Mobile control system, mobile control method, recording medium, and control device

Abstract

Provided is a mobile control system, mobile control method, recording medium, and control device that can improve the continuity of automatic mobile control of a mobile body from the outside. The system includes a vehicle (M), a control server (400) that can communicate with the vehicle (M), and a base station (300) that relays communication between the vehicle (M) and the control server (400). In the absence of a restriction on communication between the control server (400) and the base station (300), the control server (400) performs first automatic mobile control of the vehicle (M) with the aid of the base station (300). In the presence of a restriction on communication between the control server (400) and the base station (300), the base station (300) performs second automatic mobile control of the vehicle (M). The first automatic mobile control is automatic mobile control in which the driver of the vehicle (M) has less of a task than in the second automatic mobile control.

Description

TECHNICAL FIELD

[0001] The present application relates to a mobile control system, a mobile control method, a recording medium, and a control device. BACKGROUND

[0002] There is known a vehicle communication system capable of automatic movement control of transmitting outside information detected by a mobile body such as a vehicle to a server, and transmitting a control instruction from the server to the mobile body.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT DOCUMENTS

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-140391 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] In addition, in a case where the vehicle performs automatic movement control by communicating with the server via a relay station such as a base station, if the communication between the server and the relay station is limited due to a failure or congestion, the automatic movement control of the vehicle based on the instruction information from the server cannot be continued.

[0008] In Patent Document 1, a processing device is described which, in an emergency in which an emergency situation occurs and communication with a central server is interrupted, inquires whether or not other vehicles can perform intervention control, and from among other vehicles that answered that they can perform intervention control and the own vehicle, determines a central vehicle that issues an instruction regarding intervention control.

[0009] However, in Patent Document 1, if there is no other vehicle that can perform intervention control, the automatic movement control based on the instruction information from the server cannot be continued. Therefore, regarding the technology in which the vehicle continues the automatic movement control based on the instruction information from the server, there is room for further improvement.

[0010] An object of the present application is to provide a mobile control system, a mobile control method, a recording medium, and a control device that can improve the continuity of automatic movement control of a mobile body from the outside.

[0011] SOLUTION TO THE PROBLEM

[0012] The present application provides a mobile control system in which,

[0013] The mobile control system includes:

[0014] a mobile body;

[0015] a first control device capable of communicating with the mobile body; and

[0016] a second control device relaying communication of the mobile body with the first control device,

[0017] the first control device performs first automatic movement control of the mobile body with the aid of the second control device in a case where a restriction of communication of the first control device with the second control device is not generated,

[0018] the second control device performs second automatic movement control of the mobile body in a case where a restriction of communication of the first control device with the second control device is generated,

[0019] the first automatic movement control is automatic movement control in which a user of the mobile body has less tasks than in the second automatic movement control.

[0020] Further, the present application provides a mobile control method, which is a mobile control method in a mobile control system including a mobile body, a first control device capable of communicating with the mobile body, and a second control device relaying communication of the mobile body with the first control device, wherein

[0021] the mobile control method includes:

[0022] the first control device performs first automatic movement control of the mobile body with the aid of the second control device in a case where a restriction of communication of the first control device with the second control device is not generated,

[0023] the second control device performs second automatic movement control of the mobile body in a case where a restriction of communication of the first control device with the second control device is generated,

[0024] the first automatic movement control is automatic movement control in which a user of the mobile body has less tasks than in the second automatic movement control.

[0025] Further, the present application provides a recording medium recording a control program of a second control device relaying communication of a mobile body with a first control device capable of communicating with the mobile body in a mobile control system including the mobile body and the first control device, wherein

[0026] the control program causes a computer of the second control device to execute the following processing:

[0027] the first control device performs first automatic movement control of the mobile body with the aid of the second control device in a case where a restriction of communication of the first control device with the second control device is not generated,

[0028] the second automatic movement control of the mobile body is performed in a case where the communication of the first control device with the communication section is restricted,

[0029] the first automatic movement control is an automatic movement control in which a user of the mobile body has less tasks than in the second automatic movement control.

[0030] Further, the present application provides a control device that relays communication of a mobile body with a first control device in a mobile control system including the mobile body and the first control device capable of communicating with the mobile body, wherein

[0031] the control device includes:

[0032] a communication section capable of communicating with the mobile body and the first control device; and

[0033] a control section that relays first automatic movement control of the mobile body by the first control device in a case where restriction of communication of the first control device with the communication section is not generated, and that performs second automatic movement control of the mobile body in a case where the communication of the first control device with the communication section is restricted,

[0034] the first automatic movement control is an automatic movement control in which a user of the mobile body has less tasks than in the second automatic movement control.

[0035] Effects of the Invention

[0036] According to the mobile control system, the mobile control method, the recording medium, and the control device of the present application, it is possible to improve the continuity of automatic movement control of a mobile body from the outside. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a diagram showing an example of a mobile control system of the present embodiment.

[0038] Figure 2 is a block diagram showing a vehicle system of a vehicle (mobile body) mounted on a mobile control system.

[0039] Figure 3 is a diagram schematically showing an example of automatic movement control of a vehicle by a control server.

[0040] Figure 4 is a diagram schematically showing an example of automatic movement control of a vehicle by a base station.

[0041] Figure 5 is a diagram schematically showing an example of automatic movement control of a vehicle by the vehicle itself.

[0042] Figure 6 is a flowchart showing an example of movement control performed by a control server.

[0043] Figure 7 is a flowchart showing an example of movement control performed by a base station.

[0044] Figure 8 is a flowchart showing an example of movement control performed by a vehicle.

[0045] BRIEF DESCRIPTION OF DRAWINGS

[0046] 310 communication section

[0047] 300 base station (second control device)

[0048] 300 base station (control device)

[0049] 400 control server (first control device)

[0050] M vehicle (mobile body) DETAILED DESCRIPTION

[0051] Hereinafter, one embodiment of a movement control system, a movement control method, a control program, and a control device of the present application will be described with reference to the drawings. Note that in the description of the embodiment below, an example in which a mobile body in the movement control system of the present application is set to a vehicle M such as an automobile will be described.

[0052] REFERENCE Figure 1 The movement control system 1 of the present embodiment will be described. As shown in FIG. 1, the movement control system 1 includes a vehicle M, a base station 300 communicably connected to the vehicle M, and a control server 400. Figure 1

[0053] The vehicle M is a vehicle capable of automatic movement based on automatic movement control. The vehicle M includes a sensor 2 capable of acquiring outside information of the surroundings of the vehicle M, and a communication section 3 for communication with the base station 300. In addition, the vehicle M includes a memory 4 for storing vehicle information (including outside information acquired by the sensor 2) related to the vehicle M, and an ADAS ECU (Advanced Driver Assistance Systems Electronic Control Unit) 5 that manages the operation of the vehicle M. The ADAS ECU 5 derives the control content of the automatic movement control of the vehicle M, for example, based on outside information acquired by the sensor 2 or the like.

[0054] ​The base station 300 is provided with a communication section 310 and an AD ECU (Automated Driving Electronic Control Unit) 320. In order to widely cover an area in which communication with the vehicle M is possible, the base station 300 is provided at a plurality of intervals. The communication section 310 is communicably connected with the vehicle M by wireless. In addition, the communication section 310 is connected with the vehicle M and the control server 400 in a manner capable of relaying communication between the vehicle M and the control server 400. The AD ECU 320 derives a control content of automatic movement control of the vehicle M on the basis of outside information of the vehicle M and the like received from the vehicle M, for example, by communication with the vehicle M. In addition, the AD ECU 320 transmits the derived control content of the automatic movement control of the vehicle M to the vehicle M.

[0055] The control server 400 is provided with a communication section 410 and an AD ECU 420. The control server 400 is provided in a facility such as a management center, for example. The communication section 410 is communicably connected with the base station 300 through a wired or wireless communication network. In addition, the communication section 410 is connected with the vehicle M in a manner capable of communication with the vehicle M via the base station 300. The AD ECU 420 derives a control content of automatic movement control of the vehicle M on the basis of outside information of the vehicle M and the like received from the vehicle M, for example, by communication with the vehicle M. In addition, the AD ECU 420 transmits the derived control content of the automatic movement control of the vehicle M to the vehicle M via the base station 300.

[0056] The wireless communication between the vehicle M and the base station 300 is a communication system that is utilized in a portable telephone, a smartphone, and the like, for example, and that enables communication in a comparatively wide range. The wireless communication system includes, for example, a third generation mobile communication standard (hereinafter, referred to as "3G"), a fourth generation mobile communication standard (hereinafter, referred to as "4G"), a fifth generation mobile communication standard (hereinafter, referred to as "5G"), a sixth generation mobile communication standard (hereinafter, referred to as "6G"), and the like. With each generation, the communication standard is replaced, that is, as the number increases from "3G" to "6G", high-speed communication becomes possible. Various base stations 300 corresponding to the waves of 3G to 6G are provided in each place where the vehicle M travels.

[0057] The vehicle M determines a prescribed base station 300 (for example, a 3G base station, a 4G base station, a 5G base station, a 6G base station) that is an object of communication by the communication section 3, based on the strength of the electric wave that can be received (communication environment). The prescribed base station 300 that becomes the object of communication changes with the position at which the vehicle M travels. For example, the vehicle M continuously measures the electric wave strength of the adjacent base station 300 all the time, and when the electric wave becomes a certain strength or less, the line with the base station 300 that was the object of communication before is disconnected, and the line with another base station 300 that has a stronger strength is switched.

[0058] The vehicle M can perform "first automatic movement control" that automatically moves based on the control by the control server 400, "second automatic movement control" that automatically moves based on the control by the base station 300, and "third automatic movement control" that automatically moves based on the control by the vehicle M itself.

[0059] In the first automatic movement control, the vehicle M automatically moves based on the control content of the automatic movement that is derived by the AD ECU 420 of the control server 400. The control server 400 derives the control content of the automatic movement based on the outside information of the vehicle M and the like that is transmitted from the vehicle M.

[0060] In the second automatic movement control, the vehicle M automatically moves based on the control content of the automatic movement that is derived by the AD ECU 320 of the base station 300. The base station 300 derives the control content of the automatic movement based on the outside information of the vehicle M and the like that is transmitted from the vehicle M.

[0061] In the third automatic movement control, the vehicle M automatically moves based on the control content of the automatic movement that is derived by the ADAS ECU 5 of the vehicle M itself. The vehicle M derives the control content of the automatic movement based on the outside information of the vehicle M and the like that is acquired by the sensor 2.

[0062] The vehicle M, for example, executes the control content of the first automatic movement control that is derived by the control server 400, the control content of the second automatic movement control that is derived by the base station 300, and the control content of the third automatic movement control that is derived by the vehicle M, by the ADAS ECU 5.

[0063] The first automatic movement control by the control of the server 400 is a driving mode in which the degree of automation with respect to the control of the vehicle is higher than the second automatic movement control by the control of the base station 300. In addition, the second automatic movement control by the control of the base station 300 is a driving mode in which the degree of automation with respect to the control of the vehicle is higher than the third automatic movement control by the control of the vehicle M itself. The high degree of automation means that the amount of processing performed by the control unit (AD ECU, ADAS ECU, etc.) is large. In other words, the high degree of automation means that the degree of control of the vehicle based on the operation of the driver (user) to the vehicle M is low, that is, the task of observing the surroundings of the vehicle M and the like required of the driver is small.

[0064] The automatic movement control can also be classified into levels 5 to 0 according to the degree of automation based on SAE J3016 specified by SAE International. For example, the first automatic movement control can be classified into levels 5 and 4. The second automatic movement control can be classified into level 3. The third automatic movement control can be classified into levels 2, 1, and 0.

[0065] Specifically, level 5 is a driving level in which the server 400 performs automatic movement under all conditions (full automatic driving). Level 4 is a driving level in which the server 400 performs all driving operations under specific conditions, and even in a case where the server 400 cannot continue driving, the driver of the vehicle M can not drive (high automatic driving). Therefore, in levels 4 and 5, even in an emergency, the server 400 responds.

[0066] Level 3 is a driving level in which the base station 300 performs all operations of acceleration, steering, and braking, and the driver responds only when the base station 300 requests (conditional automatic driving). In level 3, the base station 300 observes the surroundings, and the driver of the vehicle M has no obligation to observe the surroundings.

[0067] Level 2 is a driving level in which the vehicle M performs a plurality of operations of acceleration, steering, and braking together (partial driving automation). In level 2, the driver of the vehicle M has an obligation to observe the surroundings. Level 1 is a driving level in which the vehicle M performs any one of the operations of acceleration, steering, and braking (driving assistance). That is, in level 1, under specific conditions, the vehicle M controls the operation of any one of the accelerator, the brake, and the steering wheel according to the situation of the surroundings, and the driver of the vehicle M performs all driving operations other than this. Level 0 is a driving level without automation, and in level 0, the driver of the vehicle M performs all driving operations.

[0068] It should be noted that the third automatic movement control can be in the state of ADAS operation. ADAS refers to advanced driver assistance systems such as ACC (Adaptive Cruise Control System) and LKAS (Lane Keeping Assist System). Furthermore, the conditions for performing the first to third automatic movement controls are just one example. As long as the order of the first, second, and third automatic movement controls is followed, and the vehicle M has a high degree of automation (i.e., the driver's workload is low), the settings can be arbitrary. For example, some or all of the first to third automatic movement controls can be in an autonomous driving state, or some or all of the first to third automatic movement controls can be in a driver assistance state instead of an autonomous driving state.

[0069] Next, refer to Figure 2 The vehicle system 10 installed in vehicle M will be described. For example... Figure 2 As shown, the vehicle system 10 includes a camera 11, a radar device 12, a detector 13, a vehicle sensor 14, an input / output device 20, a communication unit 3, a navigation device 40, a driving control unit 50, an automatic driving control unit 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices are connected to each other via wired or wireless communication networks. For example, the communication network connecting these devices is a CAN (Controller Area Network).

[0070] Camera 11, radar device 12, detector 13 and vehicle sensor 14 are included in Figure 1 The sensor 2 shown, along with camera 11, radar device 12, detector 13, and vehicle sensor 14, acquires information about the surrounding environment of vehicle M.

[0071] Camera 11 is a digital camera that captures images of the periphery of vehicle M (e.g., the front of vehicle M), and outputs the captured image data to the automatic driving control unit 100 and the communication unit 3. Radar device 12 is, for example, a radar device using millimeter-wave radio waves, which detects the positions of objects located around vehicle M (e.g., in front, behind, and to the sides of vehicle M) and outputs the detection results to the automatic driving control unit 100 and the communication unit 3. Detector 13 is, for example, a LIDAR (Laser Imaging Detection and Ranging) device that uses a specified laser to measure the distance between the vehicle and objects located around vehicle M (e.g., in front, behind, and to the sides of vehicle M), and outputs the measurement results to the automatic driving control unit 100 and the communication unit 3.

[0072] The vehicle sensors 14 include, for example, a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects the acceleration of the vehicle M, an angular velocity sensor that detects the angular velocity of the vehicle M about a vertical axis, a direction sensor that detects the orientation of the vehicle M, and the like. In addition, the vehicle sensors 14 include a radio wave intensity sensor that detects the intensity of a radio wave (i.e., a communication environment) used in communication by the communication section 3. The vehicle sensors 14 output the detection results of the respective sensors to the automatic driving control device 100 and the communication section 3.

[0073] The input / output device 20 includes an output device that outputs various kinds of information to a user (hereinafter, also simply referred to as a user) of the vehicle M and an input device that accepts various kinds of input operations from the user. Note that, in the present embodiment, the user is not limited to a person who manages or owns the vehicle M and uses the vehicle M. For example, the user can also be a person who uses the vehicle M as a proxy of a person who manages or owns the vehicle M, upon receiving a request from the person.

[0074] The output device of the input / output device 20 is, for example, a display that performs display based on the processing results of the automatic driving control device 100, the automatic driving control device 100A (described later) of the control server 400, and the automatic driving control device 100B (described later) of the base station 300. The output device can also be a speaker, a buzzer, a display lamp, or the like. In addition, the input device of the input / output device 20 is, for example, a touch panel, an operation button (key, switch, or the like) that outputs an operation signal corresponding to an input operation accepted from the user to the automatic driving control device 100, the automatic driving control device 100A of the control server 400, and the automatic driving control device 100B of the base station 300.

[0075] The navigation device 40 is provided with a GNSS (Global Navigation Satellite System) receiver 41 and an input / output device 42. In addition, the navigation device 40 is provided with a storage device (not shown), such as a hard disk drive (hereinafter, also referred to as an HDD), a flash memory, or the like, in which first map information 43 is stored. The first map information 43 is, for example, information that represents the shape of a road by representing road segments and nodes connected by the road segments. In addition, the first map information 43 can also include information that represents the curvature of a road, POIs (Points of Interest).

[0076] The GNSS receiver 41 determines the latitude and the longitude of the place where the vehicle M is located as the position of the vehicle M on the basis of the signals received from the GNSS satellites. In addition, the navigation device 40 can also determine or correct the position of the vehicle M by an INS (Inertial Navigation System) that utilizes the output of the vehicle sensor 14.

[0077] The input and output device 42 includes an output device that outputs various information to the user and an input device that accepts various input operations from the user. The output device of the input and output device 42 is, for example, a display that displays the results of the processing by the navigation device 40 (for example, a route on a map described later). In addition, the input device of the input and output device 42 is, for example, a touch panel that outputs an operation signal corresponding to the input operation accepted from the user to the navigation device 40, an operation button (key, switch, etc.). The input and output device 42 can also be common to the input and output device 20.

[0078] Although detailed description is omitted, the navigation device 40 determines a route (hereinafter, also referred to as a route on a map) from the position of the vehicle M determined by the GNSS receiver 41 to a destination input by the user, for example, with reference to the first map information 43. The navigation device 40 guides the determined route on a map to the user through the input and output device 42. In addition, the navigation device 40 is configured to be able to output information indicating the determined position of the vehicle M and the determined route on a map to the automatic driving control device 100 and the communication section 3.

[0079] The driving operation member 50 is a variety of operation members such as an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a joy stick, a lever, etc. A sensor that detects the amount of operation or the presence or absence of operation of the driving operation member 50 is provided to the driving operation member 50. The detection result of the sensor of the driving operation member 50 is output to some or all of the automatic driving control device 100, the communication section 3, the travel driving force output device 200, the brake device 210, and the steering device 220.

[0080] The travel drive force output device 200 outputs a travel drive force (torque) for causing the vehicle M to travel to the drive wheels. The travel drive force output device 200 includes, for example, a motor and a motor ECU (Electronic Control Unit) that controls the motor. The motor ECU controls the motor on the basis of a detection result of a sensor of the driving operation member 50 (for example, an accelerator pedal), control information from the automatic driving control device 100, the automatic driving control device 100A of the control server 400, and the automatic driving control device 100B of the base station 300. In addition, in a case where the vehicle M includes an internal combustion engine and a transmission as drive sources, the travel drive force output device 200 can include the internal combustion engine, the transmission, and an ECU that controls them.

[0081] The brake device 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor of the brake device 210 on the basis of a detection result of a sensor of the driving operation member 50 (for example, a brake pedal), control information from the automatic driving control device 100, the automatic driving control device 100A of the control server 400, and the automatic driving control device 100B of the base station 300, and outputs a brake torque corresponding to a brake operation to each wheel.

[0082] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor of the steering device 220 causes a force to act on a rack-and-pinion mechanism to change the orientation of a steered wheel, for example. The steering ECU drives the electric motor of the steering device 220 to change the orientation (i.e., the steering angle) of the steered wheel on the basis of a detection result of a sensor of the driving operation member 50 (for example, a steering wheel), control information from the automatic driving control device 100, the automatic driving control device 100A of the control server 400, and the automatic driving control device 100B of the base station 300.

[0083] The communication section 3 is capable of communicating with the communication section 310 of the base station 300 wirelessly. In addition, the communication section 3 is capable of communicating with the communication section 410 of the control server 400 via the base station 300. The communication section 3 transmits vehicle information including outside information of the surroundings of the vehicle M acquired by the camera 11, the radar device 12, the detector 13, and the vehicle sensor 14, position information determined by the navigation device 40, route information, operation information detected by the driving operation member 50, and the like to the base station 300, or transmits the vehicle information to the control server 400 via the base station 300. The communication section 3 may, for example, also be constituted by a telematics control unit (TCU) capable of bidirectional communication. In addition, the communication section 3 may, for example, also utilize a cellular network, a Wi-Fi (registered trademark) network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like.

[0084] The automatic driving control device 100 is provided with an environment recognition section 110, a high-precision position recognition section 120, a behavior plan generation section 130, and a behavior control section 140. In addition, the automatic driving control device 100 is provided with a storage device (not shown) realized by a flash memory or the like, which is capable of being accessed by each functional section (for example, the high-precision position recognition section 120) of the automatic driving control device 100, and in which the second map information 150 is stored. Furthermore, the storage device may, for example, also be a memory 4 shown in FIG. 1. Figure 1

[0085] The environment recognition section 110 performs sensor fusion processing on information acquired by some or all of the camera 11, the radar device 12, and the detector 13, recognizes objects located in the surroundings of the vehicle M, and recognizes the positions thereof. The environment recognition section 110, for example, recognizes obstacles, road shapes, traffic lights, guardrails, utility poles, surrounding vehicles (including driving states such as speed and acceleration, a parked state), lane marks, pedestrians, and the like, and recognizes the positions thereof.

[0086] The high-precision position recognition section 120 refers to the position of the vehicle M determined by the navigation device 40, the detection results of the vehicle sensor 14, an image captured by the camera 11, the second map information 150, and the like, and recognizes a detailed position and a posture of the vehicle M. The high-precision position recognition section 120, for example, recognizes a travel lane in which the vehicle M is traveling, or recognizes a relative position and a posture of the host vehicle with respect to the travel lane.

[0087] ​The action plan generating section 130 generates an action plan of the vehicle M. Specifically, the action plan generating section 130 generates a target track along which the vehicle M is to travel in the future as the action plan of the vehicle M. The target track is, for example, information that represents points (track points) at which the vehicle M should arrive arranged for each prescribed distance of travel (e.g., several [m] or so). In addition, the target track can also include information of a target speed, a target acceleration, and the like of the vehicle M at each track point or at each prescribed time.

[0088] The action control section 140 controls the vehicle M in such a manner that the vehicle M acts in accordance with the action plan generated by the action plan generating section 130. Specifically, the action control section 140 controls the travel driving force output device 200, the brake device 210, and the steering device 220 so that the vehicle M passes through the target track generated by the action plan generating section 130 at a predetermined time. The action control section 140, for example, controls the travel driving force output device 200 and the brake device 210 on the basis of a speed element attached to the target track, or controls the steering device 220 in accordance with the degree of curvature of the target track.

[0089] The second map information 150 is map information that is more precise than the first map information 43. The second map information 150, for example, includes information indicating the center of a lane, information indicating a boundary line (e.g., a road division line) of a lane, and the like. The second map information 150 can also include road information, traffic regulation information, address information, facility information, telephone number information, and the like. The second map information 150 can be updated at any time. The second map information 150, for example, can be updated on the basis of information acquired by some or all of the camera 11, the radar device 12, and the sonar device 13.

[0090] The automatic driving control device 100 is provided to the ADAS ECU 5. Each function of the automatic driving control device 100 is executed by the ADAS ECU 5. Further, each functional section of the automatic driving control device 100 is realized, for example, by a CPU (Central Processing Unit) executing a prescribed program (software). In addition, a part or all of the functional sections of the automatic driving control device 100 can also be realized by a hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), and the like. For example, the storage device storing the second map information 150 and the high-precision position recognition section 120 can also be realized by an MPU (Map Positioning Unit). In addition, a part or all of the functional sections provided to the automatic driving control device 100 can also be realized by cooperation of software and hardware.

[0091] Next, the configuration of the control server 400 will be described with reference to Figure 2 The AD ECU 420 of the control server 400 will be described. As shown in Figure 2 The AD ECU 420 is provided with the automatic driving control device 100A. The automatic driving control device 100A has the same structure and functions as the automatic driving control device 100 provided to the vehicle system 10 of the vehicle M. Each function of the automatic driving control device 100A is executed by the AD ECU 420. The AD ECU 420 derives the control content of the first automatic movement control by the vehicle M based on the vehicle information (including the outside information) of the vehicle M transmitted from the vehicle M, and transmits the derived control content to the vehicle M via the base station 300. The AD ECU 420 executes the first automatic movement control of the vehicle M by communication via the base station 300. The AD ECU 420 is a higher-level ECU having higher computational resources and more available information than the ADAS ECU 5 of the vehicle M and the AD ECU 320 of the base station 300.

[0092] Next, the configuration of the control server 400 will be described with reference to Figure 2 The AD ECU 320 of the base station 300 will be described. As shown in Figure 2As shown, the AD ECU 320 is provided with the automatic driving control device 100B. The automatic driving control device 100B has the same structure and functions as the automatic driving control device 100 provided to the vehicle system 10 of the vehicle M. Each function of the automatic driving control device 100B is executed by the AD ECU 320. The AD ECU 320 derives the control content of the second automatic movement control performed by the vehicle M based on the vehicle information (including the outside information) of the vehicle M transmitted from the vehicle M, and transmits the derived control content to the vehicle M. The AD ECU 320 performs the second automatic movement control of the vehicle M by communication. The AD ECU 320 is a higher-order ECU having higher computational resources and more available information than the ADAS ECU 5 of the vehicle M.

[0093] Note that the AD ECU 420 of the control server 400 and the AD ECU 320 of the base station 300 are realized, for example, by a CPU executing a predetermined program (software). In addition, a part or all of these constituent elements can be realized by hardware such as LSI, ASIC, FPGA, GPU, or can be realized by cooperation of software and hardware. The program can also be stored in advance in a storage device such as an HDD or a flash memory.

[0094] Next, an example of performing automatic movement control of the vehicle M will be described with reference to Figures 3-5 Figure 3 is a diagram showing an example in which the control server 400 performs automatic movement control of the vehicle M. As shown in Figure 3 , the control server 400 of this example is connected to the base station 300 in a state in which communication between them is normal. That is, the control server 400 and the base station 300 are in a state in which no restriction on communication is generated.

[0095] Here, the "restriction on communication" refers to a state in which, for example, communication is delayed or communication is disconnected as the main cause of deterioration in the radio wave condition or the like. In addition, the main cause of the "restriction on communication" can include a failure or congestion of the control server 400 itself. Whether or not the restriction on communication is generated is determined, for example, by transmission and reception of a smoothness confirmation signal, based on whether or not there is a response, a time of communication delay, whether or not the number of occurrences of communication delay exceeds a predetermined value, and the like.

[0096] In addition, in the case of the example shown in Figure 3 , the base station 300 is connected in a manner in which communication with the vehicle M is normal. That is, no restriction on communication is generated between the base station 300 and the vehicle M.

[0097] ​Thus, in a case where the communication between the control server 400 and the base station 300 is not restricted and the communication between the base station 300 and the vehicle M is not restricted, the control server 400 performs the first automatic movement control of the vehicle M with the aid of the base station 300.

[0098] Figure 4 is a view showing an example in which the base station 300 performs the automatic movement control of the vehicle M. As shown in the view, the control server 400 of the present example is connected to the base station 300 in a state in which the communication between the control server 400 and the base station 300 is not normal. That is, the communication between the control server 400 and the base station 300 is in a state in which the restriction of the communication is generated. Figure 4

[0099] On the other hand, the base station 300 is connected in a state in which the communication between the base station 300 and the vehicle M is normal. That is, the communication between the base station 300 and the vehicle M is in a state in which the restriction of the communication is not generated. The determination of whether the "restriction of the communication" is generated is the same as that described in the example described above. Figure 3

[0100] Thus, in a case where the communication between the control server 400 and the base station 300 is not restricted and the communication between the base station 300 and the vehicle M is not restricted, the control server 400 performs the first automatic movement control of the vehicle M with the aid of the base station 300.

[0101] Figure 5 is a view showing an example in which the vehicle M itself performs the automatic movement control of the vehicle M. As shown in the view, the control server 400 of the present example is connected to the base station 300 in a state in which the communication between the control server 400 and the base station 300 is normal. That is, the communication between the control server 400 and the base station 300 is in a state in which the restriction of the communication is not generated. Figure 5

[0102] On the other hand, the base station 300 is connected in a state in which the communication between the base station 300 and the vehicle M is not normal. That is, the communication between the base station 300 and the vehicle M is in a state in which the restriction of the communication is generated. The determination of whether the "restriction of the communication" is generated is the same as that described in the example described above. Figure 3

[0103] Thus, in a case where the communication between the control server 400 and the base station 300 is not restricted and the communication between the base station 300 and the vehicle M is not restricted, the control server 400 performs the first automatic movement control of the vehicle M with the aid of the base station 300.

[0104] Note that, in a case where the communication between the control server 400 and the base station 300 is restricted and the communication between the base station 300 and the vehicle M is not restricted, Figure 5 ​​​​In the example shown, a case where the restriction of communication between the control server 400 and the base station 300 is not generated is shown, but the present application is not limited thereto, and a case where the restriction of communication between the control server 400 and the base station 300 is generated can also be possible. That is, in a case where the communication between the base station 300 and the vehicle M is restricted, the vehicle M autonomously performs the third automatic movement control of the vehicle M regardless of whether the restriction of communication between the control server 400 and the base station 300 is generated or not.

[0105] Next, the movement control of the vehicle M in the movement control system 1 will be described with reference to Figures 6-8

[0106] First, the movement control of the vehicle M by the control server 400 will be described with reference to Figure 6

[0107] When the ignition switch of the vehicle M is pressed and the engine is started, a start signal that notifies that the engine has been started is transmitted from the vehicle M to the base station 300 and the control server 400.

[0108] The control server 400 determines whether communication between the control server 400 and the vehicle M via the base station 300 is normally possible when the start signal is received from the vehicle M (step S61). For example, the control server 400 transmits a passage confirmation signal to the vehicle M via the base station 300, and determines whether communication with the vehicle M via the base station 300 is normally possible based on the reception result of a response signal from the vehicle M with respect to the transmitted passage confirmation signal.

[0109] When it is determined in step S61 that communication with the vehicle M is not normally possible (NO in step S61), the control server 400 repeats the determination process of step S61.

[0110] On the other hand, when it is determined in step S61 that communication with the vehicle M is normally possible (YES in step S61), the control server 400 derives the control content of the first automatic movement control (for example, an instruction value for the vehicle M) based on the outside information of the vehicle M and the like received from the vehicle M via the base station 300 (step S62). The instruction value for the vehicle M derived based on the outside information and the like includes, for example, a "speed instruction value" that instructs the movement speed of the vehicle M, an "acceleration instruction value" that instructs the acceleration amount of the vehicle M, and the like.

[0111] ​​Next, the control server 400 transmits the indication value for the vehicle M derived in step S62 to the vehicle M via the base station 300 (step S63). After transmitting the indication value to the vehicle M, the control server 400 returns to step S61 and repeats the series of processes. Note that the vehicle M performs automatic movement based on the first automatic movement control based on the indication value (control content) transmitted from the control server 400.

[0112] Next, the processes performed by the base station 300 will be described with reference to Figure 7 to the movement control of the vehicle M performed by the base station 300. When the ignition switch of the vehicle M is pressed and the engine is started, a start signal notifying that the engine has been started is transmitted from the vehicle M to the base station 300 and the control server 400.

[0113] The base station 300 determines whether communication between the base station 300 and the vehicle M is possible normally when the start signal is received from the vehicle M (step S71). For example, the base station 300 transmits a clear confirmation signal to the vehicle M, and determines whether communication with the vehicle M is possible normally based on the reception result of a response signal from the vehicle M to the transmitted clear confirmation signal.

[0114] When it is determined in step S71 that communication with the vehicle M is not possible normally (NO in step S71), the base station 300 repeats the determination process of step S71.

[0115] On the other hand, when it is determined in step S71 that communication with the vehicle M is possible normally (YES in step S71), the base station 300 determines whether communication between the base station 300 and the control server 400 is possible normally (step S72). For example, the base station 300 transmits a clear confirmation signal to the control server 400, and determines whether communication with the control server 400 is possible normally based on the reception result of a response signal from the control server 400 to the transmitted clear confirmation signal.

[0116] When it is determined in step S72 that communication with the control server 400 can be performed normally (YES in step S72), the base station 300 relays (passes through) and transmits to the vehicle M the control content of the first automatic movement control (for example, an instruction value for the vehicle M) received from the control server 400 as it is (step S73). In this case, the communication of the base station 300 with the vehicle M is normal, and the communication of the base station 300 with the control server 400 is also normal, so the control content of the first automatic movement control derived by the control server 400 is transmitted to the vehicle M. The base station 300 returns to step S71 after transmitting the instruction value to the vehicle M, and repeats the series of processes. The vehicle M performs automatic movement based on the first automatic movement control based on the instruction value (control content) transmitted from the control server 400 and relayed via the base station 300.

[0117] On the other hand, when it is determined in step S72 that communication with the control server 400 cannot be performed normally (NO in step S72), the base station 300 derives the control content of the second automatic movement control (for example, an instruction value for the vehicle M) based on the outside information of the vehicle M and the like received from the vehicle M (step S74). The instruction value for the vehicle M derived based on the outside information and the like includes, for example, a "speed instruction value" indicating the moving speed of the vehicle M, an "acceleration instruction value" indicating the amount of acceleration of the vehicle M, and the like.

[0118] Next, the base station 300 transmits the instruction value for the vehicle M derived in step S74 to the vehicle M (step S75). The base station 300 returns to step S71 after transmitting the instruction value to the vehicle M, and repeats the series of processes. The vehicle M performs automatic movement based on the second automatic movement control based on the instruction value (control content) transmitted from the base station 300.

[0119] Next, with reference to Figure 8 The movement control of the vehicle M performed by the vehicle M itself will be described. When the ignition switch of the vehicle M is pressed and the engine is started, the vehicle M determines whether communication between the vehicle M and the base station 300 can be performed normally (step S81). For example, the vehicle M transmits a clear confirmation signal to the base station 300, and determines whether communication with the base station 300 can be performed normally based on the reception result of the response signal from the base station 300 for the transmitted clear confirmation signal.

[0120] When it is determined in step S81 that communication with the base station 300 can be performed normally (YES in step S81), the vehicle M performs automatic movement based on the automatic movement control based on the control content (e.g., an instruction value for the vehicle M) of the automatic movement control received from the base station 300 (step S82). The vehicle M performs automatic movement based on the automatic movement control, and returns to step S81 to repeat the series of processes.

[0121] Note that the automatic movement based on the automatic movement control performed in step S82 is automatic movement based on the control content of the first automatic movement control derived by the control server 400 or automatic movement based on the control content of the second automatic movement control derived by the base station 300. The automatic movement based on the first automatic movement control is performed when communication between the control server 400 and the base station 300 and communication between the base station 300 and the vehicle M are not restricted. The automatic movement based on the second automatic movement control is performed when communication between the control server 400 and the base station 300 is restricted and communication between the base station 300 and the vehicle M is not restricted.

[0122] On the other hand, when it is determined in step S81 that communication with the base station 300 cannot be performed normally (NO in step S81), the vehicle M derives the control content (e.g., an instruction value for the vehicle M) of the third automatic movement control based on the outside information of the vehicle M and the like acquired by measurement of the vehicle M itself (step S83). The instruction value for the vehicle M derived based on the outside information and the like includes, for example, a "speed instruction value" indicating the moving speed of the vehicle M, an "acceleration instruction value" indicating the amount of acceleration of the vehicle M, and the like.

[0123] Next, the vehicle M performs automatic movement based on the third automatic movement control based on the control content (e.g., an instruction value for the vehicle M) of the third automatic movement control derived in step S83 (step S84). The vehicle M performs automatic movement based on the third automatic movement control, and returns to step S81 to repeat the series of processes.

[0124] Note that, in a case where the communication between the vehicle M and the base station 300 returns to the normal state (the restriction on the communication is eliminated) during the execution of the automatic movement of the vehicle M based on the third automatic movement control, the vehicle M performs the automatic movement of the first automatic movement control by the control server 400 or the automatic movement of the second automatic movement control by the base station 300, according to the state of the communication between the base station 300 and the control server 400. In this case, when the communication between the base station 300 and the control server 400 is not restricted, the automatic movement control of the vehicle M is controlled so as to first shift from the third automatic movement control by the vehicle M to the second automatic movement control by the base station 300, and then shift from the second automatic movement control by the base station 300 to the first automatic movement control by the control server 400. Whether the restriction on the communication is eliminated is determined, for example, by whether the state in which the communication is not restricted continues for a prescribed time or more, whether the communication continues for a prescribed number of times or more without being restricted, or the like.

[0125] As described above, according to the movement control system 1, in a case where the communication between the control server 400 and the base station 300 is not restricted, the control server 400 performs the first automatic movement control of the vehicle M with the aid of the base station 300, and in a case where the communication between the control server 400 and the base station 300 is restricted, the base station 300 performs the second automatic movement control of the vehicle M. Also, the first automatic movement control is the automatic movement control in which the driver of the vehicle M has less tasks than in the second automatic movement control. Therefore, even when the communication between the control server 400 and the base station 300 is restricted and the control server 400 cannot perform the first automatic movement control of the vehicle M, the base station 300 can perform the second automatic movement control of the vehicle M instead of the control server 400. Thus, it is possible to improve the continuity of the automatic movement control of the vehicle M from the outside. In addition, the control server 400 is a higher-level device that has more abundant computational resources and available information than the base station 300, and can perform the first automatic movement control in which the driver has less tasks than in the second automatic movement control by the base station 300. Therefore, in a case where the communication between the control server 400 and the base station 300 is not restricted, by performing the first automatic movement control in which the driver has less tasks by the control server 400, it is possible to reduce the burden on the driver.

[0126] In addition, according to the movement control system 1, in a case where the communication between the base station 300 and the vehicle M is restricted, the vehicle M autonomously performs the third automatic movement control. Also, the second automatic movement control is an automatic movement control in which the user's task is less than that of the third automatic movement control. Therefore, in a process in which the control server 400 performs the first automatic movement control of the vehicle M, or in a process in which the base station 300 performs the second automatic movement control of the vehicle M, even if the communication between the control server 400 and the vehicle M is restricted due to the communication between the base station 300 and the vehicle M being restricted, the vehicle M can autonomously perform the third automatic movement control. Thus, it is possible to improve the continuity of the automatic movement control of the vehicle M itself. In addition, the base station 300 is a higher-level device in which the computational resources and the available information are more abundant than in the vehicle M, and it is possible to perform the second automatic movement control in which the driver's task is less than that of the third automatic movement control performed by the vehicle M. Therefore, in a case where the communication between the control server 400 and the base station 300 is restricted, but the communication between the base station 300 and the vehicle M is not restricted, by performing the second automatic movement control in which the driver's task is less, it is possible to reduce the burden on the driver.

[0127] In addition, according to the movement control system 1, in a case where the communication between the base station 300 and the vehicle M is restricted, the vehicle M autonomously performs the third automatic movement control. Also, the second automatic movement control is an automatic movement control in which the user's task is less than that of the third automatic movement control. Therefore, in a process in which the control server 400 performs the first automatic movement control of the vehicle M, or in a process in which the base station 300 performs the second automatic movement control of the vehicle M, even if the communication between the control server 400 and the vehicle M is restricted due to the communication between the base station 300 and the vehicle M being restricted, the vehicle M can autonomously perform the third automatic movement control. Thus, it is possible to improve the continuity of the automatic movement control of the vehicle M itself. In addition, the base station 300 is a higher-level device in which the computational resources and the available information are more abundant than in the vehicle M, and it is possible to perform the second automatic movement control in which the driver's task is less than that of the third automatic movement control performed by the vehicle M. Therefore, in a case where the communication between the control server 400 and the base station 300 is restricted, but the communication between the base station 300 and the vehicle M is not restricted, by performing the second automatic movement control in which the driver's task is less, it is possible to reduce the burden on the driver.

[0128] In addition, according to the movement control system 1, whether the restriction of the communication is eliminated is determined, for example, by whether a state in which the restriction of the communication does not occur continues for a predetermined time or more, whether the communication continuously occurs for a predetermined number of times or more in a case where the restriction of the communication does not occur, or the like. Therefore, even in a state where the restriction of the communication is temporarily eliminated, the automatic movement control is not switched, and thus it is possible to suppress frequent switching of the driver's task in a situation in which the communication environment greatly changes, and it is possible to reduce the burden on the driver.

[0129] In addition, according to the movement control system 1, for example, in a case where the amount of delay of the communication exceeds a predetermined value, it is determined that the restriction of the communication occurs. Therefore, by switching the subject of the automatic movement control of the vehicle M depending on the amount of delay of the communication, it is possible to suppress frequent switching due to the delay of the communication, and it is possible to improve the continuity of the automatic movement control of the moving body.

[0130] The above describes embodiments of the present application, but the present application is not limited to the above-described embodiments and can be appropriately modified, improved, and the like.

[0131] For example, in the above-described embodiments, an example in which the mobile body is a vehicle is described, but the present application is not limited thereto. The idea of the present application is not limited to a vehicle and can be applied to a robot, a ship, an airplane, or the like that has a drive source and is capable of moving by power of the drive source.

[0132] Further, in the present specification, at least the following matters are described. Furthermore, in the brackets, corresponding constituent elements and the like in the above-described embodiments are shown, but the present application is not limited thereto.

[0133] (1) A movement control system in which,

[0134] The movement control system includes:

[0135] a mobile body (vehicle M);

[0136] a first control device (control server 400) capable of communicating with the mobile body; and

[0137] a second control device (base station 300) relaying communication of the mobile body with the first control device,

[0138] the first control device performs first automatic movement control of the mobile body with the aid of the second control device in a case where a restriction of communication of the first control device with the second control device is not generated,

[0139] the second control device performs second automatic movement control of the mobile body in a case where a restriction of communication of the first control device with the second control device is generated,

[0140] the first automatic movement control is automatic movement control in which a task of a user of the mobile body is less than that of the second automatic movement control.

[0141] According to (1), even if the communication of the first control device with the second control device is restricted so that the first automatic movement control of the mobile body by the first control device cannot be performed, the second control device can perform the second automatic movement control of the mobile body instead of the first control device, and thus the continuity of the automatic movement control of the mobile body from the outside can be improved. In addition, the first control device is a higher-level device that has more abundant computational resources and available information than the second control device, and can perform the first automatic movement control that is less burdensome to the user than the second automatic movement control by the second control device. In a case where the communication of the first control device with the second control device is not restricted, by performing the first automatic movement control that is less burdensome to the user, the burden on the user can be reduced.

[0142] (2) The mobile control system according to (1), wherein

[0143] in a case where the communication of the second control device with the mobile body is restricted, the mobile body autonomously performs third automatic movement control,

[0144] the second automatic movement control is automatic movement control that is less burdensome to the user than the third automatic movement control.

[0145] According to (2), in a process in which the first control device performs the first automatic movement control of the mobile body, or in a process in which the second control device performs the second automatic movement control of the mobile body, even if the communication of the second control device with the mobile body is restricted so that the communication of the first control device with the mobile body is restricted, the mobile body can autonomously perform the third automatic movement control, and thus the continuity of the automatic movement control of the mobile body can be improved. In addition, the second control device is a higher-level device that has more abundant computational resources and available information than the mobile body, and can perform the second automatic movement control that is less burdensome to the user than the third automatic movement control by the mobile body. In a case where the communication of the first control device with the second control device is restricted, but the communication of the second control device with the mobile body is not restricted, by performing the second automatic movement control that is less burdensome to the user, the burden on the user can be reduced.

[0146] (3) The mobile control system according to (2), wherein

[0147] in a case where the restriction of the communication of the second control device with the mobile body is eliminated in a process in which the mobile body performs the third automatic movement control, the second control device performs the second automatic movement control, and thereafter, in a case where the restriction of the communication of the first control device with the second control device is not eliminated, the first control device performs the first automatic movement control.

[0148] According to (3), in a case where the restriction of the communication of the mobile body with the second control device is eliminated in the process in which the third automatic movement control is executed by the mobile body, instead of switching from the third automatic movement control executed by the mobile body to the first automatic movement control executed by the first control device directly, the automatic movement control is switched in stages through the second automatic movement control executed by the second control device, whereby it is possible to suppress a drastic change in the user's task and to reduce the user's mental burden.

[0149] (4) The movement control system according to (3), wherein

[0150] The elimination of the restriction of the communication is a state in which at least either of a state in which the state in which the restriction of the communication does not occur continues for a prescribed time or more and a state in which the communication continuously occurs for a prescribed number of times or more in the case where the restriction of the communication does not occur is satisfied.

[0151] According to (4), even in the case where the restriction of the communication is temporarily eliminated, the manner of switching the automatic movement control is not switched, whereby it is possible to suppress a case where the user's task is frequently switched in a situation in which the communication environment greatly changes and to reduce the user's burden.

[0152] (5) The movement control system according to any one of (1) to (4), wherein

[0153] The restriction of the communication is a state in which an amount of delay of the communication exceeds a prescribed value.

[0154] According to (5), by switching the subject of the automatic movement control of the mobile body according to the amount of delay of the communication, it is possible to improve the continuity of the automatic movement control of the mobile body.

[0155] (6) The movement control system according to any one of (1) to (5), wherein

[0156] The first automatic movement control is automatic movement control in which a processing amount is more than that of the second automatic movement control.

[0157] According to (6), the first control device is a higher-level device in which an operation resource and information that can be used are more abundant than those of the second control device, and it is possible to execute the first automatic movement control in which the processing amount is more than that of the second automatic movement control executed by the second control device. In the case where the communication of the first control device with the second control device does not have a restriction, by executing the first automatic movement control in which the processing amount is more, it is possible to reduce the user's burden.

[0158] (7) The movement control system according to any one of (2) to (4), wherein

[0159] The second automatic movement control is automatic movement control in which a processing amount is more than that of the third automatic movement control.

[0160] According to (7), the second control device is a higher-level device that has more abundant computational resources and available information compared to the mobile body, and is capable of performing second automatic movement control that has a larger processing load than the third automatic movement control performed by the mobile body. In a case where a restriction is imposed on communication between the first control device and the second control device, but no restriction is imposed on communication between the second control device and the mobile body, the user's burden can be reduced by performing the second automatic movement control that has a larger processing load.

[0161] (8) A mobile control method is a mobile control method in a mobile control system including: a mobile body; a first control device capable of communicating with the mobile body; and a second control device relaying communication between the mobile body and the first control device, wherein,

[0162] the mobile control method includes:

[0163] in a case where no restriction is imposed on communication between the first control device and the second control device, the first control device performs first automatic movement control of the mobile body with the aid of the second control device,

[0164] in a case where a restriction is imposed on communication between the first control device and the second control device, the second control device performs second automatic movement control of the mobile body,

[0165] the first automatic movement control is automatic movement control that has fewer tasks for a user of the mobile body than the second automatic movement control.

[0166] According to (8), as with the mobile control system of (1) above, the continuity of automatic movement control of the mobile body from the outside can be improved. In addition, the user's burden can be reduced.

[0167] (9) A control program is a control program for a second control device that relays communication between a mobile body and a first control device capable of communicating with the mobile body in a mobile control system including the mobile body and the first control device, wherein,

[0168] the control program causes a computer of the second control device to perform the following processing:

[0169] in a case where no restriction is imposed on communication between the first control device and the second control device, relaying first automatic movement control of the mobile body performed by the first control device,

[0170] in a case where a restriction is imposed on communication between the first control device and the second control device, performing second automatic movement control of the mobile body,

[0171] The first automatic movement control is an automatic movement control in which a user of the mobile body has less tasks than in the second automatic movement control.

[0172] According to (9), as with the mobile control system of the above (1), it is possible to improve the continuity of automatic movement control of the mobile body from the outside. In addition, it is possible to reduce the burden on the user.

[0173] (10) A control device (base station 300) that relays communication of a mobile body and a first control device capable of communicating with the mobile body in a mobile control system including the mobile body and the first control device, wherein

[0174] The control device includes:

[0175] a communication section (communication section 310) capable of communicating with the mobile body and the first control device; and

[0176] a control section (AD ECU 320) that relays first automatic movement control of the mobile body by the first control device in a case where a restriction on communication of the first control device and the communication section is not generated, and that performs second automatic movement control of the mobile body in a case where a restriction on communication of the first control device and the communication section is generated,

[0177] The first automatic movement control is an automatic movement control in which a user of the mobile body has less tasks than in the second automatic movement control.

[0178] According to (10), as with the mobile control system of the above (1), it is possible to improve the continuity of automatic movement control of the mobile body from the outside. In addition, it is possible to reduce the burden on the user.

Claims

1. A mobile control system, wherein the mobile control system includes: a mobile body; a first control device capable of communicating with the mobile body; and a second control device relaying communication of the mobile body with the first control device, the first control device derives first control content of the mobile body in a case where a restriction of the communication of the first control device with the second control device is not generated, and the first control device performs first automatic mobile control of the mobile body by means of the second control device in accordance with the first control content, the second control device derives second control content of the mobile body in a case where the communication of the first control device with the second control device is generated, and the second control device performs second automatic mobile control of the mobile body in accordance with the second control content, the first automatic mobile control is automatic mobile control of the mobile body in which a task of a user of the mobile body is less than that of the second automatic mobile control, the mobile body autonomously performs third automatic mobile control in a case where the communication of the second control device with the mobile body is generated, the second automatic mobile control is automatic mobile control of the mobile body in which a task of the user is less than that of the third automatic mobile control, in a case where the restriction of the communication of the second control device with the mobile body is eliminated in the course of the mobile body performing the third automatic mobile control, the second control device performs the second automatic mobile control regardless of whether or not a restriction of the communication of the second control device with the first control device is generated, and thereafter, the first control device performs the first automatic mobile control in a case where the restriction of the communication of the first control device with the second control device is not generated.

2. The mobile control system according to claim 1, wherein elimination of the restriction of the communication is a state satisfying at least either one of a state in which a state in which the restriction of the communication is not generated continues for a prescribed time or more, and a state in which the communication is continuously performed for a prescribed number of times or more in a case where the restriction of the communication is not generated.

3. The mobile control system according to claim 1 or 2, wherein the restriction of the communication is a state in which a delay amount of the communication exceeds a prescribed value.

4. The mobile control system according to claim 1 or 2, wherein the first automatic mobile control is automatic mobile control in which a processing amount is more than that of the second automatic mobile control.

5. The mobile control system according to claim 1 or 2, wherein the second automatic mobile control is automatic mobile control in which a processing amount is more than that of the third automatic mobile control.

6. A movement control method, which is a movement control method in a movement control system including: a mobile body; a first control device capable of communicating with the mobile body; and a second control device relaying communication of the mobile body with the first control device, wherein the mobile control method includes: the first control device derives first control content of the mobile body in a case where a restriction of the communication of the first control device with the second control device is not generated, and the first control device performs first automatic mobile control of the mobile body by means of the second control device in accordance with the first control content, the second control device derives second control content of the mobile body in a case where the communication of the first control device with the second control device is generated, and the second control device performs second automatic mobile control of the mobile body in accordance with the second control content, the second control device derives second control content of the mobile body in a case where the communication between the first control device and the second control device is restricted, and performs second autonomous movement control of the mobile body in accordance with the second control content, the first autonomous movement control is an autonomous movement control of the mobile body in which a task of a user of the mobile body is less than in the second autonomous movement control, the second control device autonomously performs third autonomous movement control in a case where the communication between the second control device and the mobile body is restricted, the second autonomous movement control is an autonomous movement control in which the task of the user is less than in the third autonomous movement control, in a case where the restriction of the communication between the second control device and the mobile body is eliminated in the course of the execution of the third autonomous movement control by the mobile body, the second control device performs the second autonomous movement control regardless of whether or not the restriction of the communication between the second control device and the first control device is generated, and thereafter, in a case where the restriction of the communication between the first control device and the second control device is not generated, the first control device performs the first autonomous movement control.

7. A recording medium that records a control program of a second control device that relays communication between a mobile body and a first control device capable of communicating with the mobile body in a movement control system including the mobile body and the first control device, wherein the control program is used to cause a computer of the second control device to perform the following processes: in a case where the restriction of the communication between the first control device and the second control device is not generated, relay first autonomous movement control of the mobile body performed by the first control device in accordance with first control content of the mobile body derived by the first control device, in a case where the communication between the first control device and the second control device is restricted, derive second control content of the mobile body, and perform second autonomous movement control of the mobile body in accordance with the second control content, in a case where the restriction of the communication between the second control device and the mobile body is eliminated while the second control device and the mobile body are communicating and the mobile body is autonomously performing third autonomous movement control, perform the second autonomous movement control regardless of whether or not the restriction of the communication between the second control device and the first control device is generated, and thereafter, in a case where the restriction of the communication between the first control device and the second control device is not generated, relay the first autonomous movement control, the first autonomous movement control is an autonomous movement control of the mobile body in which a task of a user of the mobile body is less than in the second autonomous movement control, the second autonomous movement control is an autonomous movement control in which the task of the user is less than in the third autonomous movement control.

8. A control device that relays communication between a mobile body and a first control device capable of communicating with the mobile body in a movement control system including the mobile body and the first control device, wherein the control device includes: a communication section capable of communicating with the mobile body and the first control device; and the control section relays the first automatic movement control of the mobile body by the first control device in accordance with the first control content of the mobile body derived by the first control device in a case where a restriction of communication between the first control device and the communication section is not generated, derives a second control content of the mobile body in a case where a restriction of communication between the first control device and the communication section is generated, and performs a second automatic movement control of the mobile body in accordance with the second control content, the control section performs the second automatic movement control regardless of whether or not a restriction of communication between the communication section and the first control device is generated in a case where a restriction of communication between the communication section and the mobile body is eliminated while the third automatic movement control is being autonomously performed by the mobile body, and thereafter relays the first automatic movement control in a case where a restriction of communication between the first control device and the communication section is not generated, the first automatic movement control is an automatic movement control in which a task of a user of the mobile body is less than in the second automatic movement control, the second automatic movement control is an automatic movement control in which a task of the user is less than in the third automatic movement control.

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