Information Processing Method and Information Processing System

Abstract

An information processing method includes the following processes: obtaining a remote operation location, which is a location for remotely operating a mobile body that can move autonomously and can be remotely operated for movement (S11); determining, based on the positions of at least one mobile body, a plurality of mobile bodies passing through the remote operation location during the same time period (S12); deciding, from the determined plurality of mobile bodies, a first mobile body to be remotely operated and a second mobile body following the first mobile body (S13); prompting an operator to remotely operate the first mobile body at the remote operation location (S14); and issuing an instruction to the second mobile body to make the second mobile body follow the first mobile body during the period when the first mobile body is remotely operated (S15).

Description

Technical Field

[0001] The present disclosure relates to an information processing method and an information processing system. Background Art

[0002] For example, Patent Document 1 discloses a device for remotely operating a driverless vehicle capable of autonomous driving by an operator at a distance. Accordingly, when such a vehicle cannot travel based on its own judgment, the operator at a distance can remotely operate the vehicle to make it travel.

[0003] (Prior Art Documents)

[0004] (Patent Documents)

[0005] Patent Document 1: Japanese Patent No. 6319507 Gazette Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] However, the following situation may occur, that is, it is necessary to remotely operate a plurality of moving bodies capable of autonomous movement at the same time and at the same location. In this case, since the operator remotely operates the plurality of moving bodies separately, the burden on the operator is large.

[0008] Therefore, an object of the present disclosure is to provide an information processing method and the like that can reduce the burden on an operator who remotely operates a plurality of moving bodies capable of autonomous movement at the same time and at the same location.

[0009] Means for Solving the Problems

[0010] The information processing method according to the present disclosure is executed by a computer, obtains a remote operation location, which is a location for remotely operating a moving body, the moving body being a moving body capable of autonomous movement and being remotely operable for movement, determines, based on the positions of at least one moving body, a plurality of moving bodies passing through the remote operation location at the same time period, determines a first moving body to be remotely operated and a second moving body following the first moving body from the determined plurality of moving bodies, and prompts an operator to remotely operate the first moving body at the remote operation location, and issues an instruction to the second moving body so that the second moving body follows the first moving body during the period when the first moving body is remotely operated.

[0011] In addition, these general or specific forms can also be implemented by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or can be implemented by any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

[0012] Advantageous Effects of the Invention

[0013] According to the information processing method and the like according to one aspect of the present disclosure, it is possible to reduce the burden on an operator who remotely operates a plurality of mobile bodies capable of autonomous movement at the same time and at the same location. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram showing an entire system including a remote management system, a remote operation system, and a mobile body according to an embodiment.

[0015] Figure 2 It is a block diagram showing an example of a remote management system according to an embodiment.

[0016] Figure 3 It is a diagram showing an example of information on a followable mobile body.

[0017] Figure 4 It is a flowchart showing an example of an information processing method according to an embodiment.

[0018] Figure 5 It is a flowchart showing an example of the operation of a remote management system in Use Case 1.

[0019] Figure 6 It is a diagram for explaining the timing of starting follow-up driving.

[0020] Figure 7 It is a sequence diagram showing an example of the operation of an entire system in Use Case 2.

[0021] Figure 8 It is a flowchart showing an example of the operation of a remote management system in Use Case 2. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] An information processing method according to an aspect of the present disclosure, the information processing method being executed by a computer, obtaining a remote operation location, the remote operation location being a location for remotely operating a mobile body, the mobile body being a mobile body capable of autonomous movement and being a mobile body that can be remotely operated for movement, determining, based on the positions of at least one mobile body, a plurality of mobile bodies passing through the remote operation location during the same time period, determining, from the determined plurality of mobile bodies, a first mobile body to be remotely operated and a second mobile body following the first mobile body, prompting an operator to remotely operate the first mobile body at the remote operation location, and issuing an instruction to the second mobile body to cause the second mobile body to follow the first mobile body during the period in which the first mobile body is remotely operated.

[0023] Accordingly, the second mobile body moves following the remotely operated first mobile body. Therefore, as long as the operator remotely operates the prompted first mobile body, the operator can move a plurality of mobile bodies passing through the remote operation location at the same time period together at the remote operation location. Therefore, it is possible to reduce the burden on the operator who remotely operates a plurality of mobile bodies capable of autonomous movement at the same location during the same time period.

[0024] Also, in the determination of the plurality of mobile bodies, it is possible to obtain the movement plan of the at least one mobile body and determine the plurality of mobile bodies based on the positions and movement plans of the at least one mobile body.

[0025] For example, when the remote operation location is known in advance, it is possible to determine whether a mobile body passes through the remote operation location based on the position and movement plan of the mobile body, and when the mobile body passes through the remote operation location, it is possible to determine the time period during which the mobile body passes through the remote operation location. Therefore, it is possible to determine a plurality of mobile bodies predicted to pass through the remote operation location during the same time period.

[0026] Also, in the determination of the first mobile body and the second mobile body, it is possible to obtain the positions and movement plans of the plurality of mobile bodies, and based on the positions and movement plans of the plurality of mobile bodies, determine the mobile body that arrives at the remote operation location earliest among the plurality of mobile bodies as the first mobile body and determine the other mobile bodies as the second mobile bodies.

[0027] Among multiple mobile bodies, the mobile body estimated to be the first to reach the remote operation location is more likely to be in front of the remote operation location compared to other mobile bodies estimated to reach the remote operation location later. Therefore, by designating the mobile body estimated to be the first to reach the remote operation location among the multiple mobile bodies as the first mobile body and the other mobile bodies as the second mobile bodies, it is possible to smoothly switch to a mode in which an operator remotely operates the first mobile body while having the second mobile bodies follow the first mobile body. In other words, there is no need to change the order in the traveling directions of the first mobile body and the second mobile bodies.

[0028] Also, in the determination of the first mobile body and the second mobile bodies, it is also possible to obtain the adaptability of the multiple mobile bodies related to remote operation or following. Based on this adaptability, designate the mobile body suitable for remote operation among the multiple mobile bodies as the first mobile body and the other mobile bodies as the second mobile bodies, or designate the mobile body suitable for following among the multiple mobile bodies as the second mobile body and the other mobile bodies as the first mobile body, or designate the mobile body not suitable for remote operation among the multiple mobile bodies as the second mobile body and the other mobile bodies as the first mobile body, or designate the mobile body not suitable for following among the multiple mobile bodies as the first mobile body and the other mobile bodies as the second mobile body.

[0029] In this way, it is also possible to designate the mobile body suitable for remote operation or the mobile body not suitable for following as the first mobile body, and it is also possible to designate the mobile body suitable for following or the mobile body not suitable for remote operation as the second mobile body. Accordingly, it is possible to improve the efficiency of remote operation or suppress a decrease in efficiency.

[0030] Furthermore, it can also be that, based on the positions and movement plans of the first mobile body and the second mobile bodies, it is determined whether the second mobile body is following behind the first mobile body at the start time of remote operation. In the case where the second mobile body is not following behind the first mobile body, an instruction to move is issued to at least one of the first mobile body and the second mobile body so that the second mobile body follows behind the first mobile body.

[0031] For example, according to the current positions and movement plans of the first moving body and the second moving body determined, there may be a situation where the second moving body does not follow the first moving body at the start time of remote operation. Thus, when the judgment result is that the second moving body does not follow the first moving body at the start time of remote operation, by issuing an instruction to move to at least one of the first moving body and the second moving body, so that the second moving body follows the first moving body, it is possible to make the second moving body follow the first moving body at the start time of remote operation. Therefore, at the start time of remote operation, it is possible to smoothly switch to the mode of remotely operating the first moving body by the operator while making the second moving body follow the first moving body. And it is possible to reduce the second moving body that cannot follow the first moving body, thereby reducing the number of remote operations.

[0032] Also, in the instruction to move, it is possible to obtain at least one of a restriction on moving time, a restriction on stopping time, a restriction on moving speed, and a restriction on moving range, and issue an instruction to move to at least one of the first moving body and the second moving body according to the at least one restriction.

[0033] For example, due to differences in moving bodies, there are the following restrictions: restrictions related to the moving time that can be moved and the stopping time that can be stopped corresponding to the movement plan of the moving body, restrictions related to the maximum speed or minimum speed of the moving body, and restrictions related to the moving range within which the moving body can move. Thus, by issuing an instruction to move according to these restrictions, it is possible to issue an instruction to move while observing these restrictions.

[0034] Also, it may be that the remote operation location is the location where the moving body requesting remote operation is located, and in the determination of the plurality of moving bodies, the plurality of moving bodies are determined according to the position of at least one of the moving bodies, and the position of at least one of the moving bodies is the position of the moving body requesting remote operation and the positions of the moving bodies around this moving body.

[0035] For example, when the remote operation location is not known in advance, the position of the moving body requesting remote operation will become the remote operation location. In this case, it is possible to determine the moving body requesting remote operation and the moving bodies around this moving body according to the position of the moving body requesting remote operation and the positions of the moving bodies around the moving body requesting remote operation, as a plurality of moving bodies predicted to pass through the remote operation location in the same time period.

[0036] Also, in the determination of the second moving body, it is possible to determine the moving body requesting remote operation at the remote operation location as the second moving body.

[0037] Thus, by determining the mobile body estimated to request remote operation at the remote operation location as the second mobile body, such a mobile body can follow the first mobile body and indirectly perform remote operation. Also, by enabling the mobile body estimated not to request remote operation to continue autonomous movement, the burden on the operator can be reduced.

[0038] Also, in the determination of the second mobile body, it is also possible to determine the mobile body estimated to request remote operation at the remote operation location as the second mobile body based on the operation characteristics indicating whether autonomous movement and remote operation are possible, the remote operation history, whether there is a request for manual operation from the occupants of the mobile body, or the management attributes of the mobile body indicating whether it is a management object.

[0039] Thus, it is possible to estimate whether the mobile body requests remote operation at the remote operation location based on the operation characteristics indicating whether autonomous movement and remote operation are possible, the remote operation history, whether there is a request for manual operation from the occupants of the mobile body, or the management attributes of the mobile body indicating whether it is a management object.

[0040] Also, in the determination of the second mobile body, it is also possible to determine the second mobile body based on the adaptability of the mobile body related to following, the skills or experience of the operator for remote operation in a state where there is following of the mobile body, or at least one of the restrictions on movement time, stop time, movement speed, and movement range.

[0041] Thus, it is possible to determine as the second mobile body a mobile body whose adaptability related to following is suitable for following, or a mobile body that satisfies at least one of the restrictions on movement time, stop time, movement speed, and movement range. Or, it is possible to determine the second mobile body when the skills or experience of the operator for remote operation in a state where there is following of the mobile body are sufficient.

[0042] Also, in the prompt, further, when the burden on the operator during remote operation is above the threshold or the remaining capacity is less than the threshold, or when the reason for remote operation is not an abnormality in the mobile body that affects the movement of the mobile body, it is determined to execute the remote operation of the first mobile body in a state where the second mobile body follows.

[0043] For example, in the remote operation of the first moving body in a state where the second moving body is following, because of the following of the second moving body, the operator often performs the remote operation carefully. As a result, the overall moving speed of the multiple moving bodies becomes slower, leading to a reduction in efficiency. In contrast, when the burden on the operator during the remote operation is less than the threshold or the remaining capacity is above the threshold, the operator has leeway. Therefore, the operator can refrain from performing the remote operation of the first moving body in the state where the second moving body is following, but perform the remote operation on each of the multiple moving bodies separately, thereby enabling the multiple moving bodies to move efficiently. Also, when the reason for the remote operation is an abnormality in the moving body that affects the movement of the moving body, if the remote operation of the first moving body is performed in the state where the second moving body is following, there may be a safety problem. Therefore, when the reason for the remote operation is not an abnormality in the moving body that affects the movement of the moving body, the remote operation of the first moving body is performed in the state where the second moving body is following, thereby ensuring safety.

[0044] Also, in the above prompt, further, after giving an instruction for the second moving body to follow, the operator may be allowed to perform the remote operation of the first moving body.

[0045] Accordingly, it is possible to prevent the remote operation of the first moving body from starting before the preparation for the second moving body to follow the first moving body is completed.

[0046] Also, in the above prompt, further, during the remote operation of the first moving body in the state where the second moving body is following, the sensed data of the sensor in the second moving body is obtained from the second moving body, and the sensed data is presented to the operator.

[0047] Accordingly, the operator can perform the remote operation of the first moving body in the state where the second moving body is following while confirming the sensed data of the second moving body following the first moving body (in other words, while confirming the situation around the second moving body). Therefore, it is possible to ensure the safety of the second moving body that is not directly remotely operated after the first moving body being remotely operated.

[0048] Also, it may be that in the above prompt, further, during the remote operation of the first moving body in the state where the second moving body is following, the operation interface for controlling the sensor in the second moving body is presented to the operator, and when giving an instruction for the second moving body to follow, further, an instruction for controlling the sensor is given according to the operation in the operation interface.

[0049] Accordingly, the operator can confirm the condition of the area to be confirmed around the second moving body by controlling the sensor in the second moving body, and at the same time perform remote operation of the first moving body in a state where the second moving body follows. Therefore, the safety of the second moving body that is not directly remotely operated while following the remotely operated first moving body can be ensured.

[0050] Further, in the prompt, when the moving characteristics of the moving bodies between the first moving body and the second moving body are different, during the remote operation of the first moving body in a state where the second moving body follows, the moving trajectory of the second moving body can be prompted to the operator, and the moving trajectory of the second moving body is estimated based on the remote operation of the first moving body by the operator and at least the moving characteristics of the second moving body.

[0051] For example, when the moving characteristics of the moving bodies between the first moving body and the second moving body are different, there may be a situation where the moving trajectory of the second moving body following the first moving body is different from the moving trajectory of the remotely operated first moving body. Especially when the size of the second moving body is larger than the size of the first moving body, even if the first moving body is remotely operated to move in a way that does not hit an obstacle or the like, there may be a situation where the second moving body following the first moving body hits an obstacle or the like. Thus, by prompting the estimated moving trajectory of the second moving body to the operator, the operator can perform remote operation of the first moving body considering the moving trajectory of the second moving body, and the safety of the second moving body can be ensured.

[0052] Further, when issuing an instruction for the second moving body to follow, an instruction can be issued to the second moving body to continue to follow the first moving body until the remote operation of the first moving body in a state where the second moving body follows ends.

[0053] For example, if the second moving body is released from following the first moving body during the period when the operator remotely operates the first moving body, there may be a safety problem. This is because the state where the first moving body is remotely operated by the operator is that the first moving body is in a state where it is difficult to move autonomously, and the second moving body following the first moving body is also in a state where it is difficult to move autonomously like the first moving body. Therefore, it is possible to suppress the release of the second moving body from following the first moving body before the remote operation of the first moving body ends, thereby ensuring the safety of the second moving body.

[0054] Also, in the prompt, further, during the remote operation of the first moving body in a state where the second moving body is following, the relationship between the end point of the remote operation and the position of the second moving body is prompted to the operator according to the remote operation location, the position of the first moving body, and the position of the second moving body.

[0055] Accordingly, the operator can end the remote operation of the first moving body after confirming that the second moving body has passed the end point of the remote operation. Therefore, it is possible to suppress the release of the second moving body following the first moving body before the second moving body passes the end point of the remote operation, thereby ensuring the safety of the second moving body.

[0056] An information processing system according to an aspect of the present disclosure includes: an acquisition unit that acquires a remote operation location, which is a location for remotely operating a moving body that can move autonomously and can be remotely operated for movement; a determination unit that determines, based on the positions of at least one moving body, a plurality of moving bodies passing through the remote operation location during the same time period; a decision unit that decides, from the determined plurality of moving bodies, a first moving body to be remotely operated and a second moving body that follows the first moving body; a prompting unit that prompts an operator to remotely operate the first moving body at the remote operation location; and an instruction unit that issues an instruction to the second moving body so that the second moving body follows the first moving body during the period when the first moving body is remotely operated.

[0057] Accordingly, it is possible to provide an information processing system that can reduce the burden on an operator who remotely operates a plurality of moving bodies that can move autonomously at the same location during the same time period.

[0058] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0059] In addition, all the embodiments described below show general or specific examples. The numerical values, shapes, materials, constituent elements, arrangement positions and connection methods of the constituent elements, steps, and the order of steps shown in the following embodiments are examples, and the gist is not to limit the present disclosure.

[0060] (Embodiment)

[0061] Hereinafter, an information processing method and an information processing system according to the embodiment will be described.

[0062] Figure 1 It is a schematic diagram showing the entire system composed of the remote management system 10, the remote operation system 20, and the moving body 50 according to the embodiment.

[0063] The mobile body 50 moves autonomously and is a mobile body capable of performing remote operation for movement. Hereinafter, the mobile body 50 will be described as an autonomous driving vehicle, but the mobile body 50 may also be an unmanned aerial vehicle or the like. For example, a plurality of mobile bodies 50 travel on a road or the like, and the plurality of mobile bodies 50 communicate with each other through vehicle-to-vehicle communication and communicate with the remote management system 10 and the remote operation system 20 through wireless communication. For example, the mobile body 50 is equipped with sensors such as a camera or LiDAR (Light Detection And Ranging), and transmits sensing data to the remote management system 10 and the remote operation system 20. And, for example, the mobile body 50 has a function of switching the driving mode (autonomous automatic mode, remote operation mode, etc.) according to an instruction from the remote management system 10. And the mobile body 50 may also have a function of requesting remote operation from the remote management system 10 when an event (which will be described in detail later) occurs.

[0064] The remote management system 10 is a system that monitors the mobile body 50 for remote operation of the mobile body 50 and issues an instruction for remote operation of the mobile body 50 to the remote operation system 20. The remote management system 10 is an example of an information processing system. The remote management system 10 will be described in detail later.

[0065] The remote operation system 20 is a system for remotely operating the mobile body 50, and an operator remotely operates the mobile body 50 via the remote operation system 20. For example, the remote operation system 20 includes an operation unit (such as a steering wheel) for remotely operating the mobile body 50, and a display unit for displaying an image around the mobile body 50 based on the sensing data of the sensors of the mobile body 50 or the sensing results of LiDAR or the like. The operator can remotely operate the mobile body 50 by operating the operation unit while looking at the display unit.

[0066] In addition, the remote management system 10 and the remote operation system 20 may also be provided in the same facility, and the remote management system 10 and the remote operation system 20 may also be integrated (for example, the remote operation system 20 may be included in the remote management system 10).

[0067] Next, regarding the structure of the remote management system 10, use Figure 2 to explain.

[0068] Figure 2 is a block diagram showing an example of the remote management system 10 according to the embodiment.

[0069] The remote management system 10 includes an acquisition unit 11, a determination unit 12, a decision unit 13, a prompting unit 14, an instruction unit 15, and a storage unit 16.

[0070] The remote management system 10 is, for example, a computer including a processor and a memory. The memory is a ROM (ReadOnly Memory) and a RAM (Random Access Memory), etc. The memory can store programs executed by the processor. The acquisition unit 11, the determination unit 12, the decision unit 13, the prompting unit 14, and the instruction unit 15 are implemented by a processor that executes the programs stored in the memory. The memory storing the programs may be the storage unit 16 or a memory different from the storage unit 16.

[0071] For example, the components constituting the remote management system 10 may be implemented by a server. Also, the components constituting the remote management system 10 may be distributed and configured in multiple servers. And, for example, at least a part of the components constituting the remote management system 10 may be implemented by a device mounted on a mobile body 50 (such as the first mobile body described later).

[0072] The acquisition unit 11 acquires a remote operation location, which is a location for remotely operating a mobile body capable of autonomous movement and used for movement.

[0073] The determination unit 12 determines, based on the positions of at least one mobile body 50, multiple mobile bodies 50 passing through the remote operation location in the same time period.

[0074] The decision unit 13 determines a first mobile body to be remotely operated and a second mobile body following the first mobile body from the determined multiple mobile bodies 50.

[0075] The prompting unit 14 prompts an operator so that the operator remotely operates the first mobile body at the remote operation location.

[0076] The instruction unit 15 issues an instruction to the second mobile body so that the second mobile body follows the first mobile body during the period when the first mobile body is remotely operated.

[0077] For example, the remote management system 10 manages the following information that is the object of management by the remote management system 10: position information indicating the positions of the respective mobile bodies 50; movement plan information indicating the departure point, destination, movement path, etc.; restriction information indicating restrictions such as movement time, stop time, movement speed, and movement range; operation characteristic information indicating operation characteristics such as whether autonomous movement and remote operation are possible; followable mobile body information indicating the adaptability related to following of the mobile bodies that can be followed or the mobile bodies being followed; remotely operable mobile body information indicating the adaptability related to remote operation of the mobile bodies that can be remotely operated; mobile body information indicating the vehicle type, vehicle size, number of sensors mounted, sensor types, sensor mounting positions, etc.; history information indicating the history of remote operation; and remote operation location information indicating the pre-known remote operation locations, etc. These information are stored in the storage unit 16. Additionally, these information can also be stored in an external system, and the remote management system 10 can also obtain these information from the external system.

[0078] Figure 3 It is a diagram showing an example of the followable mobile body information.

[0079] For example, the followable mobile body information can also be information indicating the mobile bodies 50 that can be followed for each mobile body 50, as Figure 3 shown. For example, vehicle A can follow vehicle B and C, vehicle B can follow vehicle A and E, and vehicle Z can follow vehicle B and X. In this way, the mobile bodies 50 that can be followed are managed for each mobile body 50. And, for example, the followable mobile body information can also be information indicating the mobile bodies 50 being followed for each mobile body 50. The mobile bodies 50 being followed can also be managed for each mobile body 50 as follows: vehicle A is followed by vehicle B and C, vehicle B is followed by vehicle A and E, and vehicle Z is followed by vehicle B and X.

[0080] For each functional component of the remote management system 10, Figure 4 a detailed description will be given.

[0081] Figure 4 It is a flowchart showing an example of the information processing method according to the embodiment. The information processing method is a method executed by a computer (remote management system 10). Therefore, Figure 4 it is also a flowchart showing an example of the operation of the remote management system 10 according to the embodiment. That is to say, the following description is an explanation of the operation of the remote management system 10 and also an explanation of the information processing method.

[0082] First, acquisition unit 11 acquires a remote operation location (step S11). The acquisition unit 11 may acquire a previously known remote operation location from the storage unit 16, or may acquire the location where the mobile body 50 is located when a remote operation is requested when an event occurs in the mobile body 50 as the remote operation location (that is, a remote operation location that is not previously known).

[0083] The remote operation location refers to the location where the mobile body 50 needs remote operation. In other words, the remote operation location refers to the location where a specified event that requires remote operation of the mobile body 50 has occurred. The specified event refers to an event such as the mobile body 50 being unable to move or the mobile body 50 being unable to continue autonomous movement based on the judgment of the mobile body 50 itself.

[0084] For example, a previously known remote operation location is a location where remote operation has occurred in the past and remote operation has occurred repeatedly thereafter. Specifically, a previously known remote operation location is a location such as a confluence point of a road with heavy traffic, a location around a place where people conduct traffic control due to road construction, a location around a crosswalk with a large number of passing people, or a location around a place where vehicles often park on the road. For example, according to the judgment of the manager of the remote management system 10 or the like, a previously known remote operation location may be stored in the storage unit 16 or the like.

[0085] On the other hand, a remote operation location that is not previously known is, for example, a location where remote operation has not occurred in the past and remote operation occurs for the first time according to a request from the mobile body 50. Specifically, a remote operation location that is not previously known is a location where a vehicle suddenly stops on the road and remote operation temporarily occurs.

[0086] Hereinafter, the case of acquiring a previously known remote operation location will be described as use case 1, and the case of acquiring the location where the mobile body 50 requesting remote operation is located as the remote operation location will be described as use case 2.

[0087] Next, determination unit 12 determines a plurality of mobile bodies 50 passing through the remote operation location in the same time period based on the positions of at least one mobile body 50 (step S12).

[0088] In Use Case 1, the determination unit 12 obtains the movement plan of at least one moving body 50 (for example, all moving bodies 50, multiple moving bodies 50 within a specific area, or a specified one moving body 50. Hereinafter, it is also collectively referred to as the applied moving body 50). Based on the position and movement plan of at least one applied moving body 50, it is possible to determine multiple moving bodies 50 that are predicted to pass through the remote operation location during the same time period. For example, when the remote operation location is known in advance, it is possible to determine whether the moving body 50 passes through the remote operation location based on the position and movement plan of the moving body 50. When the moving body 50 passes through the remote operation location, it is possible to determine the time period during which it passes through the remote operation location. Therefore, it is possible to determine multiple moving bodies 50 that are predicted to pass through the remote operation location during the same time period.

[0089] In Use Case 2, the determination unit 12 determines multiple moving bodies 50 that are predicted to pass through the remote operation location during the same time period based on the position of at least one applied moving body 50, that is, the position of the moving body 50 that requests remote operation and the positions of the moving bodies 50 around the moving body 50 that requests remote operation. For example, when the remote operation location is not known in advance, the position of the moving body 50 that requests remote operation becomes the remote operation location. In this case, it is possible to determine the moving body 50 that requests remote operation and the moving bodies 50 around the moving body 50 that requests remote operation as multiple moving bodies 50 that are predicted to pass through the remote operation location during the same time period based on the position of the moving body 50 that requests remote operation and the positions of the moving bodies 50 around the moving body 50 that requests remote operation. The moving bodies 50 around the moving body 50 that requests remote operation can be, for example, the moving bodies 50 located within the shooting range of the sensor mounted on the moving body 50 that requests remote operation, or the moving bodies 50 located at positions within a specified range from the position of the moving body 50 that requests remote operation.

[0090] Moreover, in Use Cases 1 and 2, the determination unit 12 may also have the following functions.

[0091] For example, in the case where a traffic jam occurs near the remote operation location, it is predicted that multiple moving bodies 50 will pass through the remote operation location during the same time period. In such a case, the determination unit 12 may also generate multiple groups of multiple moving bodies 50 that pass through the remote operation location during the same time period based on the adaptability of each moving body 50 to the movement related to remote operation or following, the skills or experience of the operator for remote operation in the state where there is a following of the moving body 50, or the burden or spare capacity of the operator during remote operation. This is because if the number of the second moving bodies following the first moving body increases, the remote operation of the first moving body in the state where there is a following of the second moving body will become difficult.

[0092] Next, the determination unit 13 determines the first mobile body to be remotely operated and the second mobile body that follows the first mobile body from among the determined multiple mobile bodies 50 (step S13).

[0093] For example, in use case 1, the determination unit 13 may also obtain the positions and movement plans of the determined multiple mobile bodies 50, and based on the positions and movement plans of the multiple mobile bodies 50, determine the mobile body that arrives at the remote operation location earliest among the multiple mobile bodies 50 as the first mobile body, and determine the other mobile bodies as the second mobile bodies. Among the multiple mobile bodies 50, the mobile body 50 estimated to arrive at the remote operation location earliest is likely to be in front of other mobile bodies 50 estimated to arrive at the remote operation location later than this mobile body 50 at the remote operation location. Therefore, by determining the mobile body 50 estimated to arrive at the remote operation location earliest among the multiple mobile bodies 50 as the first mobile body and the other mobile bodies 50 as the second mobile bodies, it is possible to smoothly switch to the mode in which the operator remotely operates the first mobile body while having the second mobile body follow the first mobile body. In other words, there is no need to change the order in the traveling direction of the first mobile body and the second mobile body.

[0094] In use case 1, and for example, it may also be that the determination unit 13 obtains the adaptability of the determined multiple mobile bodies 50 related to remote operation or following. The determination unit 13 may also determine, from among the multiple mobile bodies 50, the mobile bodies 50 suitable for remote operation as the first mobile body based on the adaptability related to remote operation, and determine the other mobile bodies 50 as the second mobile bodies. Also, the determination unit 13 may determine, from among the multiple mobile bodies 50, the mobile bodies 50 suitable for following as the second mobile body based on the adaptability related to following, and determine the other mobile bodies 50 as the first mobile body. Also, the determination unit 13 may determine, from among the multiple mobile bodies 50, the mobile bodies 50 not suitable for remote operation as the second mobile body based on the adaptability related to remote operation, and determine the other mobile bodies 50 as the first mobile body. Also, the determination unit 13 may determine, from among the multiple mobile bodies 50, the mobile bodies 50 not suitable for following as the first mobile body based on the adaptability related to following, and determine the other mobile bodies 50 as the second mobile bodies. In this way, it is also possible to determine the mobile bodies 50 suitable for remote operation or the mobile bodies 50 not suitable for following as the first mobile body, and it is also possible to determine the mobile bodies 50 suitable for following or the mobile bodies 50 not suitable for remote operation as the second mobile body. Accordingly, the efficiency of remote operation can be improved, or a decrease in efficiency can be suppressed.

[0095] For example, it may also be possible to make a relative judgment on the adaptability of the multiple mobile bodies 50 related to remote operation or following among the multiple mobile bodies 50.

[0096] For example, the mobile body 50 suitable for remote operation may also be a mobile body equipped with high-performance sensors (such as a large sensing range, etc.) or a mobile body with a large number of sensors. This is because remote operation is basically performed based on the sensing information of the first mobile body. And, for example, the mobile body 50 suitable for remote operation may also be a mobile body with which the operator is accustomed to remote operation. And, for example, the mobile body 50 suitable for remote operation may also be a mobile body with a larger size than other mobile bodies 50. This is because the second mobile body behind simply follows the first mobile body on the same path as the first mobile body, and the operator can operate without considering the path of the second mobile body. In other words, when the size of the first mobile body is smaller than the size of the second mobile body, the second mobile body cannot follow on the same path as the first mobile body, and it is necessary to make some efforts for each of the first mobile body and the second mobile body. And, the mobile body 50 not suitable for remote operation may also be a mobile body in which a sensor has failed or a mobile body with dirt attached to the sensor. In addition, these elements may be combined to comprehensively determine whether the mobile body 50 is suitable for remote operation.

[0097] And, it is also possible to present a plurality of determined mobile bodies 50 to the operator and have the operator select the first mobile body and the second mobile body from the plurality of mobile bodies 50. Further, it is also possible to present information related to remote operation of the plurality of determined mobile bodies 50. Information related to remote operation is, for example, (1) the distance from the remote operation location to the mobile body 50 or the scheduled arrival time at the remote operation location, (2) the adaptability of the mobile body related to remote operation or following, (3) the operation characteristics showing whether autonomous movement and remote operation can be performed, the remote operation history, whether there is a manual operation request from the occupants of the mobile body, or the management attribute of the mobile body 50 showing whether it is a management object of the remote management system 10, etc. And, it is also possible to pre-register the selection conditions of the operator for the first mobile body and the second mobile body and automatically determine the mobile body 50 that meets the selection conditions as the first mobile body or the second mobile body.

[0098] For example, in use case 2, the determination unit 13 may also determine the mobile body 50 that requests remote operation as the first mobile body and determine the mobile body 50 around the mobile body 50 that requests remote operation (for example, the mobile body 50 following the mobile body 50 that requests remote operation) as the second mobile body. Accordingly, while causing the mobile body 50 around the mobile body 50 that requests remote operation to follow the mobile body 50 that requests remote operation, it is possible to smoothly switch to the mode in which the operator remotely operates the mobile body 50 that requests remote operation.

[0099] And, in use cases 1 and 2, the determination unit 13 may also have the following functions.

[0100] For example, the determination unit 13 may also determine the moving body 50 that requests remote operation at the remote operation location (where a request is estimated to be issued) as the second moving body. In this way, by determining the moving body 50 that is estimated to request remote operation at the remote operation location as the second moving body, such a moving body 50 can follow the first moving body and indirectly perform remote operation. In other words, regarding the moving body 50 that is estimated not to request remote operation at the remote operation location, since remote operation is rarely required at the remote operation location, this moving body 50 may not be determined as the second moving body that follows the first moving body. That is to say, by enabling the moving body 50 that is estimated not to request remote operation to continue autonomous movement, the burden on the operator can be reduced.

[0101] For example, the determination unit 13 may also determine the moving body that is estimated to request remote operation at the remote operation location as the second moving body according to the operation characteristics indicating whether autonomous movement and remote operation are possible, the history of remote operation, the requirement for manual operation from the occupants of the moving body, or the management attributes of the moving body 50 indicating whether it is an object to be managed by the remote management system 10.

[0102] For example, the determination unit 13 may at least determine the moving body 50 that can perform both autonomous movement and remote operation as the second moving body. In other words, the determination unit 13 may estimate the moving body 50 that cannot perform both autonomous movement and remote operation as a moving body 50 with a low possibility of requesting remote operation at the remote operation location, and not determine this moving body 50 as the second moving body. The moving body 50 that cannot perform both autonomous movement and remote operation refers to, for example, a moving body that does not have both the functions of autonomous movement and remote operation, or a moving body whose functions cannot effectively function due to a failure or the like.

[0103] Moreover, for example, the determination unit 13 may at least estimate the moving body 50 with a history of being remotely operated as a moving body 50 that may request remote operation at the remote operation location, and determine this moving body 50 as the second moving body. In other words, the determination unit 13 may estimate the moving body 50 without a history of remote operation as a moving body 50 with a low possibility of requesting remote operation at the remote operation location, and not determine this moving body 50 as the second moving body. For example, the history of being remotely operated is a history of traveling while being remotely operated at the remote operation location this time, or a history of traveling while following the first moving body. And, for example, the history of remote operation is a history of traveling while being remotely operated by another moving body 50 of the same type or similar to the remote operation location that is the object this time, or a history of traveling while following the first moving body. In addition, the history of remote operation may also be replaced by a history of another remote operation location similar to the environment of the remote operation location this time (for example, a confluence location or other locations that can be judged on the map) instead of the history of the remote operation location this time.

[0104] Further, for example, the determination unit 13 may estimate at least the mobile body 50 that does not require manual operation by the occupant of the mobile body 50 as the mobile body 50 that can request remote operation at the remote operation location, and determine the mobile body 50 as the second mobile body. In other words, the determination unit 13 may also estimate the mobile body 50 that requires manual operation by the occupant of the mobile body 50 as the mobile body 50 with a low possibility of requesting remote operation at the remote operation location, and not determine the mobile body 50 as the second mobile body. For example, when the driving mode of each mobile body 50 is managed by the remote management system 10, for the mobile body 50 that can switch between the automatic driving mode and the manual driving mode, the mobile body 50 traveling in the automatic driving mode may be regarded as the mobile body requesting remote operation, and the mobile body 50 traveling in the manual driving mode may be regarded as the mobile body not requesting remote operation.

[0105] Further, for example, the determination unit 13 may estimate at least the mobile body 50 that is an object to be managed by the remote management system 10 as the mobile body 50 that can request remote operation at the remote operation location, and determine the mobile body 50 as the second mobile body. In other words, the mobile body 50 that is not originally an object to be managed by the remote management system 10 is a mobile body that does not request remote operation from the remote management system 10, so the determination unit 13 may also not determine the mobile body 50 as the second mobile body.

[0106] Further, the width of the predetermined arrival time or the remaining distance used in the process of the determination unit 12 determining the plurality of mobile bodies 50 may also be a value set by the operator. Further, the width of the predetermined arrival time or the remaining distance may also vary according to the distance from the remote operation location to the mobile body 50. For example, the width of the predetermined arrival time varies as follows: when the distance from the remote operation location to the mobile body 50 is 10 km, the width of the predetermined arrival time is 45 seconds; when the distance from the remote operation location to the mobile body 50 is 1 km, the width of the predetermined arrival time is 15 seconds. And, similar to the width of the predetermined arrival time, the remaining distance may also vary. And the above-mentioned varying values may also be set by the operator.

[0107] Further, it is also possible to prompt the operator to select at least one of the first mobile body or the second mobile body selected from the determined plurality of mobile bodies 50 according to the selection conditions as described above. Further, it is also possible to ask the operator whether to approve at least one of the prompted first mobile body or second mobile body, and determine the first mobile body and the second mobile body when approved.

[0108] Moreover, the determination of the plurality of mobile bodies in the determination unit 12 can also be performed by a machine learning model. For example, relationship data showing the remote operation location and the relationship between the remote operation location and the mobile body 50 used is used as training data, and the plurality of mobile bodies 50 determined by the operator are used as correct data to train the machine learning model. For example, the relationship data is the distance from the remote operation location to the mobile body 50 or the predetermined arrival time to reach the remote operation location. Further, based on the relationship data, data such as the operator, the position of the mobile body 50 (or the category of the area to which the position belongs), the vehicle type of the mobile body 50, and the time period can also be used as training data for training the machine learning model.

[0109] Moreover, the determination of the first mobile body and the second mobile body by the determination unit 13 can also be performed by a machine learning model. For example, information related to remote operation of the plurality of mobile bodies 50 determined by the determination unit 12 is used as training data, and the first mobile body and the second mobile body selected by the operator are used as correct data to train the machine learning model. Information related to remote operation is, for example, (1) the distance from the remote operation location to the mobile body 50 or the predetermined arrival time to reach the remote operation location, (2) the adaptability of the mobile body related to remote operation or following, (3) operation characteristics showing whether autonomous movement and remote operation can be performed, the remote operation history, whether there is a requirement for manual operation from the occupants of the mobile body, or the management attribute of the mobile body 50 showing whether it is an object to be managed by the remote management system 10, etc. Further, in addition to the relationship data, data such as the operator, the position of the mobile body 50 (or the category of the area to which the position belongs), the vehicle type of the mobile body 50, and the time period can also be used as training data for training the machine learning model.

[0110] Alternatively, instead of the above-mentioned machine learning model, the determination of the plurality of mobile bodies in the determination unit 12 and the determination of the first mobile body and the second mobile body in the determination unit 13 can be performed according to a statistical method using past history.

[0111] In this way, it is possible to estimate whether the mobile body 50 requests remote operation at the remote operation location based on operation characteristics showing whether autonomous movement and remote operation can be performed, the remote operation history, whether there is a requirement for manual operation from the occupants of the mobile body, or the management attribute of the mobile body 50 showing whether it is an object to be managed.

[0112] For example, the determination unit 13 can also determine the second mobile body based on the adaptability of the mobile body related to following, the skills or experience of the operator for remote operation in a state where there is following of the mobile body 50, or at least one of the restrictions on the movement time, the stop time, the movement speed, and the movement range.

[0113] For example, the determination unit 13 determines a moving body 50 whose adaptability of the moving body related to following satisfies a specified condition as the second moving body. Specifically, the determination unit 13 may determine as the second moving body the moving bodies 50 that: have a function of following other moving bodies 50; can follow the size of other moving bodies 50 (for example, moving bodies 50 smaller than the first moving body); or have sensors whose position or sensing range can follow other moving bodies 50. For example, the specified condition may also vary according to the current position of the moving body 50. This is because the adaptability required for the moving body will also vary depending on the location where infrastructure cooperation can be achieved, the road width, etc.

[0114] Also, for example, when the skills or experience of the operator for remote operation in a state where there is following by the moving body 50 are insufficient, the determination unit 13 may not make a determination of the second moving body. That is, the operator may not be made to perform remote operation of the first moving body in a state where there is following by the second moving body. This is because the difficulty of remote operation of the moving body 50 in a state where there is following by other moving bodies 50 is higher than that of remote operation of the moving body 50 without following by other moving bodies 50, and there may be a safety problem when the skills or experience of the operator for remote operation in a state where there is following by the moving body 50 are insufficient. In addition, the determination unit 13 may also ask the operator whether the skills or experience for remote operation in a state where there is following by the moving body 50 are sufficient.

[0115] Also, for example, the determination unit 13 may determine the moving body 50 that satisfies at least one of the restrictions on the moving time, the stop time, the moving speed, and the moving range as the second moving body. For example, the determination unit 13 may not determine the moving body 50 that is providing a service (e.g., a passenger vehicle in which a passenger is riding) as the second moving body. This is because there may be a case where any one of the restrictions on the moving time, the stop time, the moving speed, and the moving range is set for the moving body 50 that is providing a service. If such a moving body 50 is determined as the second moving body, there is a possibility of not satisfying the restrictions. In addition, even for the moving body 50 that is providing a service, when it satisfies at least one of the restrictions on the moving time, the stop time, the moving speed, and the moving range and can maintain the service quality, it may be determined as the second moving body. Similarly, the determination unit 13 may determine the moving body 50 that satisfies at least one of the restrictions on the moving time, the stop time, the moving speed, and the moving range as the first moving body.

[0116] In this way, it is possible to determine the moving body 50 whose adaptability related to following is suitable for following, or the moving body 50 that satisfies at least one of the restrictions on the moving time, the stop time, the moving speed, and the moving range as the second moving body. Or, it is possible to determine the second moving body when the skills or experience of the operator for remote operation in a state where the moving body 50 is being followed is insufficient. In other words, when the skills or experience of the operator for remote operation in which the moving body 50 is being followed is sufficient, the second moving body may not be determined.

[0117] Next, the prompting unit 14 prompts the operator so that the operator remotely operates the first moving body at the remote operation location (step S14). In use cases 1 and 2, the prompting unit 14 may also have the following functions.

[0118] For example, when the burden on the remote management system 10 (such as an operator) during remote operation is above a threshold or the remaining capacity is less than the threshold, or when the reason for the remote operation is not an abnormality in the mobile body 50 that affects the movement of the mobile body, it can also be determined to execute the remote operation of the first mobile body in a state where the second mobile body follows, and prompt the operator so that the operator can perform remote operation on the first mobile body at the remote operation location. For example, the burden on the remote management system 10 is the number or proportion of operators or remote operation devices required for remote operation, and the remaining capacity of the remote management system 10 is the number or proportion of operators or remote operation devices that can immediately respond to remote operation. For example, in the remote operation of the first mobile body in a state where the second mobile body follows, because of the follow-up of the second mobile body, the operator often performs remote operation carefully, so the overall moving speed of the multiple mobile bodies 50 becomes slower, resulting in reduced efficiency. In contrast, when the burden on the operator during remote operation is less than the threshold or the remaining capacity is above the threshold, the operator has leeway, so it is possible not to execute the remote operation of the first mobile body in a state where the second mobile body follows, but to perform remote operation on each of the multiple mobile bodies 50 separately, so that the multiple mobile bodies 50 can be moved efficiently. Also, when the reason for the remote operation is an abnormality in the mobile body 50 that affects the movement of the mobile body (such as a sensor failure, dirt attached to the sensor, etc.), the mobile bodies 50 other than the mobile body 50 with the abnormality do not require remote operation, so there is no need to perform the remote operation of the first mobile body in a state where the second mobile body follows.

[0119] For example, after issuing an instruction for the second mobile body to follow, the prompting unit 14 may also allow the operator to perform remote operation on the first mobile body. For example, until the preparation for the follow-up of the second mobile body is completed (such as completing the movement to the follow-up position), the remote operation of the first mobile body may not be started. When the preparation for the follow-up of the second mobile body is completed, the prompting unit 14 may prompt the operator to allow remote operation. Accordingly, it is possible to prevent the remote operation of the first mobile body from starting before the preparation for the second mobile body to follow the first mobile body is completed. For example, the determination of whether the preparation for the follow-up of the second mobile body has been completed can be made based on whether vehicle-to-vehicle communication has been established, whether the position and orientation of the second mobile body relative to the first mobile body have been adjusted, or whether the position of the sensor of the first mobile body or the second mobile body for the follow-up work for remote operation has been adjusted, etc. Also, for example, before starting the remote operation, the operator may be allowed to perform remote operation after confirming the positions of the sensors of the first mobile body and the second mobile body.

[0120] For example, during the remote operation of the first moving body with the second moving body following, the prompting unit 14 may also obtain the sensing data (or its processed data) of the sensors in the second moving body from the second moving body and prompt it to the operator. Accordingly, the operator can perform the remote operation of the first moving body in the state where the second moving body follows while confirming the sensing data of the second moving body following the first moving body (in other words, while confirming the conditions around the second moving body). Therefore, the safety of the second moving body that is not directly remotely operated following the remotely operated first moving body can be ensured.

[0121] For example, during the remote operation of the first moving body in the state where the second moving body follows, the prompting unit 14 may also provide the operation interface for controlling the sensors in the second moving body to the operator. Accordingly, the operator can control the sensors in the second moving body to confirm the conditions of the area to be confirmed around the second moving body while performing the remote operation of the first moving body in the state where the second moving body follows. Therefore, the safety of the second moving body that is not directly remotely operated following the remotely operated first moving body can be ensured. For example, regarding the control signal for controlling the sensors in the second moving body, it can be directly sent from the remote operation system 20 to the second moving body, or can be sent from the remote operation system 20 to the second moving body via the first moving body. In addition, if the sensors of the second moving body for following the first moving body are controlled by the operator, it may be difficult for the second moving body to follow the first moving body. Therefore, the operator can only control the sensors other than the sensors of the second moving body. Or, the sensors of the second moving body can be controlled by the operator under the condition that the followable range is restricted (such as the moving range and the orientation range of the sensors of the second moving body, etc.). And when the remote operation of the first moving body in the state where the second moving body follows ends (that is, when the second moving body switches from the follow mode to the autonomous driving mode), the position and orientation of the sensors can also automatically return to the state in the autonomous driving mode before the follow mode.

[0122] For example, when the movement characteristics of the moving bodies between the first moving body and the second moving body are different, during the remote operation of the first moving body with the second moving body following, the prompting unit 14 can prompt the operator with the movement trajectory of the second moving body estimated based on the remote operation of the first moving body by the operator and at least the movement characteristics of the second moving body. For example, when the movement characteristics of the moving bodies between the first moving body and the second moving body are different, the movement trajectory of the second moving body following the first moving body may be different from the movement trajectory of the remotely operated first moving body. Especially when the size of the second moving body is larger than that of the first moving body, even if the first moving body is remotely operated to move in a way that it will not hit an obstacle or the like, there may be a situation where the second moving body following the first moving body hits an obstacle or the like. Thus, the estimated movement trajectory of the second moving body is prompted to the operator. For example, the guiding of the movement path is prompted according to the larger one of the first moving body and the second moving body in terms of the body size (e.g., the length of the vehicle). Accordingly, the operator can remotely operate the first moving body considering the movement trajectory of the second moving body, and the safety of the second moving body can be ensured.

[0123] For example, during the remote operation of the first moving body with the second moving body following, the prompting unit 14 can also prompt the operator with the relationship between the end point of the remote operation and the position of the second moving body according to the remote operation location, the position of the first moving body, and the position of the second moving body. Accordingly, the operator can end the remote operation of the first moving body after confirming that the second moving body has passed the end point of the remote operation. Therefore, it is possible to prevent the second moving body from being released from following the first moving body before passing the end point of the remote operation, and thus the safety of the second moving body can be ensured.

[0124] For example, when there is a history of remotely operating the moving body 50 at the remote operation location in the past, the prompting unit 14 can obtain the end point of the remote operation based on this history and prompt the operator to continue the remote operation of the first moving body until the second moving body passes this end point. For example, the content can also be prompted to the operator when the second moving body passes this end point. And, for example, it may not be allowed to change the driving mode of the first moving body from the remote operation mode to the autonomous driving mode until the second moving body passes this end point. Also, the prompting unit 14 can prompt the location where the switch from the remote operation mode to the automatic movement mode is allowed. In addition, in the case of no history, the operator can also set the location where the switch from the remote operation mode to the automatic movement mode is made.

[0125] Accordingly, the instruction unit 15 issues an instruction to the second moving body so that the second moving body follows the first moving body during the period when the first moving body is remotely operated (step S15). For example, when an instruction to switch from the autonomous driving mode to the follow-up driving mode is issued from the remote management system 10 to the second moving body, the second moving body starts the follow-up driving mode, and at the timing when the operator issues an instruction to switch the first moving body from the remote operation mode to the autonomous driving mode, the second moving body switches from the follow-up driving mode to the autonomous driving mode. Accordingly, the second moving body moves following the remotely operated first moving body. Therefore, as long as the operator remotely operates the presented first moving body, the operator can move a plurality of moving bodies 50 passing through the remote operation location at the same time period together at the remote operation location. Therefore, the burden on the operator for remotely operating a plurality of autonomously movable moving bodies 50 at the same location at the same time period can be reduced.

[0126] For example, in use case 1, the instruction unit 15 may also determine whether the second moving body is behind the first moving body at the start time of the remote operation based on the positions and movement plans of the first moving body and the second moving body. If the second moving body is not behind the first moving body, an instruction to move is issued to at least one of the first moving body and the second moving body so that the second moving body follows behind the first moving body. For example, according to the determined current positions and current movement plans of the first moving body and the second moving body, there may be a situation where the second moving body is not behind the first moving body at the start time of the remote operation. Then, when the determination result is that the second moving body is not behind the first moving body at the start time of the remote operation, the instruction unit 15 issues an instruction to move to at least one of the first moving body and the second moving body so that the second moving body follows behind the first moving body, thereby enabling the second moving body to follow behind the first moving body at the start time of the remote operation. Therefore, at the start time of the remote operation, while enabling the second moving body to follow the first moving body, the mode of remotely operating the first moving body by the operator can be smoothly switched.

[0127] At this time, the instruction unit 15 may also obtain at least one of a restriction on the moving time, a restriction on the stopping time, a restriction on the moving speed, and a restriction on the moving range, and issue an instruction to move to at least one of the first moving body and the second moving body according to the at least one restriction. For example, due to differences in the moving body 50, there are restrictions such as those related to the moving time that can be moved and the stopping time that can be stopped corresponding to the movement plan of the moving body 50, restrictions related to the maximum speed or minimum speed of the moving body 50, and restrictions related to the moving range within which the moving body 50 can move. Then, by issuing an instruction to move according to these restrictions, an instruction to move can be issued while observing these restrictions.

[0128] Furthermore, in use cases 1 and 2, the instruction unit 15 may have the following functions.

[0129] For example, the instruction unit 15 may also issue an instruction to control the sensor according to the operation in the operation interface when the prompt unit 14 provides the operator with an operation interface for controlling the sensor in the second moving body during the remote operation of the first moving body in the state of being followed by the second moving body. Accordingly, the operator can remotely operate the first moving body in the state of being followed by the second moving body while confirming the condition of the area to be confirmed around the second moving body by controlling the sensor in the second moving body. Therefore, the safety of the second moving body that follows the remotely operated first moving body and is not directly remotely operated can be ensured.

[0130] For example, the instruction unit 15 may also issue an instruction to the second moving body, causing the second moving body to continue to follow the first moving body until the remote operation of the first moving body with the second moving body following it is completed. For example, if the second moving body is released from following the first moving body while the first moving body is being remotely operated by an operator, a safety problem may occur. This is because the first moving body is in a state where it is difficult for the first moving body to move autonomously when the operator is remotely operating it, and the second moving body following the first moving body is also in a state where it is difficult for the first moving body to move autonomously. Therefore, it is possible to prevent the second moving body from being released from following the first moving body before the remote operation of the first moving body is completed, thereby ensuring the safety of the second moving body.

[0131] For example, the instruction unit 15 may issue an instruction to the first moving body when the first moving body passes through the end point of the remote operation so that the first moving body switches the remote operation mode to the automatic movement mode, and issue an instruction to the second moving body when the second moving body passes through the above-mentioned end point so that the second moving body switches the follow-up mode to the automatic movement mode. For each of the first moving body and the second moving body, automatically switching to the automatic movement mode when passing through the above-mentioned end point can save the labor and time of the operator to switch the remote operation mode to the automatic movement mode, thereby reducing the burden on the operator. In addition, in the case where only the first moving body passes through the end point and the second moving body does not pass through the end point, the operator can also monitor the second moving body until the second moving body passes through the end point.

[0132] For example, when the second moving body is still moving on the same moving path as the first moving body after passing the end point of the remote operation, the indication unit 15 may issue an indication to the second moving body so that the second moving body continues to follow the first moving body while moving on the same moving path as the first moving body.

[0133] For example, during the remote operation of the first moving body with the following of the second moving body, the indicating unit 15 may issue an instruction to the new moving body 50 to perform following travel when a new moving body 50 that can follow the first moving body or the second moving body following the first moving body is further detected. In this case, the operator may be temporarily interrupted from remotely operating the first moving body until the new moving body 50 completes the preparation for following, and the first moving body may be made to wait. Alternatively, the operator may be asked whether the new moving body 50 can be added as the second moving body.

[0134] Next, a specific example of the operation of the remote management system 10 in Use Case 1 where a pre-known remote operation location is obtained will be described.

[0135] Figure 5 It is a flowchart showing an example of the operation of the remote management system 10 in Use Case 1.

[0136] First, the acquisition unit 11 acquires vehicle position information, operation information, and remote operation location information (step S21). For example, the acquisition unit 11 acquires a pre-known remote operation location, acquires the positions of a plurality of vehicles existing around the remote operation location among the plurality of moving bodies 50 (hereinafter also referred to as vehicles) managed by the remote management system 10, and acquires the operation information (travel path and arrival time at each travel location, etc.) of the plurality of vehicles.

[0137] Next, the determination unit 12 determines a plurality of vehicles that are scheduled to pass through the remote operation location (step S22), and calculates the scheduled arrival time at the remote operation location for each determined vehicle (step S23). For example, the determination unit 12 can determine a plurality of vehicles that are scheduled to pass through the remote operation location based on the vehicle position information, operation information, and remote operation location information, and thereby calculate the scheduled arrival time for each determined vehicle. For example, the determination unit 12 may also determine a plurality of vehicles that are scheduled to pass through the remote operation location from among a plurality of vehicles traveling in the same direction.

[0138] Next, the determination unit 12 determines whether there are a plurality of vehicles that arrive at the remote operation location within the same time period (step S24). For example, the determination unit 12 may also determine whether there are a plurality of vehicles with the same scheduled arrival time by comparing the scheduled arrival times of the plurality of vehicles that are scheduled to pass through the remote operation location, and thereby determine whether there are a plurality of vehicles that arrive at the remote operation location within the same time period. The longer the time from the current moment to the scheduled arrival time, the larger the range of the scheduled arrival time that can be regarded as "the same" (that is, the deviation allowable with respect to the scheduled arrival time) can be set. This is because the longer the time from the current moment to the scheduled arrival time, the greater the difference between the actual arrival time and the scheduled arrival time may be.

[0139] In addition, the determination unit 12 may also compare the remaining distances from the current positions of multiple vehicles passing through a predetermined remote operation location to the remote operation location, and determine whether there are multiple vehicles with the same remaining distance, so as to determine whether there are multiple vehicles arriving at the remote operation location within the same time period. The larger the remaining distance, the larger the range of the remaining distance that can be regarded as the same (that is, the deviation allowable relative to the remaining distance) can be set.

[0140] Moreover, the determination unit 12 may also compare the travel paths from the current positions to the remote operation location and the current positions of multiple vehicles passing through a predetermined remote operation location, and determine whether there are multiple vehicles with the same travel path and the same current position, so as to determine whether there are multiple vehicles arriving at the remote operation location within the same time period. In this case, this determination can be made even without calculating the scheduled arrival time or the remaining distance. In addition, in the case of comparing the scheduled arrival times or in the case of comparing the remaining distances, there is an advantage that vehicles arriving at the remote operation location within the same time period can be selected from multiple vehicles with different current positions or travel paths.

[0141] When there are no multiple vehicles arriving at the remote operation location within the same time period (\"No\" in step S24), the process ends. In this case, the remote operation of the first moving body in a state where the second moving body follows (hereinafter, also referred to as remote operation with following) is not performed.

[0142] When there are multiple vehicles arriving at the remote operation location within the same time period (\"Yes\" in step S24), the determination unit 12 determines the multiple vehicles arriving at the remote operation location within the same time period as a group for remote operation with following (step S25). In addition, the determination unit 12 may not include in the group for remote operation with following a vehicle that will cause a delay of more than a specified time when arriving at the destination if remote operation with following is performed, and thus causes problems (for example, a vehicle that is providing a service). This is because in the case of performing remote operation with following, there may be a delay in arriving at the destination due to vehicle stop or deceleration. For example, in the case of a passenger vehicle with passengers, the service quality may be reduced.

[0143] Next, the determination unit 13 determines the vehicle with the earliest scheduled arrival time in the determined group as the remote operation target vehicle (step S26). The remote operation target vehicle is an example of the first moving body. In addition, the determination unit 13 may also determine the vehicle in the determined group with the current position closest to the remote operation location as the remote operation target vehicle. Or, the determination unit 13 may also determine according to Figure 3Based on the information of the movable object that can follow, the remote operation target vehicle is determined.

[0144] Next, the determination unit 13 determines the vehicles other than the remote operation target vehicle in the determined group as following vehicles (step S27). The following vehicle is an example of the second movable object. For example, when the determination unit 13 determines the vehicle with the earliest scheduled arrival time as the remote operation target vehicle, it determines the vehicles other than the vehicle with the earliest scheduled arrival time as following vehicles. When the vehicle with the current position closest to the remote operation location is determined as the remote operation target vehicle, it determines the vehicles other than the vehicle with the current position closest to the remote operation location as following vehicles. Alternatively, the determination unit 13 may also determine the vehicles other than the remote operation target vehicle determined based on the information of the movable object that can follow as following vehicles.

[0145] In addition, when there are three or more vehicles arriving at the remote operation location in the same time period, since there are two or more following vehicles, for example, the determination unit 13 may also determine the following order among the two or more following vehicles.

[0146] When the determination unit 13 determines the remote operation target vehicle and the following vehicle based on the information of the movable object that can follow, in other words, when determining the remote operation target vehicle and the following vehicle without considering the scheduled arrival time or position, there may be a situation where the current position of the remote operation target vehicle is behind the current position of the following vehicle. Or, even when the determination unit 13 determines the vehicle with the earliest scheduled arrival time or the vehicle with the current position closest to the remote operation location as the remote operation target vehicle and determines the other vehicles as following vehicles, the current position of the remote operation target vehicle is not necessarily in front of the current position of the following vehicle.

[0147] Then, the instruction unit 15 determines whether the following vehicle is a vehicle behind the remote operation target vehicle (step S28). For example, it may also be determined whether the following vehicle is a vehicle behind the remote operation target vehicle by determining whether the following vehicle exists within a specified distance from the remote operation target vehicle to the rear. Whether the following vehicle exists within a specified distance from the remote operation target vehicle to the rear can be determined based on the sensing data of the sensors of the remote operation target vehicle or the following vehicle, or can be determined based on GPS (Global Positioning System) data.

[0148] In the case where the following vehicle is not the rear vehicle of the remote operation target vehicle ("No" in step S28), the instruction unit 15 performs driving control on at least one of the remote operation target vehicle and the following vehicle so that the following vehicle becomes the rear vehicle of the remote operation target vehicle (step S29). For example, the following vehicle is controlled to reduce speed or stop, or the remote operation target vehicle is controlled to increase speed. Alternatively, both driving control of reducing the speed of the following vehicle or stopping the following vehicle and driving control of increasing the speed of the remote operation target vehicle are performed. In addition, for example, in the case of the following area, the stopping driving control may be performed, and the area is an area where parking can be performed on the road. Furthermore, even if the following vehicle is located behind the remote operation target vehicle, there may be a situation where the distance between the remote operation target vehicle and the following vehicle is large. In this case, the driving control of reducing the speed of the remote operation target vehicle or stopping the remote operation target vehicle is performed, or the driving control of increasing the speed of the following vehicle is performed. Furthermore, even if the following vehicle is located behind the remote operation target vehicle, there may be a situation where there are other vehicles between the remote operation target vehicle and the following vehicle. In this case, the remote control target vehicle is slowed down or stopped, or the following vehicle is accelerated to overtake other vehicles. In addition, the overtaking driving control may be performed, for example, in an area where overtaking is possible (e.g., a fast lane, etc.).

[0149] For example, when the remote operation target vehicle is decelerated or stopped, the transportation of passengers may occur. Therefore, in order to suppress the reduction of service quality, the remote operation target vehicle may be controlled other than deceleration or stopping. For example, the driving route to the destination may be changed to select a driving route that reaches the destination earlier.

[0150] In addition, the decision unit 13 may change the allocation of the remote operation target vehicle and the following vehicle according to the successively changing positions, scheduled arrival times, or remaining distances of each vehicle during the process in which the determined remote operation target vehicle and the following vehicle are traveling toward the remote operation location. For example, the decision unit 13 may re-determine the already determined following vehicle as the remote operation target vehicle and re-determine the already determined remote operation target vehicle as the following vehicle when the following vehicle is located in front of the remote operation target vehicle during the process in which the already determined remote operation target vehicle and the following vehicle are traveling toward the remote operation location.

[0151] Also, the determination unit 13 may remove a vehicle (for example, a vehicle with a large difference between the current scheduled arrival time and the original scheduled arrival time) that is predicted to not reach the remote operation location within the same time period from the group of vehicles with following remote operation during the process of the determined remotely operated target vehicle and the following vehicle traveling towards the remote operation location. For example, if this vehicle is the remotely operated target vehicle, the following remote operation may also be cancelled. Alternatively, multiple vehicles that reach the remote operation location within the same time period may be determined as a new group again.

[0152] When the following vehicle is the vehicle behind the remotely operated target vehicle (Yes in step S28), or when the vehicle traveling control is performed on at least one of the remotely operated target vehicle and the following vehicle in step S29 so that the following vehicle becomes the vehicle behind the remotely operated target vehicle, the prompting unit 14 prompts the operator with the following remote operation (step S30), and the instructing unit 15 issues an instruction to the following vehicle to make the following vehicle travel following the remotely operated target vehicle (step S31). Accordingly, the following vehicle travels following the remotely operated target vehicle, so as long as the operator remotely operates the prompted remotely operated target vehicle, the remotely operated target vehicle and the following vehicle passing through the remote operation location within the same time period can be moved together at the remote operation location. Therefore, the burden on the operator for remotely operating multiple vehicles that can move autonomously at the same location within the same time period can be reduced.

[0153] Alternatively, an instruction may be issued to the following vehicle to make the following vehicle travel following the remotely operated target vehicle before prompting the operator with the following remote operation. This will be Figure 6 described herein.

[0154] Figure 6 It is a diagram for explaining the timing of starting the following travel. In Figure 6 this, vehicle 50a is taken as the remotely operated target vehicle, and vehicle 50b is taken as the following vehicle. Also, path R1 is taken as the travel path of vehicle 50a, and path R2 is taken as the travel path of vehicle 50b.

[0155] For example, assume that when the vehicle 50a is traveling in the area A1, the vehicle 50b is determined to be a vehicle behind the vehicle 50a. For example, at this timing, the vehicle 50b can also be switched from the autonomous driving mode to the following driving mode. However, when the subsequent driving paths of the vehicle 50a and the vehicle 50b are different like the paths R1 and R2, temporarily releasing the following driving mode of the vehicle 50b and returning to the autonomous driving mode in the area A2 will result in reduced efficiency. Therefore, the instruction unit 15 can also, when it is determined that the vehicle 50b is a vehicle behind the vehicle 50a and the vehicle 50b and the vehicle 50a are traveling in the area A3 where the paths to the remote operation location are the same, issue an instruction to the vehicle 50b to make the vehicle 50b follow the vehicle 50a and drive.

[0156] In this way, the instruction unit 15 can also, when it is determined that the following vehicle is a vehicle behind the remotely operable vehicle and the following vehicle and the remotely operable vehicle are traveling in the same area where the paths to the remote operation location are the same, issue an instruction to the following vehicle to make the following vehicle follow the remotely operable vehicle and drive. In addition, there may be a situation where the following vehicle is providing a service and stops to pick up or drop off passengers. In this case, the following driving mode of the following vehicle is also temporarily released and it returns to the autonomous driving mode. Therefore, the instruction unit 15 can also, further, when it is determined that the following vehicle will not stop to pick up or drop off passengers during the process of traveling to the remote operation location, issue an instruction to the following vehicle to make the following vehicle follow the remotely operable vehicle and drive.

[0157] Next, a specific example of the operation of the remote management system 10 in Use Case 2, where the location of the moving body 50 requesting remote operation is used as the remote operation location, will be described.

[0158] Figure 7 It is a sequence diagram showing an example of the operation of the entire system in Use Case 2. In Figure 7 the moving body 50 requesting remote operation is taken as the vehicle 50a, and the moving body 50 around the vehicle 50a (specifically, the vehicle behind the vehicle 50a) is taken as the vehicle 50b. The vehicle 50a is an example of a vehicle determined to be the first moving body, and the vehicle 50b is an example of a vehicle determined to be the second moving body.

[0159] For example, assume that a specified event has occurred in vehicle 50a. The specified event is, for example, an event that causes vehicle 50a to request remote operation, or it can also be an event such as vehicle 50a being unable to move, or vehicle 50a being unable to continue autonomous movement based on the judgment of the moving body 50a itself. Specifically, situations such as when people are directing traffic due to construction, merging into a road with heavy traffic, passing through a crosswalk with many pedestrians coming and going, or moving across the center line are specified events.

[0160] Because a specified event has occurred in vehicle 50a, a remote operation is requested from the remote management system 10 (step S41).

[0161] When the remote management system 10 receives the remote operation request, it determines whether there is a following vehicle behind vehicle 50a that has requested the remote operation (step S42).

[0162] The remote management system 10, when the determination result is that there is a following vehicle (such as vehicle 50b) behind vehicle 50a, determines whether vehicle 50b is a vehicle that requires remote operation (step S43).

[0163] The remote management system 10, when it determines that vehicle 50b is a vehicle that requires remote operation, presents the remote operation with following for vehicle 50a in the state of being followed by vehicle 50b to the remote operation system 20 (that is, the operator) (step S44).

[0164] Moreover, the remote management system 10, when it determines that vehicle 50b is a vehicle that requires remote operation, issues an instruction to vehicle 50b to make vehicle 50b follow vehicle 50a (step S45).

[0165] Then, vehicle 50b switches to the following driving mode, notifies the remote operation system 20 that it has completed the preparation for following vehicle 50a, and the remote operation system 20 then starts the remote operation of vehicle 50a. Then, for example, after vehicle 50b passes through the end point of the remote operation, the remote operation system 20 notifies vehicle 50a and 50b of the end of the remote operation, and thus, vehicle 50a and 50b switch to the autonomous driving mode.

[0166] Next, for a specific example of the operation of the remote management system 10 in use case 2, it is described using Figure 8 for illustration.

[0167] Figure 8 is a flowchart showing an example of the operation of the remote management system 10 in use case 2.

[0168] First, the remote management system 10 receives a request for remote operation from the moving body 50 (for example, assumed to be the vehicle 50a) (step S51). Accordingly, the acquisition unit 11 acquires the location of the vehicle 50a that requests remote operation, that is, the remote operation location.

[0169] Next, the determination unit 12 determines whether there is a following vehicle behind the vehicle 50a that requests remote operation (step S52). The determination unit 12 determines whether there is a following vehicle based on the sensing data behind the vehicle 50a. For example, the determination unit 12 may also determine the vehicle behind as a following vehicle when the distance between the vehicle 50a and the vehicle behind it is within a specified distance (such as 5 m, etc.). In addition, even if the distance between the vehicle 50a and the vehicle behind it is within the specified distance, if there is a traffic light between the vehicle 50a and the vehicle behind it, the determination unit 12 may not determine the vehicle behind the vehicle 50a as a following vehicle. At this time, the determination unit 12 may consider the state of the traffic light. When there is a traffic light between the vehicle 50a and the vehicle behind it, the vehicle behind the vehicle 50a may be determined as a following vehicle when the traffic light shows green, and the vehicle behind the vehicle 50a may not be determined as a following vehicle when the traffic light shows red. In addition, when the distance between the vehicle 50a and the vehicle behind it is greater than the specified distance, the vehicle 50a may also standby in place to shorten the distance within the specified distance. There is no particular limitation on the waiting time, but since it may interfere with other traffic, the in-place standby time can be set short. Or, when it is determined that it interferes with other traffic, the vehicle 50a may not be made to wait. Also, when the quality of service will be reduced due to waiting, the vehicle 50a may not be made to wait.

[0170] When there is a following vehicle behind the vehicle 50a (for example, assumed to be the vehicle 50b), the determination unit 12 determines the vehicle 50a and 50b as multiple moving bodies 50 that pass through the remote operation location in the same time period. In other words, the determination unit 12 determines the vehicle 50a and 50b as a group for following remote operation. Here, an example has been described in which it is determined whether there is a following vehicle based on the sensing data of the vehicle 50a, that is, a group for following remote operation is determined based on the sensing data of the vehicle 50a. However, it is also possible to use the location information, operation information, vehicle information, etc. of each vehicle managed by the remote management system 10 when a request for remote operation from the vehicle 50a occurs to determine the group.

[0171] When there is a following vehicle behind the vehicle 50a (the vehicle 50b) ( "Yes" in step S52), the decision unit 13 determines whether the following vehicle (the vehicle 50b) is a vehicle that requires remote operation (step S53).

[0172] For example, it is possible to determine whether the vehicle 50b is a vehicle that requires remote operation by determining whether the vehicle 50b is an autonomous vehicle. This is because it can be considered that if the autonomous vehicle 50a requests remote operation, then the autonomous vehicle 50b traveling behind the vehicle 50a also requires remote operation.

[0173] For example, it is also possible to perform image recognition on the image obtained from the sensor of the vehicle 50a to determine whether the vehicle 50b is an autonomous vehicle. For example, in the case where a characteristic unique to an autonomous vehicle is extracted from the appearance of the vehicle reflected in the image, on the premise that information indicating whether it is an autonomous vehicle is given on the license plate, when the license plate reflected in the image indicates an autonomous vehicle, or when the driver is not reflected in the image, etc., it is possible to determine that the vehicle 50b is an autonomous vehicle.

[0174] Moreover, for example, it is also possible to determine whether the vehicle 50b is an autonomous vehicle based on the position information of the vehicle 50b. For example, when the remote management system 10 knows the current position information of all the autonomous vehicles that are its management targets, when the current position of the vehicle 50b coincides with the current position of any of all the autonomous vehicles managed by the remote management system 10, it is possible to determine that the vehicle 50b is an autonomous vehicle.

[0175] Moreover, for example, the vehicle 50a can also determine whether the vehicle 50b is an autonomous vehicle by asking the vehicle 50b whether it is an autonomous vehicle through vehicle-to-vehicle communication.

[0176] For example, in the case where the vehicle 50b (or a vehicle of the same model as the vehicle 50b) has been remotely operated at the same remote operation location in the past, it is also possible to determine that the vehicle 50b is a vehicle that requires remote operation.

[0177] For example, in the case where the vehicle 50b is a level 3 autonomous vehicle, it is also possible to ask the driver of the vehicle 50b whether to switch to the following driving mode or perform manual driving. In the case where the driver selects to switch to following driving, it is also possible to determine that the vehicle 50b is a vehicle that requires remote operation.

[0178] For example, in the case where the remote management system 10 is able to give an instruction for following driving to the vehicle 50b, it is also possible to determine that the vehicle 50b is a vehicle that requires remote operation. This is because in the case where the vehicle 50b is managed by a system other than the remote management system 10 that manages the vehicle 50a, the remote management system 10 cannot give an instruction for following driving to the vehicle 50b.

[0179] In the case where the vehicle 50b is a vehicle that requires remote operation, the determination unit 13 determines the vehicle 50a as the remote operation target vehicle (i.e., the first moving body) and the vehicle 50b as the following vehicle (i.e., the second moving body). Additionally, it is also possible to determine the vehicle 50a that requests remote operation as the following vehicle and the vehicle 50b as the remote operation target vehicle. In this case, it is also possible to perform driving control on at least one of the vehicles 50a and 50b so that the vehicle 50a becomes the vehicle behind the vehicle 50b.

[0180] In the case where the vehicle 50b is a vehicle that requires remote operation (Yes in step S53), the prompting unit 14 prompts the operator with the remote operation with following for the vehicle 50a (step S54), and the instructing unit 15 issues an instruction to the following vehicle (vehicle 50b) so that the following vehicle (vehicle 50b) follows the vehicle 50a that requests remote operation and travels (step S55). Accordingly, the vehicle 50b follows the remotely operated vehicle 50a and moves. Therefore, as long as the operator remotely operates the prompted vehicle 50a, the vehicles 50a and 50b passing through the remote operation location during the same time period can be moved at the remote operation location together. Therefore, it is possible to reduce the burden on the operator who remotely operates multiple vehicles capable of autonomous movement at the same location during the same time period.

[0181] On the other hand, in the case where there is no following vehicle behind the vehicle 50a (No in step S52), or in the case where the vehicle 50b is not a vehicle that requires remote operation (No in step S53), the prompting unit 14 prompts the operator with the normal remote operation (step S56). In this case, the operator remotely operates the vehicle 50a that has no other vehicle following.

[0182] (Other embodiments)

[0183] As described above, for the information processing method and the information processing system (remote management system 10) related to one or more aspects of the present disclosure, an explanation has been given according to the embodiments. However, the present disclosure is not limited to the described embodiments. As long as it does not deviate from the gist of the present disclosure, various modified forms conceived by those skilled in the art for each embodiment, or forms constituted by combining the constituent elements of different embodiments, can also be included within the scope of one or more aspects of the present disclosure.

[0184] For example, in the above-described embodiment, an example of performing remote operation with following has been described in the case where the moving body 50 that is autonomously moving requires remote operation at the remote operation location. However, in the case where the moving body 50 that is autonomously moving requires manual driving at the remote operation location, remote operation with following can also be performed. Accordingly, it is possible to save the labor and time of the occupant of the moving body 50 when performing manual driving at the remote operation location.

[0185] For example, in the above-described embodiment, an example in which the second moving body follows the first moving body has been described. However, towing can be performed instead of following, or following and towing can be combined.

[0186] For example, the second moving body can also be set as a remote monitoring object for the remote monitoring operator. For example, the second moving body is set as a monitoring object in the remote monitoring system and is monitored by the remote monitoring operator. Further, in the case where specific conditions are satisfied, the second moving body can also be set as a remote monitoring object. The specific conditions refer to, for example, the remote operation location being a location with poor visibility, the number or density of obstacles such as people and parked vehicles at the remote operation location and its surroundings being above a threshold, the traffic volume at the remote operation location being above a threshold, the remote operation location being a location where remote operation with following has not been performed in the past, the remote operation with following time period being evening or night, the skill or experience of the remote operator in remote operation with following being below a threshold, multiple second moving bodies being selected, etc. The determination of the specific conditions can also be performed based on the sensing information obtained from the sensors of the first moving body, the second moving body, or the infrastructure, or the information collected from external devices (for example, map information, traffic information, climate information). In addition, the remote monitoring operator is an operator different from the remote operator of the first moving body.

[0187] Moreover, the monitoring priority of the second moving body can also be set higher than that of other monitoring objects. Further, the monitoring priority of the second moving body that satisfies specific conditions can also be set high. The specific conditions refer to, for example, the remote operation location being a location with poor visibility, the number or density of obstacles such as people and parked vehicles at the remote operation location and its surroundings being above a threshold, the traffic volume at the remote operation location being above a threshold, the remote operation location being a location where remote operation with following has not been performed in the past, the remote operation with following time period being evening or night, the skill or experience of the remote operator in remote operation with following being below a threshold, multiple second moving bodies being selected, etc.

[0188] Also, the authority to perform an emergency stop operation on the second moving body can be given to a remote monitoring operator. In addition, if the remote monitoring operator performs an emergency stop on the second moving body, the remote operation of the first moving body can also be canceled, or the remote operator can be advised to cancel the remote operation. Further, the remote operator can also be notified of the emergency stop of the second moving body.

[0189] Also, the following control can be added, that is, the remote operation of the first moving body is not permitted when the second moving body is not being monitored. For example, the remote operation of the first moving body is not permitted unless the second moving body is set as an object of remote monitoring. Alternatively, it can be determined whether the remote monitoring operator is monitoring the second moving body, and the remote operation of the first moving body is permitted only when the determination result is that the operator is monitoring.

[0190] For example, the present disclosure can also be implemented as a program for causing a processor to execute the steps included in the information processing method. Further, the present disclosure can also be implemented as a non-transitory computer-readable recording medium such as a CD-ROM on which the program is recorded.

[0191] For example, when the present disclosure is implemented as a program (software), each step is executed by using the hardware resources such as the CPU, memory, and input / output circuits of a computer. That is, the CPU executes each step by obtaining data from the memory or input / output circuits or the like and performing arithmetic operations, or by outputting the arithmetic operation results to the memory or input / output circuits or the like.

[0192] In addition, in the above-described embodiment, each component included in the information processing system can be configured by dedicated hardware or can be implemented by executing a software program suitable for each component. Each component can also be implemented by a program execution unit such as a CPU or a processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.

[0193] Part or all of the functions of the information processing system according to the above-described embodiment are implemented as a typical integrated circuit, that is, an LSI. These can also be individually formed into one chip, or a part or all of them can be formed into one chip. And the integration into an integrated circuit is not limited to an LSI, and can also be implemented by a dedicated circuit or a general-purpose processor. After the LSI is manufactured, a programmable FPGA (Field Programmable Gate Array) or a reconfigurable processor capable of reconfiguring the connection and setting of circuit units inside the LSI can also be used.

[0194] Furthermore, various modifications obtained by making changes within the scope conceivable to those skilled in the art to each embodiment of the present disclosure are also included in the present disclosure as long as they do not depart from the gist of the present disclosure.

[0195] Industrial Applicability

[0196] The present disclosure can be applied to an autonomous vehicle capable of autonomous driving and remote operation, etc.

[0197] Symbol Explanation

[0198] 10 Remote Management System

[0199] 11 Acquisition Unit

[0200] 12 Determination Unit

[0201] 13 Decision Unit

[0202] 14 Presentation Unit

[0203] 15 Instruction Unit

[0204] 16 Storage Unit

[0205] 20 Remote Operation System

[0206] 50 Moving Body

[0207] 50a, 50b Vehicles

[0208] A1, A2, A3 Areas

[0209] R1, R2 Routes

Claims

1. An information processing method, executed by a computer, in which a remote operation location is obtained, where the remote operation location is a location for remotely operating a mobile body, the mobile body being a mobile body capable of autonomous movement and being remotely operable for movement, based on the position of at least one mobile body, a plurality of mobile bodies passing through the remote operation location during the same time period are determined, from the determined plurality of mobile bodies, a first mobile body to be remotely operated and a second mobile body following the first mobile body are determined, a prompt is given to an operator so that the operator remotely operates the first mobile body at the remote operation location, an instruction is sent to the second mobile body so that the second mobile body follows the first mobile body during the period when the first mobile body is remotely operated, in the determination of the plurality of mobile bodies, a movement plan of the at least one mobile body is obtained, the plurality of mobile bodies are determined based on the position and movement plan of the at least one mobile body, in the determination of the first mobile body and the second mobile body, the positions and movement plans of the plurality of mobile bodies are obtained, based on the positions and movement plans of the plurality of mobile bodies, the mobile body among the plurality of mobile bodies that arrives at the remote operation location earliest is determined as the first mobile body, and the other mobile bodies are determined as the second mobile body.

2. The information processing method according to claim 1, in the determination of the first mobile body and the second mobile body, the adaptability of the plurality of mobile bodies related to remote operation or following is obtained, based on the adaptability, from the plurality of mobile bodies, the mobile body suitable for remote operation is determined as the first mobile body, and the other mobile bodies are determined as the second mobile body, or, from the plurality of mobile bodies, the mobile body suitable for following is determined as the second mobile body, and the other mobile bodies are determined as the first mobile body, or, from the plurality of mobile bodies, the mobile body not suitable for remote operation is determined as the second mobile body, and the other mobile bodies are determined as the first mobile body, or, from the plurality of mobile bodies, the mobile body not suitable for following is determined as the first mobile body, and the other mobile bodies are determined as the second mobile body.

3. The information processing method according to claim 1, further, based on the positions and movement plans of the first mobile body and the second mobile body, it is judged whether the second mobile body is behind the first mobile body at the start time of remote operation, in the case where the second mobile body is not behind the first mobile body, an instruction to move is sent to at least one of the first mobile body and the second mobile body so that the second mobile body is behind the first mobile body.

4. The information processing method according to claim 3, in the instruction to move, at least one of a limit on movement time, a limit on stop time, a limit on movement speed, and a limit on movement range is obtained, In accordance with the at least one restriction, an instruction to move is issued to at least one of the first moving body and the second moving body.

5. The information processing method according to claim 1, wherein the remote operation location is the location where the moving body requesting remote operation is located, in the determination of the plurality of moving bodies, the plurality of moving bodies are determined based on the position of the at least one moving body, and the position of the at least one moving body refers to the position of the moving body requesting remote operation and the positions of the moving bodies around this moving body.

6. The information processing method according to claim 1, in the determination of the second moving body, the moving body requesting remote operation at the remote operation location is determined as the second moving body.

7. The information processing method according to claim 6, in the determination of the second moving body, based on the operation characteristics indicating whether autonomous movement and remote operation are possible, the remote operation history, whether there is a requirement for manual operation from the occupants of the moving body, or the management attributes indicating whether the moving body is a management object, the moving body estimated to request remote operation at the remote operation location is determined as the second moving body.

8. The information processing method according to claim 1, in the determination of the second moving body, based on at least one of the adaptability of the moving body related to following, the skills or experience of the operator for remote operation in a state where there is following of the moving body, or the restrictions on moving time, the restrictions on stopping time, the restrictions on moving speed, and the restrictions on moving range, the second moving body is determined.

9. The information processing method according to claim 1, in the prompting, further, when the burden on the operator during remote operation is above a threshold or the remaining capacity is less than the threshold, or when the reason for remote operation is not an abnormality in the moving body that affects the movement of the moving body, it is determined to perform the remote operation of the first moving body in a state where the second moving body follows.

10. The information processing method according to claim 1, in the prompting, further, after issuing an instruction for the second moving body to follow, the operator is allowed to perform the remote operation of the first moving body.

11. The information processing method according to claim 1, in the prompting, further, during the remote operation of the first moving body in a state where the second moving body follows, the sensing data of the sensors in the second moving body is obtained from the second moving body, and the sensing data is prompted to the operator.

12. The information processing method according to claim 1, in the prompting, further, during the remote operation of the first moving body in a state where the second moving body follows, the operation interface for controlling the sensors in the second moving body is prompted to the operator, when issuing an instruction for the second moving body to follow, further, an instruction to control the sensors is issued according to the operation in the operation interface.

13. The information processing method according to claim 1, In the prompt, further, in a case where the movement characteristics of the moving bodies between the first moving body and the second moving body are different, during the remote operation of the first moving body in a state where the second moving body follows, the movement trajectory of the second moving body is prompted to the operator, and the movement trajectory of the second moving body is estimated based on the remote operation of the first moving body by the operator and at least the movement characteristics of the second moving body.

14. The information processing method according to claim 1, When issuing an instruction for the second moving body to follow, an instruction is issued to the second moving body to cause the second moving body to continue to follow the first moving body until the remote operation of the first moving body in a state where the second moving body follows ends.

15. The information processing method according to any one of claims 1 to 14, In the prompt, further, during the remote operation of the first moving body in a state where the second moving body follows, based on the remote operation location, the position of the first moving body, and the position of the second moving body, the relationship between the end location of the remote operation and the position of the second moving body is prompted to the operator.

16. An information processing system, comprising: An acquisition unit that acquires a remote operation location, which is a location for remotely operating a moving body that can move autonomously and can be remotely operated for movement; A determination unit that determines a plurality of moving bodies passing through the remote operation location in the same time period based on the position of at least one moving body; A decision unit that determines a first moving body to be remotely operated and a second moving body that follows the first moving body from the determined plurality of moving bodies; A prompt unit that prompts an operator to remotely operate the first moving body at the remote operation location; And An instruction unit that issues an instruction to the second moving body to cause the second moving body to follow the first moving body during the period when the first moving body is remotely operated, The determination unit, Acquires the movement plan of the at least one moving body, Determines the plurality of moving bodies based on the position and movement plan of the at least one moving body, The decision unit, Acquires the positions and movement plans of the plurality of moving bodies, Based on the positions and movement plans of the plurality of moving bodies, determines the moving body that arrives at the remote operation location earliest among the plurality of moving bodies as the first moving body, and determines the other moving bodies as the second moving bodies.

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