Management device, management method, and computer-readable recording medium

Abstract

The present disclosure relates to a management device, a management method, and a computer-readable recording medium, and efficiently allocates remote operators to vehicles that are objects of remote support. The management device manages remote support for vehicles. Specifically, the management device executes an operator allocation process of allocating a remote operator to an object vehicle in response to a support request from the object vehicle. The vehicle information includes the position and travel plan of the object vehicle. When multiple support requests are received from each of a plurality of predetermined object vehicles passing through a predetermined area during the same period, the management device, for each of the plurality of object vehicles, identifies an entry direction into the predetermined area and an exit direction from the predetermined area based on the vehicle information. Further, the management device determines to allocate the same remote operator or different operators to the plurality of object vehicles based on the combination of the entry direction and the exit direction.

Description

Technical Field

[0001] The present disclosure relates to a technique for managing remote support for a vehicle performed by a remote operator. Background Art

[0002] Patent Document 1 discloses a remote operation system. The remote operation system includes a vehicle and a control center. When the vehicle enters a remote operation target area, a remote operation request is made to the control center. The control center includes a plurality of remote operation devices and determines a remote operation device for remotely operating the vehicle that has issued the remote operation request.

[0003] As other techniques related to remote support, examples disclosed in Patent Document 2 and Patent Document 3 are known.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2017-147626

[0007] Patent Document 2: Japanese Unexamined Patent Application Publication No. 2021-064218

[0008] Patent Document 3: Japanese Unexamined Patent Application Publication No. 2019-185280 Summary of the Invention

[0009] Remote support for a vehicle performed by a remote operator is considered. A target vehicle in need of remote support issues a support request. In response to the support request from the target vehicle, a remote operator is assigned to the target vehicle.

[0010] Also considered is a case where support requests are issued from each of a predetermined plurality of target vehicles passing through a predetermined area during the same period. In this case, remote support for the plurality of target vehicles passing through the predetermined area is performed one by one in sequence. Therefore, if it is assumed that a plurality of different remote operators are assigned to the plurality of target vehicles, the time during which the remote operator who performs remote support at a relatively later timing does nothing becomes longer. That is, the restricted time of the remote operators as a whole becomes unnecessarily long. From the viewpoint of the operation of remote support, it is not desirable that the restricted time of the remote operators as a whole becomes unnecessarily long.

[0011] One object of the present disclosure is to provide a technique capable of efficiently assigning remote operators to vehicles that are the targets of remote support.

[0012] A first aspect relates to a management device for managing remote support for a vehicle.

[0013] The management device includes:

[0014] One or more processors that, in response to a support request from an object vehicle, perform an operator assignment process for assigning a remote operator to the object vehicle; and

[0015] One or more storage devices that store vehicle information including the position and travel plan of the object vehicle.

[0016] When multiple support requests are received from each of a predetermined number of object vehicles passing through a predetermined area during the same period, the one or more processors

[0017] For each of the multiple object vehicles, based on the vehicle information, identify the entry direction into the predetermined area and the exit direction from the predetermined area,

[0018] Based on the combination of the entry direction and the exit direction, determine whether to assign the same remote operator or different remote operators to the multiple object vehicles.

[0019] The second aspect relates to a management method for remotely supporting a vehicle through computer management.

[0020] The management method includes:

[0021] An operator assignment process that, in response to a support request from an object vehicle, assigns a remote operator to the object vehicle; and

[0022] A process of obtaining vehicle information including the position and travel plan of the object vehicle.

[0023] The operator assignment process in the case where multiple support requests are received from each of a predetermined number of object vehicles passing through a predetermined area during the same period includes:

[0024] For each of the multiple object vehicles, a process of identifying the entry direction into the predetermined area and the exit direction from the predetermined area based on the vehicle information; and

[0025] A process of determining whether to assign the same remote operator or different remote operators to the multiple object vehicles based on the combination of the entry direction and the exit direction.

[0026] The third aspect relates to a management program for remotely supporting a vehicle through computer execution.

[0027] The management program causes a computer to execute:

[0028] An operator assignment process that, in response to a support request from an object vehicle, assigns a remote operator to the object vehicle; and

[0029] A process of obtaining vehicle information including the position and travel plan of the object vehicle.

[0030] When receiving multiple support requests from each of a predetermined number of target vehicles passing through a predetermined area during the same period, the operator assignment process includes:

[0031] For each of the multiple target vehicles, a process of identifying the entry direction into the predetermined area and the exit direction from the predetermined area based on vehicle information; and

[0032] A process of determining whether to assign the same remote operator or different remote operators to the multiple target vehicles based on the combination of the entry direction and the exit direction.

[0033] According to the present disclosure, when support requests are output from each of a predetermined number of target vehicles passing through a predetermined area during the same period, for each target vehicle, the entry direction into the predetermined area and the exit direction from the predetermined area are identified. Moreover, based on the combination of the entry direction and the exit direction, it is determined whether to assign the same remote operator or different remote operators to the multiple target vehicles. By assigning the same remote operator to the multiple target vehicles, the restraint time of other remote operators is prevented from becoming unnecessarily long. That is, remote operators can be efficiently assigned to the target vehicles for remote support. From the perspective of the operation of remote support, this is preferable. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram showing an overview of the remote support system according to the embodiment.

[0035] Figure 2 is a conceptual diagram for explaining the remote support implemented by a remote operator according to the embodiment.

[0036] Figure 3 is a conceptual diagram for explaining a comparative example of the operator assignment process related to a predetermined area.

[0037] Figure 4 is a conceptual diagram for explaining a first example of the operator assignment process related to a predetermined area according to the embodiment.

[0038] Figure 5 is a conceptual diagram for explaining a second example of the operator assignment process related to a predetermined area according to the embodiment.

[0039] Figure 6 is a conceptual diagram for explaining a third example of the operator assignment process related to a predetermined area according to the embodiment.

[0040] Figure 7It is a conceptual diagram showing the fourth example of the operator allocation process related to a predetermined area involved in the embodiment.

[0041] Figure 8 It is a conceptual diagram showing other examples of the predetermined area involved in the embodiment.

[0042] Figure 9 It is a flowchart schematically showing the operator allocation process related to a predetermined area involved in the embodiment.

[0043] Figure 10 It is a block diagram showing a structural example of the management device involved in the embodiment.

[0044] Figure 11 It is a conceptual diagram for explaining an example of the operator management information involved in the embodiment.

[0045] Figure 12 It is a flowchart showing an example of the operator allocation process involved in the embodiment.

[0046] Figure 13 It is a conceptual diagram for explaining the sequential connection process in the operator allocation process involved in the embodiment.

[0047] Figure 14 It is a conceptual diagram for explaining the simultaneous connection process in the operator allocation process involved in the embodiment.

[0048] Figure 15 It is a flowchart showing another example of the operator allocation process involved in the embodiment.

[0049] Figure 16 It is a flowchart showing an example of the sequential connection process involved in the embodiment.

[0050] Figure 17 It is a conceptual diagram for explaining the priority connection process in the operator allocation process involved in the embodiment.

[0051] Figure 18 It is a conceptual diagram for explaining an example of a collective instruction issued by a remote operator involved in the embodiment.

[0052] Figure 19 It is a block diagram showing a structural example of the vehicle involved in the embodiment.

[0053] Figure 20 It is a block diagram showing a structural example of the remote operator terminal involved in the embodiment.

[0054] (Symbol Explanation)

[0055] 1: Remote support system; 100: Vehicle; 100T: Target vehicle; 100-1: First target vehicle; 100-2: Second target vehicle; 200: Remote operator terminal; 200A: Assigned operator terminal; 300: Management device; 310: Communication device; 350: Control device; 360: Processor; 370: Storage device; AR: Predetermined area; MAP: Map information; IMG: Image; INS: Operator instruction; O: Remote operator; OA: Assigned operator; O-1: First remote operator; O-2: Second remote operator; OPE: Operator management information; REQ: Support request; REQ-1: First support request; REQ-2: Second support request; VCL: Vehicle information. Detailed implementation manner

[0056] With reference to the accompanying drawings, the implementation manners of the present disclosure will be described.

[0057] 1. Outline of the remote support system

[0058] Figure 1 It is a schematic diagram showing the outline of the remote support system 1 according to the present embodiment. The remote support system 1 includes a vehicle 100, a remote operator terminal 200, and a management device 300. The vehicle 100, the remote operator terminal 200, and the management device 300 can communicate with each other via a communication network.

[0059] The vehicle 100 is the object of remote support. Typically, the vehicle 100 can be autonomously driven. As the autonomous driving here, driving on the premise that the driver does not have to be 100% concentrated on driving (so-called level 3 or higher autonomous driving) is envisaged. The vehicle 100 can also be an autonomous driving vehicle of level 4 or higher that does not require a driver. The vehicle 100 is equipped with various sensors including a camera. The camera captures the surrounding conditions of the vehicle 100 and obtains an image IMG representing the surrounding conditions of the vehicle 100. The vehicle 100 performs autonomous driving using various sensors.

[0060] The remote operator terminal 200 is a terminal device used when a remote operator O performs remote support for the vehicle 100. The remote operator terminal 200 can also be referred to as a remote support HMI (Human Machine Interface).

[0061] The management device 300 manages remote support. The management of remote support includes, for example, allocating a remote operator O to the vehicle 100 that requires remote support. The management device 300 can communicate with the vehicle 100 and the remote operator terminal 200 via a communication network. Typically, the management device 300 is a management server on the cloud. The management server can also be composed of multiple servers performing distributed processing.

[0062] In autonomous driving, vehicle 100 performs various vehicle processes. As representative vehicle processes in autonomous driving, the following examples are given.

[0063] (1) Recognition process: Vehicle 100 uses recognition sensors to recognize the surrounding conditions of vehicle 100. For example, vehicle 100 uses a camera to recognize the signal display of a traffic signal (e.g., green light, yellow light, red light, right turn signal, etc.).

[0064] (2) Action determination process: Vehicle 100 determines whether to perform an action based on the result of the recognition process. As actions, starting, stopping, turning right, turning left, lane change, etc. are exemplified.

[0065] (3) Timing determination process: Vehicle 100 determines the execution timing of performing the above actions.

[0066] Typically, the situation where remote support needs to be implemented by the remote operator O is a situation where autonomous driving is difficult. For example, at an intersection as Figure 2 shown, there is a possibility of needing remote support.

[0067] For example, when sunlight shines on the traffic signal installed at the intersection, there is a possibility that the recognition accuracy of the signal display decreases. When the signal display cannot be accurately discriminated through the recognition process, vehicle 100 needs remote support for signal recognition. In addition, when the signal display cannot be discriminated, it is also difficult to determine at which timing what kind of action should be performed. Therefore, vehicle 100 also needs remote support for the action determination process and the timing determination process.

[0068] A situation where it is difficult to determine whether an action can actually be performed even if the signal display is discriminated is also considered. For example, even after the signal display observed from vehicle 100 changes to "right turn possible", there may be an oncoming vehicle entering the intersection, or an oncoming vehicle or a preceding vehicle staying in the intersection. In such a case, vehicle 100 can also directly stop and request remote support for the action determination process and the timing determination process.

[0069] As still other examples, a situation where it is difficult to determine whether to perform a lane change when there is a construction section in front of vehicle 100 is also considered. In this case, vehicle 100 can also request remote support for the action determination process.

[0070] When it is determined that remote support is needed, vehicle 100 requests remote support. Specifically, vehicle 100 sends a "support request REQ" to the management device 300. Hereinafter, vehicle 100 that issues the support request REQ, that is, vehicle 100 that needs remote support, is referred to as "target vehicle 100T".

[0071] In response to a support request REQ from the target vehicle 100T, the management device 300 assigns a certain remote operator O to the target vehicle 100T. Hereinafter, this process will be referred to as the "operator assignment process". The "assigned operator OA" is the remote operator O assigned to the target vehicle 100T. The "assigned operator terminal 200A" is the remote operator terminal 200 operated by the assigned operator OA. The management device 300 manages the association between the target vehicle 100T and the assigned operator OA (assigned operator terminal 200A).

[0072] The management device 300 sends an assignment notification including the support request REQ and information on the target vehicle 100T to the assigned operator terminal 200A. The assigned operator terminal 200A presents the assignment notification to the assigned operator OA. The assigned operator OA recognizes that he / she has been assigned to the target vehicle 100T and starts remote support for the target vehicle 100T.

[0073] During the remote support process, the target vehicle 100T and the assigned operator terminal 200A communicate with each other via the management device 300. The target vehicle 100T sends vehicle information VCL to the assigned operator terminal 200A. The vehicle information VCL includes the state of the vehicle 100, an image IMG of the surroundings of the vehicle 100 obtained by a camera, the result of vehicle processing, and the like. The assigned operator terminal 200A presents the vehicle information VCL received from the target vehicle 100T to the assigned operator OA. For example, as Figure 2 shown, the assigned operator terminal 200A displays the image IMG obtained by the camera mounted on the target vehicle 100T on the display device.

[0074] The assigned operator OA observes the vehicle information VCL, recognizes the situation around the target vehicle 100T, and performs remote support for the target vehicle 100T. For example, the remote support supports at least one of the above-mentioned recognition process, action judgment process, and timing judgment process. The operator instruction INS is an instruction for the target vehicle 100T input by the assigned operator OA. For example, the operator instruction INS instructs the target vehicle 100T to start. The assigned operator terminal 200A receives the input of the operator instruction INS from the assigned operator OA and sends the input operator instruction INS to the target vehicle 100T. The target vehicle 100T receives the operator instruction INS from the assigned operator terminal 200A and performs vehicle control according to the received operator instruction INS.

[0075] Thus, remote support for the vehicle 100 implemented by the remote operator O is achieved.

[0076] 2. Operator Allocation Processing Related to a Predetermined Area

[0077] Next, consider a case where support requests REQ are issued from each of a plurality of predetermined target vehicles 100T passing through a predetermined area AR during the same period. Issuing support requests REQ during the same period means issuing other support requests REQ at a stage where the remote support for a certain support request REQ is not completed.

[0078] First, with reference to Figure 3 , a comparative example will be described. Here, the predetermined area AR is an intersection. The first target vehicle 100-1 and the second target vehicle 100-2 are located in front of the same intersection and enter the same intersection in sequence. When entering the intersection, the first target vehicle 100-1 issues a first support request REQ-1, and the second target vehicle 100-2 issues a second support request REQ-2. The management device 300 receives the first support request REQ-1 and the second support request REQ-2 during the same period.

[0079] In Figure 3 In the comparative example shown, the management device 300 assigns different remote operators O-1 and O-2 to the first target vehicle 100-1 and the second target vehicle 100-2, respectively. In this case, first, initially, the first remote operator O-1 performs remote support for the first target vehicle 100-1. The first target vehicle 100-1 passes through the intersection in accordance with the remote support implemented by the first remote operator O-1. After that, the second remote operator O-2 performs remote support for the second target vehicle 100-2. Therefore, the time during which the second remote operator O-2 does nothing becomes long. That is, the restraint time of the second remote operator O-2 becomes unnecessarily long.

[0080] In this way, when a plurality of different remote operators O are assigned to a plurality of target vehicles 100T passing through the same predetermined area AR during the same period, the time during which the remote operator O performing remote support at a relatively later timing does nothing becomes long. That is, the restraint time of the remote operators O as a whole becomes unnecessarily long. From the viewpoint of the operation of remote support, it is not preferable that the restraint time of the remote operators O as a whole becomes unnecessarily long. For example, when the restraint time of the remote operators O as a whole becomes unnecessarily long, the operation cost increases.

[0081] Based on the above viewpoints, the present embodiment proposes a technique capable of efficiently allocating remote operators O to target vehicles 100T passing through the same predetermined area AR during the same period.

[0082] 2-1. First Example

[0083] Figure 4This is a conceptual diagram illustrating the first example of operator allocation processing related to a predetermined area AR. In this example, the predetermined area AR is an intersection. The first target vehicle 100-1 and the second target vehicle 100-2 are located before the same intersection and enter the same intersection in sequence. When entering the intersection, the first target vehicle 100-1 issues a first support request REQ-1, and the second target vehicle 100-2 issues a second support request REQ-2. The management device 300 receives the first support request REQ-1 and the second support request REQ-2 during the same period.

[0084] In addition, the first target vehicle 100-1 sends the first vehicle information VCL-1 including its own position and driving plan to the management device 300. Similarly, the second target vehicle 100-2 sends the second vehicle information VCL-2 including its own position and driving plan to the management device 300. In addition, such vehicle information VCL can be sent at a certain cycle regardless of the support request REQ, or can be sent together with the support request REQ. The management device 300 determines the entry direction and exit direction of each vehicle identification of the first target vehicle 100-1 and the second target vehicle 100-2 entering the intersection based on the first vehicle information VCL-1 and the second vehicle information VCL-2.

[0085] The combination of the entry direction and the exit direction in the case of the first example is as follows. Regarding the first target vehicle 100-1, the entry direction into the intersection is the A direction, and the exit direction from the intersection is the C direction. Regarding the second target vehicle 100-2, the entry direction into the intersection is also the A direction, and the exit direction from the intersection is also the C direction. That is, between the first target vehicle 100-1 and the second target vehicle 100-2, the entry direction and the exit direction of both are the same.

[0086] In this case, the management device 300 identifies the first target vehicle 100-1 and the second target vehicle 100-2 as associated vehicles that are related to each other. Moreover, the management device 300 allocates the same remote operator O-1 to these associated vehicles, namely the first target vehicle 100-1 and the second target vehicle 100-2. As a result, it is possible to prevent the restricted time of other remote operators O from becoming unnecessarily long. That is, it is possible to efficiently allocate remote operators O to the first target vehicle 100-1 and the second target vehicle 100-2.

[0087] 2-2. Second example

[0088] Figure 5 This is a conceptual diagram illustrating the second example of operator allocation processing related to a predetermined area AR. Descriptions that are repeated with the above first example are appropriately omitted.

[0089] The combination of the entry direction and the exit direction in the case of the second example is as described below. Regarding the first target vehicle 100-1, the entry direction into the intersection is the A direction, and the exit direction from the intersection is the C direction. Regarding the second target vehicle 100-2, the entry direction into the intersection is the A direction, and the exit direction from the intersection is the A direction. That is, between the first target vehicle 100-1 and the second target vehicle 100-2, the entry directions are the same, but the exit directions are different.

[0090] Even in this case, the management device 300 identifies the first target vehicle 100-1 and the second target vehicle 100-2 as associated vehicles that are associated with each other. Moreover, the management device 300 assigns the same remote operator O-1 to these associated vehicles, that is, the first target vehicle 100-1 and the second target vehicle 100-2. As a result, it is possible to suppress an unnecessary increase in the restricted time of other remote operators O. That is, it is possible to efficiently assign a remote operator O to the first target vehicle 100-1 and the second target vehicle 100-2.

[0091] 2-3. The third example

[0092] Figure 6 It is a conceptual diagram for explaining a third example of the operator assignment process related to the predetermined area AR. Descriptions that overlap with the above first example are appropriately omitted.

[0093] The combination of the entry direction and the exit direction in the case of the third example is as described below. Regarding the first target vehicle 100-1, the entry direction into the intersection is the A direction, and the exit direction from the intersection is the C direction. Regarding the second target vehicle 100-2, the entry direction into the intersection is the B direction, and the exit direction from the intersection is the C direction. That is, between the first target vehicle 100-1 and the second target vehicle 100-2, the exit directions are the same, but the entry directions are different.

[0094] Even in this case, the management device 300 identifies the first target vehicle 100-1 and the second target vehicle 100-2 as associated vehicles that are associated with each other. Moreover, the management device 300 assigns the same remote operator O-1 to these associated vehicles, that is, the first target vehicle 100-1 and the second target vehicle 100-2. As a result, it is possible to suppress an unnecessary increase in the restricted time of other remote operators O. That is, it is possible to efficiently assign a remote operator O to the first target vehicle 100-1 and the second target vehicle 100-2.

[0095] In addition, when it is assumed that different remote operators O are assigned to the first target vehicle 100-1 and the second target vehicle 100-2 respectively, there is a possibility of the following problems occurring. For example, each remote operator O issues a start instruction to the first target vehicle 100-1 and the second target vehicle 100-2 simultaneously. As another example, each remote operator O defers to each other and does not perform remote support first. In either case, the remote support becomes poor and the processing efficiency deteriorates. On the other hand, according to the present embodiment, the same remote operator O-1 is assigned to the first target vehicle 100-1 and the second target vehicle 100-2, so such problems are eliminated.

[0096] 2-4. Fourth Example

[0097] Figure 7 It is a conceptual diagram for explaining a fourth example of the operator assignment process related to the predetermined area AR. Explanation that duplicates the above first example is appropriately omitted.

[0098] The combinations of the entry direction and the exit direction in the case of the fourth example are as follows. Regarding the first target vehicle 100-1, the entry direction into the intersection is the A direction, and the exit direction from the intersection is the C direction. Regarding the second target vehicle 100-2, the entry direction into the intersection is the B direction, and the exit direction from the intersection is the B direction. That is, between the first target vehicle 100-1 and the second target vehicle 100-2, both the entry direction and the exit direction are different.

[0099] In this case, the management device 300 does not recognize the first target vehicle 100-1 and the second target vehicle 100-2 as associated vehicles. The management device 300 assigns different remote operators O-1 and O-2 to the first target vehicle 100-1 and the second target vehicle 100-2 respectively.

[0100] 2-5. Other Examples of the Predetermined Area

[0101] The predetermined area AR is not limited to intersections. For example, as Figure 8 shown, there are cases where lane control and one-way alternating traffic are implemented in a construction section. In this case, the vehicle 100 needs to identify the traffic signal and the instructions of the guide and then start. Therefore, there is a possibility that the vehicle 100 requests remote support when passing through the construction section. The area including such a construction section is also the predetermined area AR. As Figure 8 shown, regarding the predetermined area AR including the construction section, it is also possible to define the entry direction and the exit direction.

[0102] 2-6. Processing Flow

[0103] Figure 9It is a flowchart schematically showing the operator allocation process related to a predetermined area AR according to the present embodiment.

[0104] In step S301, the management device 300 receives a support request REQ from a predetermined target vehicle 100T passing through the predetermined area AR.

[0105] In step S302, the management device 300 determines whether there is already another support request REQ for the same predetermined area AR. In other words, the management device 300 determines whether multiple support requests REQ have been received from each of multiple target vehicles 100T for the same predetermined area AR during the same period. Receiving multiple support requests REQ during the same period means receiving another support request REQ at a stage where the remote support for a certain support request REQ has not been completed. It is possible to determine whether multiple target vehicles 100T are passing through the same predetermined area AR based on vehicle information VCL including the positions and driving plans of the respective target vehicles 100T. Alternatively, it may be determined that multiple target vehicles 100T are passing through the same predetermined area AR when the distance between the multiple target vehicles 100T is less than a predetermined distance threshold.

[0106] When the management device 300 has not received multiple support requests REQ for the same predetermined area AR during the same period (step S302; "no"), the process proceeds to step S303. On the other hand, when the management device 300 has received multiple support requests REQ for the same predetermined area AR during the same period (step S302; "yes"), the process proceeds to step S304.

[0107] In step S303, the management device 300 performs normal operator allocation processing. Specifically, the management device 300 allocates an idle (standby) remote operator O to the target vehicle 100T.

[0108] In step S304, the management device 300 identifies the entry direction into the predetermined area AR and the exit direction from the predetermined area AR for each of the multiple target vehicles 100T that have issued multiple support requests REQ. More specifically, the management device 300 acquires vehicle information VCL including the positions and driving plans of the respective target vehicles 100T. Such vehicle information VCL may be sent from each vehicle 100 to the management device 300 at regular intervals, or may be sent together with the support request REQ. The management device 300 identifies the entry direction into the predetermined area AR and the exit direction from the predetermined area AR for each target vehicle 100T based on the vehicle information VCL of each target vehicle 100T.

[0109] In step S305, the management device 300 determines whether to assign the same remote operator O or different operators O to the multiple target vehicles 100T according to the combination of the entry direction and the exit direction (refer to Figures 4 to 7 ). For example, when at least one of the entry direction and the exit direction of the multiple target vehicles 100T is the same, the management device 300 assigns the same remote operator O to the multiple target vehicles 100T (refer to Figures 4 to 6 ). On the other hand, when the entry direction and the exit direction of the multiple target vehicles 100T are different, the management device 300 assigns different operators O to the multiple target vehicles 100T.

[0110] 2-7. Effects

[0111] As described above, according to the present embodiment, when support requests REQ are sent from each of a predetermined multiple target vehicles 100T passing through a predetermined area AR during the same period, for each target vehicle 100T, the entry direction into the predetermined area AR and the exit direction from the predetermined area AR are identified. Moreover, according to the combination of the entry direction and the exit direction, it is determined whether to assign the same remote operator O or different operators O to these multiple target vehicles 100T. By assigning the same remote operator O to the multiple target vehicles 100T, it is possible to suppress the unnecessary extension of the restricted time of other remote operators O. That is, it is possible to efficiently assign remote operators O to the target vehicles 100T for remote support. From the perspective of the operation of remote support, this is preferable. For example, the operation cost of remote support can be reduced.

[0112] Hereinafter, the management device 300 and the operator assignment process according to the present embodiment will be described in more detail.

[0113] 3. Example of the management device

[0114] 3-1. Structural example

[0115] Figure 10 FIG. is a block diagram showing a structural example of the management device 300. The management device 300 includes a communication device 310 and a control device 350.

[0116] The communication device 310 communicates with the vehicle 100 and the remote operator terminal 200.

[0117] The control device 350 controls the management device 300. The control device 350 includes one or more processors 360 (hereinafter simply referred to as the processor 360) and one or more storage devices 370 (hereinafter simply referred to as the storage device 370). The processor 360 executes various processes. For example, the processor 360 includes a CPU (Central Processing Unit). The storage device 370 stores various information required in the processes implemented by the processor 360. As the storage device 370, examples include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), and the like.

[0118] The management program PROG3 is a computer program executed by the processor 360. By executing the management program PROG3 by the processor 360, the functions of the control device 350 are realized. The management program PROG3 is stored in the storage device 370. Alternatively, the management program PROG3 can also be recorded on a computer-readable recording medium. The management program PROG3 can also be provided via a network.

[0119] Map information MAP is stored in the storage device 370. The map information MAP includes a road map of the area managed by the management device 300. The map information MAP can also include a track structure. The map information MAP can also include information on construction sections. The map information MAP can also include information on traffic priority orders.

[0120] Furthermore, operator management information OPE is stored in the storage device 370. The operator management information OPE is information for managing each remote operator O, indicating the allocation relationship between the remote operator O and the target vehicle 100T, etc.

[0121] Figure 11 It is a conceptual diagram for explaining an example of the operator management information OPE. The operator management information OPE has entries for each remote operator O. For example, an entry related to a certain remote operator O includes the ID information of the remote operator O, the ID information of the remote operator terminal 200 operated by the remote operator O, the allocated vehicle information, the content (task) of the remote support performed by the remote operator O, etc. The allocated vehicle information is information related to the target vehicle 100T allocated to the remote operator O. For example, the allocated vehicle information includes the ID information, location, travel plan, entry direction into a predetermined area, exit direction from a predetermined area, etc. of the target vehicle 100T.

[0122] When allocating the same remote operator O to multiple target vehicles 100T, entries can also be created for each target vehicle 100T. That is, multiple entries can also be created for the same remote operator O.

[0123] In addition, a remote operator O not assigned to any vehicle 100 is in an idle state (standby state). Entries related to the remote operator O in the idle state indicate that the remote operator O is in the idle state.

[0124] 3-2. Processing Performed by the Control Device

[0125] The control device 350 communicates with the vehicle 100 and the remote operator terminal 200 via the communication device 310.

[0126] The control device 350 receives a support request REQ and vehicle information VCL sent from the target vehicle 100T. The support request REQ and vehicle information VCL are stored in the storage device 370. In response to the support request REQ from the target vehicle 100T, the control device 350 performs an "operator allocation process" for allocating a remote operator O to the target vehicle 100T. The outline of the operator allocation process is as described in Section 2 above (refer to Figures 4 to 9 ).

[0127] Based on the result of the operator allocation process, the control device 350 updates the operator management information OPE. That is, the control device 350 updates the entry related to the remote operator O (allocated operator OA) allocated to the target vehicle 100T. The position and driving plan of the target vehicle 100T are obtained from the vehicle information VCL of the target vehicle 100T. It can be said that the operator management information OPE associates the target vehicle 100T and the allocated operator OA.

[0128] The control device 350 sends an allocation notice including the support request REQ and information of the target vehicle 100T to the allocated operator terminal 200A. In response to the allocation notice, the allocated operator OA performs remote support for the target vehicle 100T.

[0129] During the remote support process, the control device 350 receives vehicle information VCL including an image IMG of the surroundings of the target vehicle 100T, etc. from the target vehicle 100T. The vehicle information VCL is stored in the storage device 370. The control device 350 sends the received vehicle information VCL to the allocated operator terminal 200A.

[0130] The control device 350 receives the operator instruction INS sent from the assigned operator terminal 200A. The operator instruction INS is stored in the storage device 370. The control device 350 sends the received operator instruction INS to the target vehicle 100T.

[0131] When all the remote support implemented by the assigned operator OA for the target vehicle 100T is completed, the control device 350 updates the entry related to the assigned operator OA in the operator management information OPE. Specifically, the control device 350 returns the status of the assigned operator OA to the idle state (standby state).

[0132] 3-3. An example of operator assignment processing

[0133] Figure 12 It is a flowchart showing an example of the operator assignment processing implemented by the control device 350.

[0134] In step S310, the control device 350 receives the first support request REQ-1 from the first target vehicle 100-1 that travels in the predetermined area AR. It is possible to identify that the first target vehicle 100-1 is scheduled to travel in the predetermined area AR based on the map information MAP and the first vehicle information VCL-1 related to the first target vehicle 100-1. In response to the first support request REQ-1, the control device 350 executes the operator assignment processing for the first target vehicle 100-1.

[0135] In step S320, the control device 350 determines whether other target vehicles 100T to which the remote operator O has been assigned are traveling in the same predetermined area AR. The above determination is made based on the comparison between the assigned vehicle information registered in the operator management information OPE and the first vehicle information VCL-1 related to the first target vehicle 100-1. Here, it is assumed that there are no other target vehicles 100T traveling in the same predetermined area AR (step S320; "No"). In this case, the process proceeds to step S330.

[0136] In step S330, the control device 350 executes the normal operator assignment processing. Specifically, the control device 350 refers to the operator management information OPE to identify the remote operator O in the idle state. For example, the control device 350 assigns the first remote operator O-1 in the idle state to the first target vehicle 100-1. The control device 350 updates the entry related to the first remote operator O-1 in the operator management information OPE. The control device 350 may also register the entry direction into the predetermined area AR and the exit direction from the predetermined area AR in the entry according to the first vehicle information VCL-1 of the first target vehicle 100-1.

[0137] The first remote operator terminal 200-1 is a remote operator terminal 200 (assigned operator terminal 200A) operated by the first remote operator O-1. The control device 350 provides the first remote operator terminal 200-1 with first information required for remote support for the first target vehicle 100-1. The first information includes a first support request REQ-1 from the first target vehicle 100-1 and first vehicle information VCL-1 of the first target vehicle 100-1. The first remote operator terminal 200-1 presents the first information to the first remote operator O-1. The first remote operator O-1 refers to the first information and performs remote support for the first target vehicle 100-1. Hereinafter, the process of providing information required for remote support to the assigned operator terminal 200A will be referred to as "connection process".

[0138] Next, consider the case where a new support request REQ is issued during the same period. Specifically, after the first remote operator O-1 is assigned to the first target vehicle 100-1 and before the remote support for the first target vehicle 100-1 is completed, the control device 350 receives a second support request REQ-2 from a predetermined second target vehicle 100-2 passing through the same predetermined area AR (step S310). The second target vehicle 100-2 can be identified as being scheduled to pass through the predetermined area AR based on the map information MAP and second vehicle information VCL-2 related to the second target vehicle 100-2. In response to the second support request REQ-2, the control device 350 executes an operator assignment process for the second target vehicle 100-2.

[0139] In step S320, the control device 350 determines whether any other target vehicle 100T to which a remote operator O has already been assigned is passing through the same predetermined area AR. The above determination is made based on a comparison between the assigned vehicle information registered in the operator management information OPE and the second vehicle information VCL-2 related to the second target vehicle 100-2. Here, there is a first target vehicle 100-1 passing through the same predetermined area AR (step S320; "Yes"). In this case, the process proceeds to step S340.

[0140] In step S340, the control device 350 identifies the entry direction of the first target vehicle 100-1 into the predetermined area AR and the exit direction of the first target vehicle 100-1 from the predetermined area AR based on the first vehicle information VCL-1 of the first target vehicle 100-1 or the operator management information OPE. In addition, the control device 350 identifies the entry direction of the second target vehicle 100-2 into the predetermined area AR and the exit direction of the second target vehicle 100-2 from the predetermined area AR based on the second vehicle information VCL-2 of the second target vehicle 100-2.

[0141] Then, the control device 350 determines whether to assign the same first remote operator O-1 as that of the first target vehicle 100-1 to the second target vehicle 100-2 according to the combination of the entry direction and the exit direction of each of the first target vehicle 100-1 and the second target vehicle 100-2.

[0142] For example, in step S350, the control device 350 determines whether the entry directions are the same between the first target vehicle 100-1 and the second target vehicle 100-2. If the entry directions are the same (step S350; "Yes"), the process proceeds to step S360. On the other hand, if the entry directions are different between the first target vehicle 100-1 and the second target vehicle 100-2 (step S350; "No"), the process proceeds to step S370.

[0143] In step S360, the control device 350 assigns the same first remote operator O-1 as that of the first target vehicle 100-1 to the second target vehicle 100-2. The control device 350 appends an entry related to the first remote operator O-1 to the operator management information OPE. The control device 350 may also register the entry direction for entering the predetermined area AR and the exit direction for exiting the predetermined area AR according to the second vehicle information VCL-2 of the second target vehicle 100-2.

[0144] Furthermore, the control device 350 performs connection processing related to the second target vehicle 100-2. Specifically, the control device 350 provides the second information required for remote support for the second target vehicle 100-2 to the first remote operator terminal 200-1. The second information includes the second support request REQ-2 from the second target vehicle 100-2 and the second vehicle information VCL-2 of the second target vehicle 100-2. In addition, there are variations in the connection processing related to the second target vehicle 100-2. The variations in the connection processing related to the second target vehicle 100-2 will be described in the following section 3-4.

[0145] In step S370, the control device 350 determines whether the exit directions are the same between the first target vehicle 100-1 and the second target vehicle 100-2. If the exit directions are the same (step S370; "Yes"), the process proceeds to step S380. On the other hand, if the exit directions are different (step S370; "No"), the process proceeds to step S390.

[0146] In step S380, the control device 350 assigns the same first remote operator O-1 to the second target vehicle 100-2 as to the first target vehicle 100-1. The control device 350 appends an entry related to the first remote operator O-1 to the operator management information OPE. The control device 350 may also register the entry direction for entering the predetermined area AR and the exit direction for exiting the predetermined area AR according to the second vehicle information VCL-2 of the second target vehicle 100-2. Furthermore, the control device 350 performs connection processing related to the second target vehicle 100-2.

[0147] In addition, steps S350 and S370 can be interchanged in order.

[0148] In step S390, the control device 350 performs normal operator assignment processing. Specifically, the control device 350 refers to the operator management information OPE to identify the remote operator O in an idle state. For example, the control device 350 assigns the second remote operator O-2 in an idle state to the second target vehicle 100-2. This second remote operator O-2 is different from the above-mentioned first remote operator O-1 (refer to Figure 7 ). The control device 350 updates the entry related to the second remote operator O-2 in the operator management information OPE. The control device 350 may also register the entry direction for entering the predetermined area AR and the exit direction for exiting the predetermined area AR according to the second vehicle information VCL-2 of the second target vehicle 100-2.

[0149] The second remote operator terminal 200-2 is the remote operator terminal 200 (assigned operator terminal 200A) operated by the second remote operator O-2. The control device 350 provides the second information required for remote support for the second target vehicle 100-2 to the second remote operator terminal 200-2. The second information includes the second support request REQ-2 from the second target vehicle 100-2 and the second vehicle information VCL-2 of the second target vehicle 100-2. The second remote operator terminal 200-2 presents the second information to the second remote operator O-2. The second remote operator O-2 refers to the second information and performs remote support for the second target vehicle 100-2.

[0150] 3-4. Sequential connection processing and simultaneous connection processing

[0151] As described above, in the connection process related to the first target vehicle 100-1, the control device 350 provides the first remote operator terminal 200-1 with the first information related to the first target vehicle 100-1. After that, in step S360 or step S380, the control device 350 performs a connection process related to the second target vehicle 100-2 and provides the first remote operator terminal 200-1 with the second information related to the second target vehicle 100-2. From the perspective of the timing of providing this second information, the connection process is classified into "sequential connection process" and "simultaneous connection process".

[0152] Figure 13 It is a conceptual diagram for explaining the sequential connection process. In the case of the sequential connection process, until the remote support for the first target vehicle 100-1 is completed, the second information related to the second target vehicle 100-2 is prohibited from being provided to the first remote operator terminal 200-1. After the remote support for the first target vehicle 100-1 is completed, the control device 350 provides the first remote operator terminal 200-1 with the second information related to the second target vehicle 100-2.

[0153] For example, the first remote operator terminal 200-1 includes a first screen 221, a second screen 222, a first start button 231, and a second start button 232. The first information related to the first target vehicle 100-1 is displayed on the first screen 221. The first remote operator O-1 issues a start instruction for the first target vehicle 100-1 by pressing the first start button 231. Thus, the remote support for the first target vehicle 100-1 is completed. After that, the control device 350 provides the first remote operator terminal 200-1 with the second information related to the second target vehicle 100-2. This second information is displayed on the first screen 221 or the second screen 222.

[0154] In this way, in the case of the sequential connection process, during the process of the first remote operator O-1 performing remote support for the first target vehicle 100-1, the second information related to the second target vehicle 100-2 is not presented to the first remote operator O-1. Since no redundant information is presented, the first remote operator O-1 can concentrate on the remote support for the first target vehicle 100-1.

[0155] In Figure 13 the example shown, in the case of the above-mentioned first example (refer to Figure 4 ) where both the entry direction and the exit direction are the same, the sequential connection process is applied. In the case of the above-mentioned second example (refer to Figure 5) Even in the case of , sequential connection processing can also be applied. That is, when the entry directions of the first target vehicle 100-1 and the second target vehicle 100-2 are the same, the control device 350 performs sequential connection processing.

[0156] In addition, even when performing sequential connection processing, the control device 350 can notify only the first remote operator terminal 200-1 of the meaning that there is a subsequent vehicle that requires remote support. Thus, the first remote operator O-1 can focus on the remote support for the first target vehicle 100-1 and can pre-identify that there is a next task.

[0157] Figure 14 is a conceptual diagram for explaining simultaneous connection processing. In the case of simultaneous connection processing, before the remote support for the first target vehicle 100-1 is completed, the control device 350 provides the first remote operator terminal 200-1 with second information related to the second target vehicle 100-2. That is, the control device 350 provides both the second information and the first information to the first remote operator terminal 200-1.

[0158] For example, the first remote operator terminal 200-1 includes a first screen 221, a second screen 222, a first start button 231, and a second start button 232. The first information related to the first target vehicle 100-1 is displayed on the first screen 221. At the same time, the second information related to the second target vehicle 100-2 is displayed on the second screen 222. The first remote operator O-1 issues a start instruction for the first target vehicle 100-1 by pressing the first start button 231. In addition, the first remote operator O-1 issues a start instruction for the second target vehicle 100-2 by pressing the second start button 232.

[0159] In this way, in the case of simultaneous connection processing, the first information related to the first target vehicle 100-1 and the second information related to the second target vehicle 100-2 are simultaneously presented to the first remote operator O-1. By comprehensively studying the first information and the second information, the first remote operator O-1 can reliably determine which of the first target vehicle 100-1 and the second target vehicle 100-2 to support first. That is, the first remote operator O-1 can reliably determine the priority order of the first target vehicle 100-1 and the second target vehicle 100-2.

[0160] In Figure 14 In the example shown, in the above-mentioned third case where only the exit directions are the same (refer to Figure 6In the case of [[ID=]], simultaneous connection processing is applied. That is, when the entry direction of the first target vehicle 100-1 and the entry direction of the second target vehicle 100-2 are different, and the exit direction of the first target vehicle 100-1 and the exit direction of the second target vehicle 100-2 are the same, the control device 350 performs simultaneous connection processing.

[0161] Figure 15 is a flowchart showing another example of the operator assignment process implemented by the control device 350. Compared with Figure 13 the processing flow shown, step S360 is replaced by step S360A, and step S380 is replaced by step S380A. In step S360A, the control device 350 performs sequential connection processing. On the other hand, in step S380A, the control device 350 performs simultaneous connection processing.

[0162] Figure 16 is a flowchart showing an example of sequential connection processing (step S360A). In step S361, the control device 350 assigns the first remote operator O-1 to the second target vehicle 100-2. In step S362, the control device 350 determines whether the remote support implemented by the first remote operator O-1 for the first target vehicle 100-1 is completed. When the remote support for the first target vehicle 100-1 is completed (step S362; "yes"), the process proceeds to step S363.

[0163] In step S363, the control device 350 determines whether the second support request REQ-2 from the second target vehicle 100-2 continues. When the second support request REQ-2 continues (step S363; "yes"), the process proceeds to step S364. In step S364, the control device 350 provides the first remote operator terminal 200-1 with second information related to the second target vehicle 100-2.

[0164] In the case of a change in the situation, there is a possibility that the second target vehicle 100-2 determines that remote support is not required and can enter the predetermined area AR by itself. In this case, the second target vehicle 100-2 withdraws the second support request REQ-2. When the second support request REQ-2 does not continue (step S363; "no"), the process proceeds to step S365. In step S365, the control device 350 releases the assignment of the first remote operator O-1 to the second target vehicle 100-2. As a result, the restricted time of the first remote operator O-1 is reduced.

[0165] 3-5. Priority connection processing

[0166] The control device 350 can also perform connection processing in consideration of the traffic priority order in the predetermined area AR. The traffic priority order in the predetermined area AR is registered in the map information MAP, for example. Hereinafter, the connection processing that takes traffic priority order into consideration is referred to as "priority connection processing". The priority connection processing is a type of sequential connection processing. When performing the priority connection processing, the control device 350 sequentially provides the first information and the second information to the first remote operator terminal 200-1 in accordance with the traffic priority order of the first target vehicle 100-1 and the second target vehicle 100-2 in the predetermined area AR.

[0167] Figure 17 is a conceptual diagram for explaining the priority connection processing. In Figure 17 the example shown, when only the third case (refer to Figure 6 ) with the same exit direction, the priority connection processing is applied. In Figure 17 the situation shown, the second target vehicle 100-2 making a left turn has a higher traffic priority order than the first target vehicle 100-1. Therefore, the control device 350 performs the connection processing related to the second target vehicle 100-2 and then performs the connection processing related to the first target vehicle 100-1. That is, the control device 350 provides the second information related to the second target vehicle 100-2 to the first remote operator terminal 200-1. Then, after the remote support for the second target vehicle 100-2 is completed, the control device 350 provides the first information related to the first target vehicle 100-1 to the first remote operator terminal 200-1.

[0168] When the control device 350 performs the above-mentioned sequential connection processing in this way, as an option, it can also prompt the first remote operator O-1 with "collective instruction".

[0169] 3-6. Collective instruction

[0170] When the control device 350 performs the above-mentioned sequential connection processing, as an option, it can also prompt the first remote operator O-1 with "collective instruction".

[0171] Figure 18It is a conceptual diagram for explaining an example of collective indication. First information related to the first target vehicle 100-1 is displayed on the first screen 221. The control device 350 notifies the first remote operator terminal 200-1 of the intention that there is a subsequent vehicle in need of remote support. The first remote operator terminal 200-1 displays information 223 notifying the existence of the subsequent vehicle. In addition, the first remote operator terminal 200-1 is provided with a collective indication button 233. The first remote operator O-1 can issue a start instruction to the first target vehicle 100-1 and the second target vehicle 100-2 collectively by pressing the collective indication button 233. As a result, the processing load borne by the first remote operator O-1 is reduced, and the time required for remote support is cut.

[0172] 4. Example of a vehicle

[0173] 4-1. Structural example

[0174] Figure 19 It is a block diagram showing a structural example of the vehicle 100. The vehicle 100 includes a communication device 110, a sensor group 120, a traveling device 130, and a control device 150.

[0175] The communication device 110 communicates with the outside of the vehicle 100. For example, the communication device 110 communicates with the remote operator terminal 200 and the management device 300.

[0176] The sensor group 120 includes an identification sensor, a vehicle state sensor, a position sensor, etc. The identification sensor identifies (detects) the situation around the vehicle 100. As the identification sensor, examples include a camera, LIDAR (Laser Imaging Detection and Ranging), a radar, etc. The vehicle state sensor detects the state of the vehicle 100. The vehicle state sensor includes a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc. The position sensor detects the position and orientation of the vehicle 100. For example, the position sensor includes GNSS (Global Navigation Satellite System).

[0177] The traveling device 130 includes a steering device, a driving device, and a braking device. The steering device steers the wheels. For example, the steering device includes an electric power steering (EPS) device. The driving device is a power source that generates a driving force. As the driving device, examples include an engine, an electric motor, a wheel hub motor, etc. The braking device generates a braking force.

[0178] The control device 150 is a computer that controls the vehicle 100. The control device 150 includes one or more processors 160 (hereinafter simply referred to as the processor 160) and one or more storage devices 170 (hereinafter simply referred to as the storage device 170). The processor 160 performs various processes. For example, the processor 160 includes a CPU. The storage device 170 stores various information required in the processes implemented by the processor 160. Examples of the storage device 170 include a volatile memory, a non-volatile memory, an HDD, an SSD, etc. The control device 150 may also include one or more ECUs (Electronic Control Unit).

[0179] The vehicle control program PROG1 is a computer program executed by the processor 160. By executing the vehicle control program PROG1 by the processor 160, the functions of the control device 150 are realized. The vehicle control program PROG1 is stored in the storage device 170. Alternatively, the vehicle control program PROG1 may also be recorded on a computer-readable recording medium.

[0180] 4-2. Driving environment information

[0181] The control device 150 uses the sensor group 120 to obtain driving environment information ENV indicating the driving environment of the vehicle 100. The driving environment information ENV is stored in the storage device 170.

[0182] The driving environment information ENV includes surrounding condition information indicating the recognition result obtained by the recognition sensor. For example, the surrounding condition information includes an image IMG captured by a camera. The surrounding condition information may also include object information related to the objects around the vehicle 100. Examples of the objects around the vehicle 100 include pedestrians, other vehicles (preceding vehicles, parked vehicles, etc.), white lines, signals, signs, roadside structures, etc. The object information indicates the relative position and relative speed of the object with respect to the vehicle 100.

[0183] In addition, the driving environment information ENV includes vehicle state information indicating the vehicle state detected by the vehicle state sensor.

[0184] Furthermore, the driving environment information ENV includes vehicle position information indicating the position and orientation of the vehicle 100. The vehicle position information is obtained by a position sensor. High-precision vehicle position information may also be obtained through self-position estimation processing (Localization) using map information and surrounding condition information (object information).

[0185] 4-3. Vehicle driving control

[0186] The control device 150 executes vehicle driving control for controlling the driving of the vehicle 100. The vehicle driving control includes steering control, drive control, and braking control. The control device 150 executes vehicle driving control by controlling the driving device 130 (steering device, drive device, and braking device).

[0187] The control device 150 can also perform autonomous driving control according to the driving environment information ENV. More specifically, the control device 150 generates a driving plan for the vehicle 100 according to the driving environment information ENV. Further, the control device 150 generates a target trajectory required for the vehicle 100 to travel according to the driving plan based on the driving environment information ENV. The target trajectory includes a target position and a target speed. Moreover, the control device 150 performs vehicle driving control in such a way that the vehicle 100 tracks the target trajectory.

[0188] 4-4. Processing related to remote support

[0189] Hereinafter, the case of performing remote support for the vehicle 100 will be described. The control device 150 communicates with the management device 300 via the communication device 110.

[0190] The control device 150 sends a support request REQ to the management device 300. For example, during the autonomous driving control, the control device 150 determines whether the autonomous driving control is difficult according to the driving environment information ENV. In the case of a scenario where the autonomous driving control is difficult, the control device 150 sends a support request REQ to the management device 300.

[0191] In addition, the control device 150 sends vehicle information VCL to the management device 300. The vehicle information VCL is information required for the remote operator O to perform remote support, and includes at least a part of the above-mentioned driving environment information ENV. For example, the vehicle information VCL includes surrounding condition information (especially the image IMG). The vehicle information VCL may also include vehicle status information, vehicle position information, driving plan, etc.

[0192] In addition, the control device 150 receives an operator instruction INS from the management device 300. The control device 150 performs vehicle driving control according to the received operator instruction INS.

[0193] 5. Example of remote operator terminal

[0194] Figure 20 It is a block diagram showing a structural example of the remote operator terminal 200. The remote operator terminal 200 includes a communication device 210, an output device 220, an input device 230, and a control device 250.

[0195] The communication device 210 communicates with the vehicle 100 and the management device 300.

[0196] The output device 220 outputs various information. For example, the output device 220 includes a display device. The display device prompts various information to the remote operator O by displaying various information. As another example, the output device 220 may also include a speaker.

[0197] The input device 230 accepts inputs from the remote operator O. For example, the input device 230 includes a touch panel, a keyboard, a mouse, buttons, etc. The remote operator O can use the input device 230 to input an operator instruction INS.

[0198] The control device 250 controls the remote operator terminal 200. The control device 250 includes one or more processors 260 (hereinafter simply referred to as the processor 260) and one or more storage devices 270 (hereinafter simply referred to as the storage device 270). The processor 260 performs various processes. For example, the processor 260 includes a CPU. The storage device 270 stores various information required in the processes implemented by the processor 260. Examples of the storage device 270 include a volatile memory, a non-volatile memory, an HDD, an SSD, etc.

[0199] The remote support program PROG2 is a computer program executed by the processor 260. By the processor 260 executing the remote support program PROG2, the functions of the control device 250 are realized. The remote support program PROG2 is stored in the storage device 270. Alternatively, the remote support program PROG2 may also be recorded on a computer-readable recording medium. The remote support program PROG2 may also be provided via a network.

[0200] The control device 250 communicates with the management device 300 via the communication device 210. The control device 250 receives a support request REQ and vehicle information VCL sent from the target vehicle 100T. The control device 250 prompts the vehicle information VCL to the remote operator O by displaying the vehicle information VCL on the display device. The remote operator O can identify the state of the target vehicle 100T and the surrounding conditions based on the vehicle information VCL. The remote operator O uses the input device 230 to input an operator instruction INS. The control device 250 sends the input operator instruction INS to the management device 300.

Claims

1. A management device that manages remote support for a vehicle, wherein, The management device includes: One or more processors that, in response to a support request from an object vehicle, perform an operator allocation process of allocating a remote operator to the object vehicle; And One or more storage devices that store vehicle information including the position and travel plan of the object vehicle, When multiple support requests are received from each of a predetermined number of object vehicles passing through a predetermined area during the same period, the one or more processors For each of the multiple object vehicles, based on the vehicle information, identify the entry direction into the predetermined area and the exit direction from the predetermined area, Based on the combination of the entry direction and the exit direction, determine whether to allocate the same remote operator or different remote operators to the multiple object vehicles, When at least one of the entry direction and the exit direction of the multiple object vehicles is the same, the one or more processors allocate the same remote operator to the multiple object vehicles.

2. The management device according to claim 1, wherein, When the entry direction and the exit direction of the multiple object vehicles are both different, the one or more processors allocate different remote operators to the multiple object vehicles.

3. The management device according to any one of claims 1 or 2, wherein, The one or more processors Receive the support request from a predetermined first object vehicle passing through the predetermined area, In response to the support request from the first object vehicle, allocate a first remote operator to the first object vehicle, After allocating the first remote operator to the first object vehicle and before the remote support for the first object vehicle is completed, receive the support request from a predetermined second object vehicle passing through the predetermined area, Based on the vehicle information of the first object vehicle and the second object vehicle respectively, identify the entry direction and the exit direction of the first object vehicle and the second object vehicle respectively, Based on the combination of the entry direction and the exit direction of the first object vehicle and the second object vehicle respectively, determine whether to allocate the first remote operator to the second object vehicle.

4. The management device according to claim 3, wherein, When at least one of the entry direction and the exit direction of the first object vehicle and the second object vehicle is the same, the one or more processors allocate the first remote operator to the second object vehicle.

5. The management device according to claim 4, wherein, The first information includes the support request from the first object vehicle and the vehicle information of the first object vehicle, The second information includes the support request from the second object vehicle and the vehicle information of the second object vehicle, In the case of performing sequential connection processing, the one or more processors provide the first information to the first remote operator terminal operated by the first remote operator, and after the remote support implemented by the first remote operator for the first object vehicle is completed, provide the second information to the first remote operator terminal.

6. The management device according to claim 5, wherein, When the entry directions of the first target vehicle and the second target vehicle are the same, the one or more processors perform the sequential connection process.

7. The management device according to claim 4, wherein, The first information includes the support request from the first target vehicle and the vehicle information of the first target vehicle. The second information includes the support request from the second target vehicle and the vehicle information of the second target vehicle. When performing the simultaneous connection process, the one or more processors simultaneously provide the second information and the first information to the first remote operator terminal operated by the first remote operator.

8. The management device according to claim 7, wherein, When the entry direction of the first target vehicle and the entry direction of the second target vehicle are different, and the exit direction of the first target vehicle and the exit direction of the second target vehicle are the same, the one or more processors perform the simultaneous connection process.

9. The management device according to claim 4, wherein, The first information includes the support request from the first target vehicle and the vehicle information of the first target vehicle. The second information includes the support request from the second target vehicle and the vehicle information of the second target vehicle. When performing the priority connection process, the one or more processors sequentially provide the first information and the second information to the first remote operator terminal operated by the first remote operator according to the traffic priority order of the first target vehicle and the second target vehicle in the predetermined area.

10. The management device according to claim 9, wherein, When the entry direction of the first target vehicle and the entry direction of the second target vehicle are different, and the exit direction of the first target vehicle and the exit direction of the second target vehicle are the same, the one or more processors perform the priority connection process.

11. A management method for remotely supporting a vehicle by a computer, wherein, The management method includes: An operator assignment process of assigning a remote operator to the target vehicle in response to a support request from the target vehicle; and A process of obtaining vehicle information including the position and driving plan of the target vehicle. The operator assignment process in the case of receiving a plurality of support requests from each of a predetermined plurality of target vehicles passing through a predetermined area during the same period includes: For each of the plurality of target vehicles, a process of identifying an entry direction into the predetermined area and an exit direction from the predetermined area based on the vehicle information; and A process of determining whether to assign the same remote operator or different remote operators to the plurality of target vehicles according to the combination of the entry direction and the exit direction. When at least one of the entry directions and the exit directions of the plurality of target vehicles is the same, the same remote operator is assigned to the plurality of target vehicles.

12. A computer-readable recording medium storing a management program that manages remote support for a vehicle when executed by a computer, wherein, The management program causes the computer to execute: An operator assignment process of assigning a remote operator to the target vehicle in response to a support request from the target vehicle; And A process of obtaining vehicle information including the position and driving plan of the target vehicle. The operator assignment process in the case of receiving multiple support requests from each of a plurality of predetermined target vehicles passing through a predetermined area during the same period includes: For each of the plurality of target vehicles, a process of identifying an entry direction into the predetermined area and an exit direction from the predetermined area based on the vehicle information; And A process of determining whether to assign the same remote operator or different remote operators to the plurality of target vehicles according to the combination of the entry direction and the exit direction, When at least one of the entry direction and the exit direction of the plurality of target vehicles is the same, the same remote operator is assigned to the plurality of target vehicles.

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