Remote support server, remote support method, and storage medium

Abstract

The present invention relates to a remote support processor, a remote support method, and a storage medium. Upon receiving a remote support request from at least one vehicle, the processor performs intermediate remote support processing for the vehicle. During the intermediate processing, if remote support requests are received from at least two vehicles in the same time period, the vehicles are organized into at least one group based on map information and the locations and travel directions of the vehicles. Furthermore, based on the map information and the locations and travel directions of the vehicles, a support order for the vehicles in at least one group is determined for each group. Then, according to the support order, image information of the surroundings of the vehicle is transmitted to at least one support device performing remote support for the vehicles organized into the at least one group.

Description

Technical Field

[0001] The present invention relates to a server, a method and a storage medium for remotely supporting a vehicle capable of autonomous driving. Background Art

[0002] Japanese Patent Application Laid-Open No. 2018-77649 discloses a system for remotely controlling a vehicle. This conventional system selects an operator to remotely control the vehicle upon receiving a remote control request from the vehicle. The operator is selected by selecting an operator from a pool of candidate operators who meets specified criteria. These criteria include: an operator who has recently performed remote control appropriately; and an operator whose proficiency and alertness levels exceed baseline values.

[0003] In the aforementioned conventional systems, the vehicle requesting remote control is equipped with an autonomous driving system. In other words, the vehicle subject to remote control in conventional systems is capable of a certain degree of autonomous driving. Therefore, it is expected that requests for remote support issued during periods when vehicle systems, including the autonomous driving system and recognition devices, are operating normally will not involve "remote driving," which assumes manual operation by an operator, but rather "remote support," which involves identification and judgment support by the operator.

[0004] For example, consider the case of sunlight shining on a traffic light in front of an autonomous vehicle. In this situation, the vehicle's system's accuracy in identifying the light status of the traffic light's light-emitting element decreases. If the vehicle's system cannot identify the light status, it becomes difficult to determine what action should be taken at what time. In such a situation, a request for remote support is issued. In response to this request, support is provided in identifying the light status and / or determining the vehicle's action (e.g., starting the vehicle) based on the operator's identified light status.

[0005] Here, it is expected that the time an operator is tied up to process a remote support request from a single vehicle is shorter than the time an operator is tied up to process a remote driving request from a single vehicle. However, if multiple remote support requests are issued during the same time period, these requests must be processed by the operator waiting for them. In this regard, existing technologies, such as the aforementioned existing systems, lack a perspective on efficiently processing multiple remote support requests, leaving room for improvement. Summary of the Invention

[0006] An object of the present invention is to provide a technology that can efficiently process multiple remote support requests when these requests are issued in the same time period.

[0007] A first invention is a remote support server for performing remote support of a plurality of autonomously traveling vehicles, and has the following features.

[0008] The remote support server includes: an information processing device including a memory storing various information and a processor for processing the various information; and a communication device for communicating with the plurality of vehicles.

[0009] The processor, upon receiving a request for remote support from at least one of the plurality of vehicles, performs a mediation process for the remote support of the at least one vehicle.

[0010] The various information includes map information, position and travel direction information of the at least one vehicle, and surrounding image information of the at least one vehicle.

[0011] The processor is configured to: in the intermediate processing, when requests for remote support are received from at least two vehicles among the multiple vehicles in the same time period, group the at least two vehicles into at least one group based on the map information and the position and travel direction information of the at least two vehicles; determine the support order of the vehicles in the at least one group for each group based on the map information and the position and travel direction information of the at least two vehicles; send the surrounding image information of the vehicle to at least one support device that performs remote support for the vehicles grouped into the at least one group in accordance with the support order; and when support indication information generated in accordance with the support order is received from the at least one support device, send the support indication information to the vehicle to which the support indication information is sent.

[0012] The second invention further has the following features in the first invention.

[0013] The processor is configured to: in the intermediate processing, when all vehicles organized into the at least one group have the same traveling direction and are located in the same lane, determine the support order in sequence starting from the head of the vehicle organized into the at least one group.

[0014] The third invention further has the following features in the first invention.

[0015] The processor is configured to: in the intermediate processing, when all vehicles organized into the at least one group have the same traveling direction and all the vehicles are not located in the same lane, determine the support order in order from earliest to latest time of receipt of the remote support request.

[0016] The fourth invention further has the following features in the first invention.

[0017] The various information also includes planned action information indicating information about planned actions of the at least two vehicles.

[0018] The processor is configured to, in the intermediate processing, determine the support order based on a combination of a reception time of the remote support request and the predetermined action information when all vehicles organized into the at least one group have different traveling directions.

[0019] The fifth invention further has the following features in any one of the first to fourth inventions.

[0020] The various information also includes at least one of support cancellation information canceling the request for remote support, light color information of a light emitting portion of a traffic light located at a restricted driving location in front of the at least one vehicle, and external identification information of the at least one vehicle.

[0021] The processor is configured to: in the intermediate processing, after the at least two vehicles are grouped into the at least one group and before the surrounding image information is sent to the at least one supporting device, use at least one of the support cancellation information, the light color information and the external identification information to regroup the at least one group.

[0022] The sixth invention is a remote support method for performing remote support of a plurality of autonomously traveling vehicles by a server, and has the following features.

[0023] The remote support method comprises the following steps: accepting a request for remote support from at least one vehicle among the multiple vehicles; in a case where remote support requests from at least two vehicles among the multiple vehicles are received in the same time period, grouping the at least two vehicles into at least one group based on map information and information about the positions and travel directions of the at least two vehicles; determining a support order for the vehicles in the at least one group for each group based on the map information and information about the positions and travel directions of the at least two vehicles; sending the surrounding image information of the vehicle to at least one support device that performs remote support for the vehicles grouped into the at least one group in accordance with the support order; and in a case where support indication information generated in accordance with the support order is received from the at least one support device, sending the support indication information to the vehicle to which the support indication information is sent.

[0024] A seventh invention is a storage medium storing a program for causing a server to execute remote support for a plurality of vehicles capable of autonomous driving.

[0025] The program causes the server to perform the following processing: accepting a request for remote support from at least one of the multiple vehicles; in a case where requests for remote support are received from at least two of the multiple vehicles in the same time period, grouping the at least two vehicles into at least one group based on map information and information about the positions and travel directions of the at least two vehicles; determining a support order for the vehicles in the at least one group for each group based on the map information and information about the positions and travel directions of the at least two vehicles; sending the surrounding image information of the vehicle to at least one support device that performs remote support for the vehicles grouped into the at least one group in accordance with the support order; and in a case where support indication information generated in accordance with the support order is received from the at least one support device, sending the support indication information to the vehicle to which the support indication information is sent.

[0026] According to the first, sixth, or seventh inventions, when remote support requests are received from at least two vehicles temporarily parked at a proximate location during the same time period, these vehicles are organized into at least one group, and a support order within the group is determined. Then, image information of the surroundings of the vehicles is transmitted to the support device providing remote support for the vehicles organized into the group. Furthermore, when support instruction information generated according to the support order is received from the support device, the support instruction information is transmitted to the vehicle to which the support instruction information is to be sent. This allows for efficient response to remote support requests from vehicles organized into the group, reducing the burden on operators responding to these requests.

[0027] According to the second invention, when all vehicles forming the same group are traveling in the same direction and in the same lane, the support order can be determined sequentially from the head of the vehicles forming the same group.

[0028] According to the third invention, when all vehicles in the same group travel in the same direction and are not located in the same lane, the support order can be determined in descending order of the reception times of remote support requests from all vehicles.

[0029] According to the fourth invention, when all vehicles organized into the same group have different traveling directions, the support order can be determined based on a combination of the reception times of remote support requests from all vehicles and the planned operation information of all vehicles.

[0030] According to the fifth invention, after being organized into at least one group, the group can be reorganized using at least one of support cancellation information, light color information, and external identification information. This allows the total number of vehicles organized into groups to be controlled within an appropriate range, and prevents the occurrence of adverse conditions associated with grouping. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0032] Figure 1 This is a diagram illustrating remote support services.

[0033] Figure 2 This is a diagram illustrating remote support services.

[0034] Figure 3 This is a diagram illustrating a first example of remote support assumed in the embodiment.

[0035] Figure 4 This is a diagram illustrating a second example of remote support assumed in the embodiment.

[0036] Figure 5 This is a diagram illustrating a third example of remote support assumed in the embodiment.

[0037] Figure 6 This is a diagram illustrating a fourth example of remote support assumed in the embodiment.

[0038] Figure 7 This is a diagram illustrating a fifth example of remote support assumed in the embodiment.

[0039] Figure 8 This is a diagram explaining the cascading effects achieved through intermediate processing.

[0040] Figure 9 This is a diagram explaining the cascading effects achieved through intermediate processing.

[0041] Figure 10 Is to express Figure 1 A block diagram of an example configuration related to autonomous driving of a vehicle is shown.

[0042] Figure 11 Yes Figure 1 The block diagram shows an example of the configuration of a remote support server and a support device.

[0043] Figure 12 This is a flowchart showing an example of processing executed when the remote support server performs intermediate processing.

[0044] Figure 13This is a flowchart showing an example of processing executed when the remote support server performs intermediate processing.

[0045] Figure 14 It is an explanation Figure 12 FIG. 1 is a diagram of a first modification example of the process of step S12 .

[0046] Figure 15 It is an explanation Figure 12 FIG. 1 is a diagram of a second modification example of the process of step S12 .

[0047] Figure 16 It is an explanation Figure 12 FIG. 3 is a diagram of a third modification example of the process of step S12 . DETAILED DESCRIPTION

[0048] Hereinafter, a remote support server, a remote support method, and a remote support program according to embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that in the drawings, identical or corresponding parts are denoted by identical reference numerals, and their descriptions will be simplified or omitted.

[0049] 1. Overview of Implementation Methods

[0050] 1-1. Remote Support

[0051] The remote support server of the embodiment constitutes a part of a system that provides a remote support service. Figure 1 and Figure 2 This is a diagram illustrating remote support services. Figure 1 The illustrated system 1 includes multiple vehicles 2, a remote support server 3, and multiple support devices 4 as components associated with remote support services. The multiple vehicles 2 communicate with the remote support server 3 via a network 5. The remote support server 3 communicates with the multiple support devices 4 via a dedicated network. However, this communication can also be performed via the network 5.

[0052] exist Figure 2 The figure depicts a plurality of vehicles 2, namely, vehicles 2A to 2D, and a plurality of support devices 4, namely, support devices 4A to 4D. The support devices 4A to 4D are respectively assigned to operators OP1 to OP4. The remote support server 3 determines the support device 4 (operator OP) that responds to the request for remote support (hereinafter also referred to as "support request") RQ_2A to RQ_2D from among the support devices 4A to 4D. Figure 2 In the example shown, the support device 4A (operator OP1) is determined to respond to the support requests RQ_2A to RQ_2C, and the support device 4B (operator OP2) is determined to respond to the support request RQ_2D.

[0053] Back to Figure 1In the communication between the multiple vehicles 2 and the remote support server 3, communication information COM2 is transmitted from each of the multiple vehicles 2 to the remote support server 3. This communication information COM2 is also transmitted from the remote support server 3 to the support device 4 that responds to the support request. Communication information COM4 is transmitted from the remote support server 3 to the vehicle 2. In response to the communication information COM2, communication information COM4 is transmitted from the support device 4 to the remote support server 3.

[0054] Each of the multiple vehicles 2 is configured to drive autonomously. Autonomous driving is performed, for example, by an autonomous driving system installed in each vehicle. The autonomous driving system performs autonomous driving control to control the steering, acceleration, and deceleration of the vehicle 2. Examples of autonomous driving control include lane keeping control, leading vehicle following control, and collision avoidance control. Lane keeping control is control for causing vehicle 2 to follow the lane in which it is traveling. Leading vehicle following control is control for causing vehicle 2 to follow the leading vehicle traveling ahead of it. Collision avoidance control is control for preventing vehicle 2 from colliding with an obstacle ahead of it.

[0055] Each of the multiple vehicles 2 may also be configured to enable manual driving by a driver. If manual driving is possible, a switch from automatic driving to manual driving is performed while the automatic driving control is in progress. Alternatively, automatic driving control may be initiated during manual driving, switching from manual driving to automatic driving. This switch may be made based on the automatic driving system's judgment or the driver's intention. Even during manual driving, the automatic driving system may execute controls to support the driver's vehicle operations.

[0056] The remote support server 3 is a server for processing support requests from a plurality of vehicles 2 ( Figure 2 The computer is a component of the "intermediate processing" between the support requests RQ_2A to RQ_2D) shown in FIG.

[0057] The multiple support devices 4 are computers each configured to remotely support the vehicle 2 that has issued the support request, upon deciding to respond to the request. Each of the multiple support devices 4 includes, for example, a display and an input device. An operator OP uses the information displayed on the display to understand the surrounding environment of the vehicle 2 and operates the input device to input support instructions for the vehicle 2. Upon input of the support instruction, the support device 4 generates support instruction information IAS based on the instruction and transmits the information to the vehicle 2. The support instruction information IAS is included in the communication information COM4.

[0058] 1-2. Remote support

[0059] If remote support is determined to be necessary, multiple vehicles 2 each transmit support request information IRQ and vehicle information IVH to the remote support server 3. The support request information IRQ and vehicle information IVH are included in the communication information COM2. The support request information IRQ includes, for example, information indicating the content of the remote support desired by vehicle 2 (hereinafter also referred to as "support content information CNT") and information about the action planned by vehicle 2 (hereinafter also referred to as "planned action information APN"). The vehicle information IVH includes, for example, vehicle 2's location and travel direction information LCT and vehicle 2's surrounding image information IMG.

[0060] Support content information CNT can include decision support for vehicle 2 as a remote support feature. For example, consider a situation where vehicle 2 temporarily stops on the shoulder of a road to allow passengers to board or exit the vehicle. In this case, the operator OP is expected to be requested to determine whether vehicle 2 can be started and autonomously driven after the boarding or exiting is complete. As another example, consider a situation where vehicle 2 temporarily stops behind an obstacle, such as a parked vehicle. In this case, the operator OP is expected to be requested to determine whether vehicle 2 can be started and autonomously driven to avoid the obstacle.

[0061] Figure 3 1 is a diagram illustrating a first example of remote support assumed in the embodiment. Figure 3 Vehicles 2A and 2B are depicted in the figure. Vehicle 2A has temporarily stopped on the shoulder of lane TL1 and requested remote support. Vehicle 2A's support content information CNT indicates support for determining whether vehicle 2A can start. Vehicle 2B has temporarily stopped behind vehicle 2A and, like vehicle 2A, requests remote support. Vehicle 2B's support content information CNT indicates support for determining whether vehicle 2B can start. However, the situations of vehicles 2A and 2B are different; for vehicle 2B, vehicle 2A represents an obstacle ahead.

[0062] exist Figure 3 In the example shown, support requests from vehicles 2A and 2B, which are temporarily parked near each other, are generated in the same time period. The "same time period" is defined by a specified time duration (e.g., several to several tens of seconds). The support device 4 makes a decision to respond to a particular support request after a specified time has passed since the support request was accepted. Specifically, a second support request received within the waiting time for the support device 4 to make a decision to respond to the first support request is considered a support request generated in the "same time period" as the first support request.

[0063] In addition, Figure 3 In the example shown, the support content information CNT of vehicle 2A and the support content information CNT of vehicle 2B in the judgment support for starting are consistent. However, the situations in which these vehicles are located are different, and it is difficult for the responsible operator OP to instantly grasp the purpose for which the judgment support is being performed. In order to assist in this grasp, the embodiment utilizes the scheduled action information APN. The scheduled action information APN is estimated based on, for example, the driving trajectory and driving plan of the vehicle 2 that requested remote support. The generation of the scheduled action information APN is performed in the automatic driving system of the vehicle 2 that requested remote support. The scheduled action information APN_2A of vehicle 2A is "the start of lane keeping control", while the scheduled action information APN_2B of vehicle 2B is "the start of collision avoidance control".

[0064] Another example of a situation where, after receiving a support request from vehicle 2, another vehicle 2 temporarily parked near the vehicle 2 generates a support request during the same time period is crossing an intersection. An intersection is an example of a "travel restriction location" in this application. For example, consider a situation where multiple vehicles 2 are temporarily parked near the entrance of an intersection to allow them to pass through. In this case, it is expected that the operator OP will be requested to determine whether these vehicles 2 can start and begin autonomous travel.

[0065] Figure 4 1 is a diagram illustrating a second example of remote support assumed in the embodiment. Figure 3 Likewise, in Figure 4 Vehicles 2A and 2B are depicted in the figure. Vehicle 2A has temporarily stopped in lane TL3 (a right-turn lane) and requested remote support. Vehicle 2A's support content information CNT indicates support for determining whether vehicle 2A can start. Vehicle 2B has temporarily stopped behind vehicle 2A and, like vehicle 2A, requests remote support. Vehicle 2B's support content information CNT indicates support for determining whether vehicle 2B can start. However, the situations of vehicles 2A and 2B are different, and vehicle 2B starts after vehicle 2A.

[0066] exist Figure 4 In the example shown, the scheduled action information APN_2A for vehicle 2A indicates "Start of automated driving control for a right turn at an intersection." Meanwhile, the scheduled action information APN_2B for vehicle 2B indicates "Start of automated driving control for a right turn at an intersection after the preceding vehicle has started its right turn." Based on these scheduled action information APN_2A and APN_2B, the operator or operators OP in charge of vehicles 2A and 2B can instantly determine the situation (waiting for a right turn) of their assigned vehicles.

[0067] Figure 5 1 is a diagram illustrating a third example of remote support assumed in the embodiment. Figure 3 and Figure 4 Likewise, in Figure 5 Vehicles 2A and 2B are depicted in FIG. Vehicle 2A temporarily stops in lane TL3 and requests remote support. The support content information CNT of vehicle 2A is support for determining whether vehicle 2A can start. Figure 4 The example shown is the same. Vehicle 2B stops in lane TL5 (right-turn lane) adjacent to lane TL3 and requests remote support. The support content information CNT of vehicle 2B is support for determining whether vehicle 2B can start.

[0068] exist Figure 5 In the example shown, the planned action information APN_2A of the vehicle 2A and the planned action information APN_2B of the vehicle 2B are both "start of automatic driving control for turning right at an intersection". Figure 5 The examples shown and Figure 4 The examples shown share the fact that support requests were generated during the same time period from vehicles 2A and 2B, which were temporarily parked near each other. These examples differ in the lanes where vehicles 2A and 2B are temporarily parked (i.e., lanes TL3 and TL5) and the lanes at which they are turning right (i.e., lanes TL4 and TL6).

[0069] Assume that the fourth example is Figure 5 The examples shown are close examples. Figure 6 1 is a diagram illustrating a fourth example of remote support assumed in the embodiment. Figure 6 Vehicles 2A and 2C are depicted in FIG. Vehicle 2A temporarily stops in lane TL3 and requests remote support. The support content information CNT of vehicle 2A is support for determining whether vehicle 2A can start. Figure 4 The example shown is the same. Vehicle 2C stops in lane TL7 (right-turn lane) opposite lane TL3 across the intersection and requests remote support. The support content information CNT of vehicle 2C is support for determining whether vehicle 2C can start.

[0070] The planned action information APN_2A of the vehicle 2A and the planned action information APN_2C of the vehicle 2C are both "start of automatic driving control for turning right at an intersection". Figure 6 In the example shown, the vehicle 2A and the vehicle 2C are located across the intersection, but it is also conceivable that these vehicles temporarily stop at positions close to each other.

[0071] Assume that the fifth example is Figure 5 The example shown is close to another example. Figure 71 is a diagram illustrating a fifth example of remote support assumed in the embodiment. Figure 6 Likewise, in Figure 7 Vehicles 2A and 2C are depicted in FIG. Vehicle 2A temporarily stops in lane TL3 and requests remote support. The support content information CNT of vehicle 2A is support for determining whether vehicle 2A can start. Figure 4 The example shown is the same. Vehicle 2C stops in lane TL9 (a lane for going straight and turning left), which is opposite lane TL2 across the intersection, and requests remote support. Lane TL2 is the opposite lane of lane TL9. The support content information CNT of vehicle 2C is support for recognizing the light state of the light emitting unit of the traffic signal TS.

[0072] The planned action information APN_2A of the vehicle 2A is “start of automatic driving control for turning right at the intersection.” On the other hand, the planned action information APN_2C of the vehicle 2C is “start of automatic driving control for going straight at the intersection.”

[0073] Figures 3 to 7 The examples shown are only a portion of the examples assumed in the embodiments. Another example is a combination of vehicle 2A temporarily stopped to support recognition of the light state of a light-emitting portion of a traffic signal located on the shoulder of a lane outside an intersection, and vehicle 2B temporarily stopped behind vehicle 2A. Locations where travel is restricted by such traffic signals are also examples of "travel restriction locations" in this application.

[0074] Another example assumed in the embodiment is a combination of vehicle 2A temporarily stopped before a crosswalk while waiting for pedestrians to cross, and vehicle 2B temporarily stopped behind vehicle 2A. A similar example is a combination of vehicle 2A temporarily stopped before a crosswalk at an intersection, and vehicle 2B temporarily stopped to turn right at the intersection.

[0075] 1-3. Intermediate processing

[0076] During the intermediate processing performed by the remote support server 3, when a support request is received from a vehicle 2, a support device 4 is determined to respond to the request. The communication information COM2 and COM4 exchanged between the two are then intermediately processed. When support requests are received from at least two vehicles 2 in the same time period, at least one support device 4 is determined to respond to these requests.

[0077] Here, the aforementioned examples of driving support all involve support requests from another vehicle 2 that is temporarily parked near the vehicle 2 that requested support, and these support requests are generated during the same time period. Therefore, in order to efficiently respond to these support requests, the decision on which support device 4 to use is made during the intermediate processing so that the total number TN4 of support devices 4 is less than or equal to the total number of support requests TN2.

[0078] Whether at least two vehicles 2 are in close proximity is determined based on the position and travel direction information LCT included in the vehicle information IVH. For example, if the distance between two vehicles 2 is less than a predetermined distance, the vehicles 2 can be determined to be in close proximity. The predetermined distance can be a fixed value or variable based on map information of the location where the vehicles 2 are temporarily parked. Whether support requests from at least two vehicles 2 are generated in the same time period can be determined based on, for example, the predetermined time.

[0079] During the intermediate process, if support requests are received from at least two vehicles 2 that meet the aforementioned time period and location conditions, these vehicles 2 are grouped into the same group (same class). This grouping can be performed based on map information and location and travel direction information LCT. Furthermore, during the intermediate process, the "support order" of the at least two vehicles 2 grouped into the same group is determined. This support order can be determined based on, for example, map information and location and travel direction information LCT.

[0080] Based on the map information and the position and travel direction information LCT, the lanes in which at least two vehicles 2 assigned to the same group are located and the travel directions of these vehicles 2 can be determined. Therefore, for example, when these vehicles 2 are located in the same lane and have the same travel direction (for example, Figure 3 and Figure 4 On the other hand, when these vehicles 2 are not in the same lane and are traveling in the same direction (for example, Figure 5 ), the support order is determined in descending order of the time when the remote support server 3 accepts the support request.

[0081] In another example, the support order is determined based on the map information, the position and travel direction information LCT, and the scheduled action information APN. Based on this information, the lanes in which at least two vehicles 2 assigned to the same group are located, the travel directions of these vehicles 2, and the conditions of these vehicles 2 can be determined. Therefore, for example, when these vehicles 2 are not in the same lane and the travel directions of these vehicles 2 are different (for example, Figure 6 and Figure 7), the support order is determined based on a combination of the time when the remote support server 3 accepts the support request and the situations in which these vehicles 2 are in.

[0082] Specifically, in Figure 6 In the example shown, both the scheduled action information APN_2A for vehicle 2A and the scheduled action information APN_2C for vehicle 2C indicate "Start of automated driving control for turning right at an intersection." This means that vehicles 2A and 2C are in the same situation. Therefore, in this example, the support order is determined based on the time at which the remote support server 3 receives support requests, from earliest to latest.

[0083] On the other hand, Figure 7 In the example shown, vehicle 2A's scheduled action information APN_2A indicates "Start of automated driving control for right turn at intersection," while vehicle 2C's scheduled action information APN_2C indicates "Start of automated driving control for straight ahead at intersection." This means that the situation facing vehicle 2A differs from that facing vehicle 2C. Therefore, in this example, support request RQ_2C from vehicle 2C is handled first, followed by support request RQ_2A from vehicle 2A. This is because traffic regulations prioritize straight ahead over right turns.

[0084] As another example, consider a scenario where two vehicles 2A and 2D traveling in opposite directions face each other at an intersection, and each vehicle 2A intends to make a U-turn at the intersection. In this case, vehicle 2A's scheduled action information APN_2A indicates "Start autonomous driving control for U-turn at intersection," while vehicle 2D's scheduled action information APN_2D indicates "Start autonomous driving control for U-turn at intersection." In this scenario, there is a possibility that the U-turn trajectories of vehicles 2A and 2D may intersect. In such an example, a priority is assigned to vehicle 2A and vehicle 2D, with the higher-priority vehicle being handled first. For example, the vehicle that arrives at the intersection first is given a higher priority.

[0085] During the intermediate process, in order to remotely support at least two vehicles 2 assigned to the same group according to this support sequence, vehicle information IVH and support request information IRQ for these vehicles 2 are transmitted to a support device 4 responsible for the group (hereinafter also referred to as the "responsible computer"). Then, when support instruction information IAS generated according to this support sequence is received from the responsible computer, the support instruction information IAS is sequentially transmitted to the supported vehicles 2.

[0086] In this manner, when support requests are received from at least two vehicles 2 temporarily parked in close proximity during the same time period, these vehicles 2 are grouped and the order of support within the same group is determined, according to the intermediate processing. This allows efficient response to these support requests. This reduces the burden on the operator (OP) responding to these support requests and is expected to contribute to the smooth operation of remote support services.

[0087] In particular, the support order within the same group is determined based on map information, position and travel direction information LCT, and planned action information APN according to the intermediate processing. Therefore, by accelerating the response to support requests within the same group, the cancellation of support requests is expected. Figure 8 and Figure 9 This is a diagram explaining the cascading effects achieved through intermediate processing. Figure 8 Corresponding to Figure 3 An example of remote support is described in . Figure 9 Corresponding to Figure 4 An example of remote support is described in .

[0088] exist Figure 8 In the example shown, vehicle 2A is remotely supported, and vehicle 2A starts to move and begins lane keeping control along lane TL1. Figure 9 In the example shown, vehicle 2A is remotely supported, causing it to start driving and initiate automated driving control for a right turn at an intersection. In both examples, vehicle 2A no longer appears to be an obstacle ahead of vehicle 2B, eliminating the cause of vehicle 2B's support request RQ_2B. This allows vehicle 2B to initiate automated driving control based on the autonomous driving system's judgment. The operator OP no longer needs to initiate automated driving control in response to support request RQ_2B, reducing the burden on the operator OP.

[0089] When canceling the support request, the vehicle 2 transmits support cancellation information CSL indicating the cancellation of the support request to the remote support server 3. The support cancellation information CSL is included in the communication information COM2. When receiving the support cancellation information CSL, the remote support server 3 transmits the information to the responsible computer.

[0090] Hereinafter, a remote support server, a remote support method, and a remote support program according to embodiments of the present invention will be described in detail.

[0091] 2. System Configuration Example

[0092] 2-1. Example of the configuration of the remote support receiving side (vehicle)

[0093] Figure 10 Is to express Figure 1 FIG. 2 is a block diagram of an example of a structure related to autonomous driving of the vehicle 2 shown in FIG. Figure 10 In the illustrated example, vehicle 2 includes a camera 21, a sensor group 22, a map database 23, a communication device 24, a driving device 25, and an information processing device 26. Components such as camera 21 and sensor group 22 are connected to information processing device 26 via, for example, an in-vehicle network (e.g., CAN (Controller Area Network)).

[0094] The camera 21 captures images (moving images) outside the vehicle 2. At least one camera 21 is provided to capture images at least in front of the vehicle 2. The front-viewing camera 21 is, for example, located behind the windshield of the vehicle 2. The external images captured by the camera 21 are typically moving images. However, the external images may also be still images. The information on the external images captured by the camera 21 corresponds to the aforementioned surrounding image information IMG.

[0095] The sensor group 22 includes a state sensor that detects the state of the vehicle 2. As state sensors, a speed sensor, an acceleration sensor, a yaw angular velocity sensor, and a rudder angle sensor are given as examples. In addition, the sensor group 22 includes a position sensor that obtains the position and travel direction information LCT of the vehicle 2. As a position sensor, a GNSS (Global Navigation Satellite System) is given as an example. The sensor group 22 can also include recognition sensors other than the camera 21. The recognition sensor uses radio waves or light to identify (detect) objects around the vehicle 2. As recognition sensors, millimeter wave radar and LIDAR (Laser Imaging Detection and Ranging) are given as examples. Hereinafter, the information obtained by the recognition sensor will also be referred to as "external recognition information RCG."

[0096] Map DB 23 stores map information. Examples of map information include road location information, road shape information (e.g., curve / straight type), and information on the locations of intersections and structures. Map DB 23 is stored in a vehicle-mounted storage device (e.g., a non-volatile storage medium such as a hard disk or flash memory). Alternatively, Map DB 23 may be stored in a computer capable of communicating with vehicle 2 (e.g., remote support server 3).

[0097] The communication device 24 performs wireless communication with a base station (not shown) on the network 5. Examples of the communication standard used for this wireless communication include mobile communication standards such as 4G, LTE, and 5G. The communication device 24 connects to the remote support server 3. During communication with the remote support server 3, the communication device 24 transmits communication information COM2 received from the information processing device 26 to the remote support server 3.

[0098] The travel device 25 accelerates, decelerates, and steers the vehicle 2. The travel device 25 includes, for example, a drive device, a steering device, and a braking device. The drive device drives the tires of the vehicle 2. The steering device steers the tires of the vehicle 2. The braking device applies braking force to the vehicle 2. The drive device controls the acceleration of the vehicle 2. The braking device controls the deceleration of the vehicle 2. If the drive device is a motor, the vehicle 2 can be braked using regenerative braking controlled by the motor. The steering device controls the steering of the vehicle 2.

[0099] The information processing device 26 is a computer used to process various information acquired by the vehicle 2. The information processing device 26 includes at least one processor 27 and at least one memory 28. The processor 27 includes a CPU (Central Processing Unit). The memory 28 is a volatile memory such as a DDR memory, which executes various programs used by the processor 27 and temporarily stores various information. The various information acquired by the vehicle 2 is stored in the memory 28. This information includes surrounding image information IMG and position and travel direction information LCT.

[0100] The processor 27 performs automatic driving control processing of the vehicle 2 by executing the program stored in the memory 28. In addition, the processor 27 determines whether remote support is required by executing the program stored in the memory 28. When it is determined that remote support is required, the processor 27 generates support request information IRQ based on various information stored in the memory 28. The support request information IRQ includes, for example, support content information CNT and scheduled action information APN. The support content information CNT is generated, for example, based on the external identification information RCG obtained by the sensor group 22 (specifically, the identification sensor). The scheduled action information APN is generated, for example, based on the driving trajectory, driving plan, etc. of the vehicle 2.

[0101] If it is determined that remote support is required, the processor 27 encodes the support request information IRQ and the vehicle information IVH and outputs them to the communication device 24. This information may also be compressed during the encoding process. The encoded information is included in the communication information COM2. It should be noted that the encoding process of the support request information IRQ and the vehicle information IVH may also be performed without using the processor 27 and the memory 28. For example, these processes may also be performed by software processing in a GPU (Graphics Processing Unit) or a DSP (Digital Signal Processor) or by hardware processing by an ASIC or FPGA.

[0102] 2-2. Configuration Example of the Remote Support Side (Remote Support Server and Support Device)

[0103] Figure 11 Yes Figure 1 The block diagram of the configuration example of the remote support server 3 and the support device 4 is shown. Figure 11 As shown, the remote support server 3 includes a map DB 31 , a communication device 32 , and an information processing device 33 . The support device 4 includes a display 41 , an input device 42 , a map DB 43 , a communication device 44 , and an information processing device 45 .

[0104] First, a configuration example of the remote support server 3 will be described. Map information is stored in the map DB 31. The map information is exemplified by the information stored in the map DB 23. The map DB 31 is stored in a predetermined storage device (e.g., a nonvolatile storage medium such as a hard disk or flash memory).

[0105] The communication device 32 performs wireless communication with a base station of the network 5. Examples of the communication standard for this wireless communication include mobile communication standards such as 4G, LTE, and 5G. The communication device 32's communication destinations include the vehicle 2. During communication with the vehicle 2, the communication device 32 receives communication information COM2 from the vehicle 2. Furthermore, the communication device 32 performs communication with the support device 4. During communication with the support device 4, the communication device 32 receives communication information COM4 from the support device 4. This communication information COM4 is transmitted to the vehicle 2.

[0106] The information processing device 33 is a computer for processing various information related to remote support. The information processing device 33 includes at least one processor 34 and at least one memory 35. The basic structure of the information processing device 33 is the same as that of the information processing device 26. The memory 35 stores various programs and various information used by the processor 34. The various programs include the remote support program of the embodiment. The various information includes support request information IRQ (support content information CNT and scheduled action information APN) and vehicle information IVH (surrounding image information IMG and position and travel direction information LCT). The memory 35 is an example of a storage medium.

[0107] The processor 34 performs the aforementioned intermediate processing. A specific example of the processing performed by the processor 34 will be described later.

[0108] Next, an example configuration of the support device 4 will be described. A display 41 displays image information IMG surrounding the vehicle 2 being remotely supported (hereinafter also referred to as the "supported vehicle"). Examples of the display 41 include a liquid crystal display (LCD) and an organic light emitting diode (OLED) display. For example, the display 41 includes three displays, one each displaying images of the front, right, and left sides of the supported vehicle.

[0109] The input device 42 is a device operated by the operator OP. The input device 42 includes, for example, an input unit for receiving support instructions from the operator OP and a control circuit for generating and outputting support instruction information IAS based on the support instructions. Examples of the input unit include a touch panel, a mouse, a keyboard, buttons, and switches. Examples of input performed by the operator OP include moving a cursor displayed on the display 41 and selecting a button displayed on the display 41.

[0110] Map information is stored in the map database 43. The map information is exemplified by the information stored in the map database 23. The map database 43 is stored in a predetermined storage device (e.g., a non-volatile storage medium such as a hard disk or flash memory). The map database 43 may also be stored in a computer capable of communicating with the support device 4 (e.g., the remote support server 3).

[0111] The communication device 44 communicates with the communication device 32. This communication can be either wired or wireless. During communication with the communication device 32, the communication device 44 transmits communication information COM2 received from the communication device 32 to the information processing device 45. Furthermore, the communication device 44 transmits communication information COM4 received from the information processing device 45 to the remote support server 3.

[0112] Information processing device 45 is a computer that processes various information related to remote support. It includes at least one processor 46 and at least one memory 47. The basic configuration of information processing device 45 is the same as that of information processing device 26. Memory 47 stores various programs and information used by processor 46. This information includes support request information IRQ and vehicle information IVH.

[0113] Processor 46 decodes the support request information IRQ and vehicle information IVH and generates an image for display on display 41. If the support request information IRQ and vehicle information IVH are compressed, they are decompressed during the decoding process. Furthermore, processor 46 outputs the generated image to display 41. It should be noted that the decoding process and image generation and display process can also be performed without using processor 46 and memory 47. For example, these processes can be performed through software processing in a GPU or DSP, or through hardware processing in an ASIC or FPGA.

[0114] 3. Specific processing examples

[0115] Figure 12 and Figure 13 This is a flowchart showing an example of processing executed when the remote support server 3 (processor 34) performs intermediate processing. Figure 12 and Figure 13 The routine shown is repeatedly executed at every predetermined cycle.

[0116] exist Figure 12 and Figure 13 In the routine shown, first, it is determined whether support request information IRQ is received from the vehicle 2 (step S10). If the determination result of step S10 is negative, the execution of this intermediate process is terminated.

[0117] If the result of the determination in step S10 is affirmative, a determination is made as to whether the total number of support requests TN2 satisfies TN2 ≥ 2 (step S11). The determination in step S11 is made, for example, by determining whether a support request information IRQ is received from another vehicle 2 between the time the support request information IRQ is received from one vehicle 2 and the elapse of a predetermined time (e.g., several to several tens of seconds). The receipt of a support request information IRQ from another vehicle 2 can be considered as two support requests being generated in the same time period. Therefore, in this case, the process proceeds to step S12. Otherwise, the process proceeds to step S14.

[0118] In the processing of step S12, at least two vehicles 2 are grouped. This grouping is performed based on the vehicle information IVH (specifically, the position and travel direction information LCT) of the at least two vehicles 2 that have sent the support request information IRQ and the map information in the map DB31. For example, based on the vehicle 2 that receives the support request information IRQ the earliest, a search is performed for a vehicle 2 that is less than a specified distance from the reference vehicle. Then, the vehicle 2 that is less than a specified distance from the reference vehicle is assigned to the same group as the reference vehicle. For vehicles 2 that are not assigned to the same group as the reference vehicle, the same search method as described above is used to assign them to another group. By repeating this assignment, the grouping of at least two vehicles 2 that have sent the support request information IRQ in the same time period is performed.

[0119] Here, the processing of step S12 can also be regarded as Figure 12 and Figure 13 . In this case, for example, the groups formed in step S12 may be regrouped based on the support cancellation information CSL. As another example, the groups may be regrouped based on the light color information CLR of the light-emitting portion of a traffic light at an intersection where vehicle 2 assigned to the same group is temporarily parked. As yet another example, the groups may be regrouped based on the external identification information RCG of the vehicles assigned to the same group.

[0120] Reference Figures 14 to 16 A modification of the process of step S12 will be described. Figure 14 For example, it is assumed that the vehicle 2 is a ride-sharing vehicle such as a taxi or a bus, and a passenger indicates that the vehicle 2 wants to get on or off the vehicle while the vehicle is temporarily stopped.

[0121] Figure 14 It is a diagram illustrating a first modified example of the process of step S12. Figure 14 Corresponding to Figure 3An example of remote support is described in . Figure 14 In the example shown, vehicles 2A and 2B are assigned to the same group. Furthermore, vehicle 2B is a carpool vehicle and, after transmitting support request information IRQ to remote support server 3, receives a request from a passenger to disembark. In this case, vehicle 2B's scheduled action information APN_2B is changed from "Start collision avoidance control" to "Disembark passenger at current location." To cancel support request RQ_2B, vehicle 2B transmits support cancellation information CSL to remote support server 3.

[0122] Acceptance of the support cancellation information CSL means that the vehicle 2B has determined that remote support is not necessary. In this case, the remote support server 3 (processor 34) regroups the group and deletes the vehicle 2B from the group to which the vehicle 2B is assigned.

[0123] Figure 15 1 is a diagram illustrating a second variation of the process of step S12. Figure 15 Vehicles 2A and 2B are depicted in the figure. Vehicle 2A temporarily stops in lane TL1 and requests remote support. Vehicle 2B temporarily stops behind vehicle 2A and, like vehicle 2A, requests remote support. The support content information CNT for both vehicles 2A and 2B indicates support for recognizing the light state of the light-emitting portion of a traffic signal TS. The planned action information APN_2A for vehicle 2A and APN_2B for vehicle 2B both indicates "Start of automated driving control for straight driving at an intersection." Vehicles 2A and 2B are assigned to the same group.

[0124] exist Figure 15 In the example shown, the remote support server 3 acquires light color information CLR. This light color information CLR is provided to the remote support server 3 by the vehicle 2 that transmits the support request information IRQ, or directly from the traffic light. When the light color information CLR is provided to the remote support server 3 from the vehicle 2, it is included in the communication information COM2. The light color information CLR is stored in the memory 35. The light color information CLR includes, for example, the current color of the light-emitting portion of the light (e.g., green or red) and the remaining time until the light changes from that color to another color.

[0125] According to the light color information CLR, it can be known that the color of the light emitting portion in the current light is green, and the remaining time for it to change from green to yellow can be known. In the second variant, the group is regrouped based on the light color information CLR. Figure 15In the example shown, vehicles 2A and 2B assigned to the same group are regrouped into groups GP1 and GP2. Group GP1 is the group that supports the request corresponding to the current green light. Group GP2 is the group that supports the request corresponding to the current green light.

[0126] Figure 16 It is a diagram illustrating a third modified example of the process of step S12. Figure 16 Corresponding to Figure 5 An example of remote support is described in . Figure 16 In the example shown, vehicles 2A and 2B are assigned to the same group. In addition, there are multiple vehicles 6 in lane TL6, which is the right turn destination of vehicle 2B. The multiple vehicles 6 are general vehicles, and these vehicles form a line until they reach the exit of the intersection.

[0127] exist Figure 16 In the example shown, the remote support server 3 acquires the external identification information RCG. The external identification information RCG is included in the communication information COM2. The external identification information RCG is transmitted from the vehicle 2 to the remote support server 3 together with the support request information IRQ, for example. The external identification information RCG is stored in the memory 35.

[0128] In the third modification, the groups are regrouped based on the external identification information RCG. Figure 16 In the example shown, vehicles 2A and 2B, which were assigned to the same group, are reorganized into groups GP1 and GP2. This is because it is determined that it is difficult to start the automated driving control for turning right at the intersection by vehicle 2B based on the identification results of the plurality of vehicles 6 included in the external identification information RCG.

[0129] Back to Figure 12 Continuing with the description of a specific example of the intermediate processing, step S13 determines the support order for at least two vehicles grouped together. This support order is determined, for example, based on the position and travel direction information LCT of each vehicle grouped together. In another example, the support order is determined based on the time at which the remote support server 3 receives support requests from each vehicle grouped together. In yet another example, the support order is determined based on a combination of the time at which the remote support server 3 receives support requests from each vehicle grouped together and the scheduled action information APN of each vehicle.

[0130] Following the processing of step S13, the responsible computer is determined (step S14). The responsible computer is determined based on the determination result of step S11. If the determination result of step S11 is negative, one responsible computer is arbitrarily determined from the waiting support devices 4. If the determination result of step S11 is positive, a number of responsible computers corresponding to the total number of groups set in the processing of step S12 are arbitrarily determined from the waiting support devices 4.

[0131] Following step S14, the support request information IRQ and vehicle information IVH are transmitted to the responsible computer (step S15). The information transmitted to the responsible computer is information about the vehicles 2 organized into the group for which the support device 4 is responsible. In step S15, the support request information IRQ and vehicle information IVH are transmitted for the vehicle 2 ranked first in the group's support order. Note that if only one vehicle 2 is organized into the group, the support request information IRQ and vehicle information IVH for that vehicle 2 are transmitted in step S15.

[0132] Following the process of step S15, it is determined whether support instruction information IAS has been received from the responsible computer (step S16). If the determination result of step S16 is affirmative, the support instruction information IAS is transmitted to the supported vehicle (step S17).

[0133] If the result of step S16 is negative, a determination is made as to whether support cancellation information CSL has been received from vehicle 2 (step S18). As already explained, when the support request is canceled, vehicle 2 transmits support cancellation information CSL to the remote support server 3. If the result of step S18 is positive, the group and support order are modified (step S19). Specifically, the vehicle 2 that transmitted the support cancellation information CSL is removed from the group, and the support order within the group is modified.

[0134] Following the processing of step S17 or S19, a determination is made as to whether any vehicles 2 in the same group have not yet responded to the support request (step S20). If the determination result of step S20 is negative, execution of this intermediate process ends. Otherwise, support request information IRQ and vehicle information IVH are sent to the responsible computer (step S21). The information sent to the responsible computer is information about the vehicle 2 with the next highest support order within the group for which the support device 4 is responsible. In other words, after completing the support request from the k-th (k ≥ 1) vehicle 2, the support request information IRQ and vehicle information IVH for the k+1-th vehicle 2 are sent to the responsible computer.

[0135] Following step S21, a determination is made as to whether support instruction information IAS has been received from the responsible computer (step S22). If the determination in step S22 is affirmative, support instruction information IAS is transmitted to the supported vehicle (step S23). Otherwise, a determination is made as to whether support cancellation information CSL has been received from vehicle 2 (step S24). If the determination in step S24 is affirmative, the group and support order are modified (step S25). The processing in steps S22 to S25 is identical to that in steps S16 to S19.

[0136] 4. Effect

[0137] According to the embodiment described above, intermediate processing is performed. When support requests are received from at least two vehicles 2 temporarily parked in close proximity during the same time period, these vehicles 2 are grouped together, and the order of support within the group is determined. This allows for efficient response to these support requests. This reduces the burden on the operator (OP) responding to these support requests, and is expected to contribute to the smooth operation of remote support services.

[0138] Furthermore, according to the embodiment, after forming a group, the group can be reorganized as needed. This allows the total number of vehicles 2 in the group to be controlled within an appropriate range, and prevents the occurrence of problems associated with grouping. This is expected to contribute to the smooth operation of remote support services.

Claims

1. A remote support server for remotely supporting a plurality of autonomously traveling vehicles, characterized in that: have: an information processing device comprising a memory storing various information and a processor for processing the various information; and a communication device for communicating with the plurality of vehicles, The processor, upon receiving a request for remote support from at least one of the plurality of vehicles, performs intermediate processing of the remote support for the at least one vehicle. The various information includes map information, location and travel direction information of the at least one vehicle, and surrounding image information of the at least one vehicle. The processor is configured to: in the intermediate processing, When remote support requests are received from at least two vehicles of the plurality of vehicles in the same time period, grouping the at least two vehicles into at least one group based on the map information and position and travel direction information of the at least two vehicles; determining, for each group, a support order of vehicles in the at least one group based on the map information and the position and travel direction information of the at least two vehicles; transmitting, in accordance with the support order, the surrounding image information of the vehicle to at least one support device that performs remote support of the vehicles organized into the at least one group; as well as When support instruction information generated according to the support order is received from the at least one support device, the support instruction information is transmitted to a vehicle to which the support instruction information is to be transmitted; Upon receiving the support instruction information, the vehicle to which the support instruction information is transmitted autonomously travels based on the support instruction information.

2. The remote support server according to claim 1, wherein: The processor is configured to: in the intermediate processing, When all the vehicles organized into the at least one group have the same traveling direction and are located in the same lane, the support order is determined sequentially from the head of the vehicles organized into the at least one group.

3. The remote support server according to claim 1, wherein: The processor is configured to: in the intermediate processing, When all vehicles organized into the at least one group have the same traveling direction and are not located in the same lane, the support order is determined in descending order of reception times of the remote support requests.

4. The remote support server according to claim 1, wherein: The various information also includes scheduled action information indicating information on the actions scheduled by the at least two vehicles. The processor is configured to: in the intermediate processing, When all vehicles organized into the at least one group have different traveling directions, the support order is determined based on a combination of a reception time of the remote support request and the predetermined action information.

5. The remote support server according to any one of claims 1 to 4, characterized in that: The various information further includes at least one of support cancellation information canceling the request for remote support, light color information of a light emitting portion of a traffic light located at a restricted driving location in front of the at least one vehicle, and external identification information of the at least one vehicle. The processor is configured to: in the intermediate processing, After the at least two vehicles are organized into the at least one group and before the surrounding image information is transmitted to the at least one supporting device, the at least one group is reorganized using at least one of the support cancellation information, the light color information, and the external identification information.

6. A remote support method for a plurality of autonomously driving vehicles via a server. The server comprises: an information processing device including a memory storing various information and a processor for processing the various information; and a communication device for communicating with the plurality of vehicles, The processor, upon receiving a request for remote support from at least one of the plurality of vehicles, performs intermediate processing of the remote support for the at least one vehicle. The various information includes map information, location and travel direction information of the at least one vehicle, and surrounding image information of the at least one vehicle. The remote support method is characterized by comprising the following steps: accepting a request for remote support from at least one of the plurality of vehicles; When remote support requests are received from at least two vehicles of the plurality of vehicles in the same time period, grouping the at least two vehicles into at least one group based on map information and position and travel direction information of the at least two vehicles; determining, for each group, a support order of vehicles in the at least one group based on the map information and the position and travel direction information of the at least two vehicles; transmitting, in accordance with the support order, surrounding image information of the vehicle to at least one support device that performs remote support of the vehicles organized into the at least one group; and When support instruction information generated according to the support order is received from the at least one support device, the support instruction information is transmitted to a vehicle to which the support instruction information is to be transmitted; Upon receiving the support instruction information, the vehicle to which the support instruction information is transmitted autonomously travels based on the support instruction information.

7. A storage medium storing a program for causing a server to perform remote support for a plurality of vehicles capable of autonomous driving, The server comprises: an information processing device including a memory storing various information and a processor for processing the various information; and a communication device for communicating with the plurality of vehicles, The processor, upon receiving a request for remote support from at least one of the plurality of vehicles, performs intermediate processing of the remote support for the at least one vehicle. The various information includes map information, location and travel direction information of the at least one vehicle, and surrounding image information of the at least one vehicle. The program causes the server to execute the following processing: accepting a request for remote support from at least one of the plurality of vehicles; When remote support requests are received from at least two vehicles of the plurality of vehicles in the same time period, grouping the at least two vehicles into at least one group based on map information and position and travel direction information of the at least two vehicles; determining, for each group, a support order of vehicles in the at least one group based on the map information and the position and travel direction information of the at least two vehicles; transmitting, in accordance with the support order, surrounding image information of the vehicle to at least one support device that performs remote support of the vehicles organized into the at least one group; as well as When support instruction information generated according to the support order is received from the at least one support device, the support instruction information is transmitted to a vehicle to which the support instruction information is to be transmitted; Upon receiving the support instruction information, the vehicle to which the support instruction information is transmitted autonomously travels based on the support instruction information.

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