automatic driving support center.

[0161] In step 153, the CPU 11 determines whether there is remote assistance from the operator terminal 30 used by the operator. If it is determined that there is remote assistance (affirmative determination), the process proceeds to step 154, and if it is determined that there is no remote assistance (negative determination), the process proceeds to step 155.

[0162] In step 154 ​​, the CPU 11 performs control according to remote assistance from the operator terminal 30 used by the operator.

[0163] In step 155, the CPU 21 determines whether the end timing of the remote assistance has arrived. If it is determined that the end timing of the remote assistance has not arrived (in the case of a negative determination), the process returns to step 150 and the process is repeated. If it is determined that the end timing of the remote assistance has arrived (in the case of a positive determination), the series of processes based on the vehicle-side control program 15A are terminated.

[0164] Thus, according to this embodiment, in a situation where it is difficult for the operator to handle, the autonomous driving support center instructs the autonomous driving vehicle to travel. Therefore, even in a situation where it is difficult for the operator to handle, it is possible to achieve a state where the operator can provide remote support.

[0165] [Third Embodiment]

[0166] In the present embodiment, a method is described in which the vehicle-mounted device obtains management information from the automatic driving support center and uses the management information to stop the vehicle at a location with a good communication status.

[0167] Fig.17 1 is a block diagram showing an example of the functional configuration of the remote support system 92 according to the third embodiment. Components having the same functions as those of the remote support system 91 described in the second embodiment are denoted by the same reference numerals, and repeated description thereof is omitted.

[0168] like Fig.17As shown, the CPU 11 of the vehicle-mounted device 10 of the present embodiment functions as a receiving unit 11B, a changing unit 11C, and a transmitting unit 11D. The receiving unit 11B, the changing unit 11C, and the transmitting unit 11D are implemented by the CPU 11 reading and executing the vehicle-side control program 15A.

[0169] The receiving unit 11B receives the management information 25B from the server device 20 .

[0170] When predicting that the host vehicle will stop at a location where the communication state with the autonomous driving support center is unstable based on the management information 25B, the changing unit 11C changes the parking position of the host vehicle to a location where the communication state with the autonomous driving support center is stable.

[0171] The transmitting unit 11D transmits the assistance request of the host vehicle from the parking position changed by the changing unit 11C.

[0172] Fig.18 (A) is a diagram showing the parking position of the automatic driving vehicle before the change according to the present embodiment. Fig.18 (B) is a diagram showing the parking position of the autonomous driving vehicle after the change in this embodiment. Fig.18 (A) and Fig.18 In (B), range L1 indicates a range in which communication with the autonomous driving support center is possible, and range L2 indicates a range in which the communication state is unstable.

[0173] like Fig.18 As shown in (A), the vehicle-mounted device 10 of the autonomous driving vehicle predicts that the vehicle will stop in the range L2 based on the management information 25B. Fig.18 As shown in (B), the vehicle-mounted device 10 changes the parking position of the vehicle so that the vehicle is included in the range L1 and stops in front of the range L2. Then, the vehicle-mounted device 10 sends an assistance request to the automatic driving assistance center from the changed parking position.

[0174] Thus, according to this embodiment, the parking position of the autonomous driving vehicle is changed to a position with good communication status using the management information obtained from the autonomous driving assistance center, and the assistance request is sent from the changed parking position. Therefore, the assistance request can be reliably sent to the autonomous driving assistance center.

[0175] The above describes and illustrates the remote support system according to the embodiment. The embodiment may be a program for causing a computer to execute the functions of each unit of the remote support system. The embodiment may be a computer-readable non-transitory recording medium storing the program.

[0176] In addition, the configuration of the remote assistance system described in the above embodiment is an example and may be changed according to the situation without departing from the scope of the invention.

[0177] Furthermore, the process flow of the program described in the above embodiment is only an example, and unnecessary steps may be deleted, new steps may be added, or the process order may be replaced without departing from the gist of the invention.

[0178] In the above embodiments, the processing of the embodiments is implemented by a computer through a software configuration by executing a program, but the present invention is not limited thereto. The embodiments may be implemented by a hardware configuration or a combination of a hardware configuration and a software configuration, for example.

[0179] The present disclosure is described based on the implementation mode, but it should be understood that the present disclosure is not limited to the implementation mode and structure. The present disclosure also includes various modifications and modifications within the equivalent range. Among them, various combinations and methods, further including only one element, more than one, or less than one other combinations and methods are also included in the scope and scope of thought of the present disclosure.

Claims

1. A remote assistance system, wherein: have: an acquisition unit that acquires management information that manages at least one of a communication state between the autonomous driving assistance center and the autonomous driving vehicle at a plurality of locations within a management target area of ​​the autonomous driving assistance center where the autonomous driving vehicle can travel, and an environmental state around the autonomous driving vehicle at a plurality of locations within the management target area where the autonomous driving vehicle can travel; and An execution unit, based on at least one of the communication state and the environmental state obtained according to the management information, performs the following actions on the operator who performs remote assistance for the autonomous driving vehicle: after displaying information indicating that the remote assistance function of the operating terminal used by the operator is restricted, the action of the function is restricted.

2. The remote assistance system according to claim 1, wherein: The execution unit further executes an operation of notifying details of an abnormality in at least one of the communication state and the environmental state.

3. The remote assistance system according to claim 1 or 2, wherein: The management information includes measurement information obtained by measuring an indicator indicating the communication state within a certain period of time, The execution unit sets content of limiting the function of the remote assistance based on the measurement information.

4. The remote assistance system according to claim 1 or 2, wherein: The execution unit varies the content of limiting the function of the remote assistance based on at least one of the skill and the years of experience of the operator.

5. The remote assistance system according to claim 1, wherein: The device further includes an instruction unit configured to instruct the autonomous driving vehicle to travel when the operator has difficulty coping with the situation.

6. The remote assistance system according to claim 5, wherein: The communication state and the environment state are represented as information related to the operation design area of ​​the remote assistance, The management information includes information related to the operation design area of ​​the remote assistance and information related to the operation design area of ​​the autonomous driving vehicle, Each of the plurality of routes that the autonomous driving vehicle can travel is assigned a cost that reflects the information related to the operation design area of ​​the remote assistance and the information related to the operation design area of ​​the autonomous driving vehicle, The instruction unit instructs the autonomous driving vehicle to change the route on which the autonomous driving vehicle is traveling to a route on which the cost is minimized, when it is predicted that the autonomous driving vehicle will travel on a route on which the cost is equal to or greater than a threshold value.

7. The remote assistance system according to claim 5, wherein: The instruction unit instructs the operator to reduce the speed of the autonomous driving vehicle when a communication delay of a certain period of time or longer occurs in the image of the autonomous driving vehicle monitored by the operator.

8. The remote assistance system according to claim 5, wherein: When predicting that the autonomous driving vehicle will park at a position where the front or rear visibility is poor, the instruction unit instructs to set or change the parking position of the autonomous driving vehicle to a position where the front or rear visibility of the autonomous driving vehicle is good.

9. The remote assistance system according to claim 5, wherein: When predicting that the autonomous driving vehicle will park at a position where the communication status with the autonomous driving assistance center is unstable, the instruction unit instructs to set or change the parking position of the autonomous driving vehicle to a position where the communication status with the autonomous driving assistance center is stable.

10. The remote assistance system according to claim 9, wherein: The instruction unit receives an assistance request for the automatic driving vehicle from the parking position changed by the instruction.

11. The remote assistance system according to claim 1, wherein: When the communication state is a state where communication interruption continues for a certain period of time or a state where a communication band greater than a certain level cannot be secured, the execution unit instructs a site worker who can arrive to handle the autonomous driving vehicle instead of the operator.

12. A vehicle-mounted device, mounted on an autonomous driving vehicle remotely assisted by the remote assistance system according to any one of claims 1 to 11, The vehicle-mounted device comprises: A receiving unit, receiving the management information; a changing unit that changes the parking position of the host vehicle to a position where the communication state with the autonomous driving assistance center is stable when it is predicted based on the management information that the host vehicle will park at a position where the communication state with the autonomous driving assistance center is unstable; and The transmitting unit transmits an assistance request for the host vehicle from the parking position changed by the changing unit.

13. A remote assistance method, wherein: include: acquiring management information that manages at least one of a communication state between the autonomous driving assistance center and the autonomous driving vehicle at a plurality of locations where the autonomous driving vehicle can travel within a management target area of ​​the autonomous driving assistance center, and an environmental state around the autonomous driving vehicle at a plurality of locations where the autonomous driving vehicle can travel within the management target area, Based on at least one of the communication state and the environmental state obtained according to the management information, the following action is performed on the operator who performs remote assistance for the autonomous driving vehicle: after displaying information indicating that a remote assistance function of the operating terminal used by the operator is restricted, the action of the function is restricted.

14. A recording medium storing a remote assistance program for causing a computer to function as an acquisition unit and an execution unit, wherein: The acquisition unit acquires management information, the management information managing at least one of a communication state between the autonomous driving assistance center and the autonomous driving vehicle at a plurality of locations where the autonomous driving vehicle can travel within a management target area of ​​the autonomous driving assistance center, and an environmental state around the autonomous driving vehicle at a plurality of locations where the autonomous driving vehicle can travel within the management target area, The execution unit performs the following actions on the operator who performs remote assistance for the autonomous driving vehicle based on at least one of the communication status and the environmental status obtained according to the management information: after displaying information indicating that the remote assistance function of the operation terminal used by the operator is restricted, the operation of the function is restricted.

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