Remote support system

Abstract

To enable a remote support person to easily grasp auxiliary information from auxiliary displaying.SOLUTION: A remote support system includes a mobile body and a remote support terminal. The remote support terminal is operated by a remote supporter for remote support of the mobile body. The remote support terminal includes a display device for displaying a support image to be transmitted from the mobile body for the remote support. The display device displays the support image and also auxiliary displaying obtained by combining a first indicator with a second indicator. The first indicator is displayed with a continuous position change corresponding to a lapsed time from the start of the remote support. The second indicator indicates a communication time required for communication between the mobile body and the remote support terminal by an interval with respect to a position of the first indicator, so as to be displayed with a non-continuous position change with updating at timing when the remote support terminal receives the support image.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a remote assistance system for a mobile object. [Background technology]

[0002] Patent Document 1 discloses a remote control system for a moving object. The control device of the remote control system includes a monitor that displays an image from the moving object. The monitor displays the image and a delay time of the image.

[0003] Moreover, Patent Document 2 discloses a remote control video transmission system that displays a video delay time as a numerical value or a level. Patent Document 3 discloses a remote control system that displays a communication delay, for example, in a graph. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-036414 A [Patent Document 2] JP 2016-072727 A [Patent Document 3] JP 2015-047666 A Summary of the Invention [Problem to be solved by the invention]

[0005] In a remote support system for a moving object, it is useful for a remote supporter to display auxiliary information such as the delay time and frame rate of an image (support image) from a moving object on a display device as "auxiliary display" together with the support image. On the other hand, if such auxiliary display is complicated, the workload of the remote supporter increases. This leads to the demand for advanced skills in remote support of a moving object.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a remote support system that enables a remote supporter to easily grasp auxiliary information from auxiliary display. [Means for solving the problem]

[0007] A remote support system according to the present disclosure includes a mobile body and a remote support terminal. The remote support terminal is operated by a remote supporter to remotely support the mobile body. The remote support terminal includes a display device that displays a support image transmitted from the mobile body for remote support. The display device displays an auxiliary display combining a first indicator and a second indicator together with the support image. The first indicator is displayed with a continuous position change according to the elapsed time from the start of remote support. The second indicator indicates the communication time required for communication between the mobile body and the remote support terminal by an interval with respect to the position of the first indicator, and is displayed with a discontinuous position change associated with updating at the timing when the remote support terminal receives the support image. Effect of the Invention

[0008] According to the auxiliary display according to the present disclosure, a remote supporter can intuitively and easily grasp auxiliary information for remote support from a single display. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of a configuration of a remote support system according to an embodiment. [Diagram 2] FIG. 2 is a diagram for explaining an auxiliary display AD_1 according to the first example of the embodiment. [Diagram 3] FIG. 13 is a diagram showing three auxiliary displays AD_1 that show how the delay time Td changes each time an auxiliary image SI is received. [Figure 4] 11A to 11C are diagrams showing other examples of the auxiliary display AD_1 according to the embodiment. [Diagram 5] FIG. 13 is a diagram for explaining an auxiliary display AD_2 according to a second example of the embodiment. [Figure 6] FIG. 13 is a diagram for explaining an auxiliary display AD_3 according to a third example of the embodiment. [Figure 7] FIG. 13 is a diagram for explaining an auxiliary display AD_4 according to a fourth example of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0011] 1. Configuration of the remote support system 1 is a diagram illustrating an example of a configuration of a remote support system 1 according to an embodiment. The remote support system 1 is a system for a remote operator to remotely support a moving object (for example, remote operation, remote monitoring, remote instruction, or remote driving). The remote support system 1 includes an autonomous vehicle (or simply a vehicle) 10 that is the target of remote support, and a remote support terminal 30 that is operated by a remote supporter.

[0012] The vehicle 10 is an example of a "mobile body" according to the present disclosure. The mobile body may be a vehicle driven by a driver, not an autonomous vehicle. As another example, the mobile body may be a robot such as a logistics robot or a work robot, or may be a flying object such as an airplane or a drone.

[0013] The vehicle 10 includes a camera 12, a communication device 14, a GNSS (Global Navigation Satellite System) receiver 16, and a control device 18. The camera 12 captures the surroundings of the vehicle 10 and acquires an image showing the surroundings of the vehicle 10. Since the image is an image seen by a remote supporter using the remote support terminal 30, it is referred to as a "support image SI" for convenience of explanation. In the example of the vehicle 10, the support image SI includes, for example, a forward image of the vehicle 10. The communication device 14 communicates with the outside of the vehicle 10 via a communication network. Specifically, the communication device 14 communicates with, for example, the remote support terminal 30. The GNSS receiver 16 is used to acquire the position and orientation of the vehicle 10.

[0014] The control device 18 is a computer that controls the vehicle 10. The control device 18 includes one or more processors 20 (hereinafter simply referred to as the processor 20) and one or more storage devices 22 (hereinafter simply referred to as the storage device 22). The processor 20 executes various processes related to the control of the vehicle 10. The storage device 22 stores various information necessary for the processes by the processor 20. The control program 24 is a computer program for controlling the vehicle 10. The functions of the vehicle 10 are realized by cooperation between the processor 20, which executes the control program 24, and the storage device 22. The control program 24 is stored in the storage device 22. Alternatively, the control program 24 may be recorded on a computer-readable recording medium.

[0015] The remote support terminal 30 includes a communication device 32, a display device 34, and a control device 36. The communication device 32 communicates with the vehicle 10 via a communication network. The display device 34 displays various information to present the various information to the remote supporter. The various information includes an image for remote support of the vehicle 10, that is, the support image SI described above. In FIG. 1, an image of the front of the vehicle 10 is shown as an example of the support image SI displayed on the display device 34.

[0016] The control device 36 controls the remote support terminal 30. The control device 36 includes one or more processors 38 (hereinafter simply referred to as the processor 38) and one or more storage devices 40 (hereinafter simply referred to as the storage device 40). The processor 38 executes various processes related to remote support, including display control of an image on the display device 34. The storage device 40 stores various information required for processing by the processor 38. The control program 42 is a computer program for controlling the remote support terminal 30. The processor 38, which executes the control program 42, cooperates with the storage device 40 to realize the functions of the remote support terminal 30. The control program 42 is stored in the storage device 40. Alternatively, the control program 42 may be recorded in a computer-readable recording medium.

[0017] In the remote support system 1, the vehicle 10 (communication device 14) transmits a support image SI to the remote support terminal 30. The remote support terminal 30 (communication device 32) receives the support image SI from the vehicle 10. The remote support terminal 30 presents the received support image SI to the remote supporter. Presenting the support image SI includes displaying the support image SI on the display device 34. The remote supporter sees the presented support image SI, grasps the situation around the vehicle 10, and remotely supports the operation of the vehicle 10. More specifically, the remote support by the remote supporter is, for example, remote operation, remote monitoring, remote instruction, or remote driving. Information indicating the instruction or operation amount by the remote supporter is transmitted from the remote support terminal 30 to the vehicle 10. The vehicle 10 operates according to the instruction or operation by the remote supporter. Note that the transmission of the support image SI from the vehicle 10 (mobile body) for remote support may be performed using, for example, streaming video distribution.

[0018] 2.Auxiliary display The communication between a moving body such as the vehicle 10 and a remote support terminal may become unstable due to the influence of noise or traffic. If the communication becomes unstable when displaying a support image SI acquired in the moving body on a display device, the transmission of the support image SI from the moving body may be delayed, or the frame rate (frame / sec) of the support image SI may become unstable. It is difficult for a remote supporter to perceive such a delay or change in the frame rate. In this regard, it is useful for a remote supporter to display auxiliary information such as the delay time Td and frame rate of the support image SI on a display device together with the support image SI. On the other hand, if the auxiliary display showing the auxiliary information is complicated, the workload of the remote supporter increases. Specifically, it is considered that it is not easy for a remote supporter to interpret or respond to multiple displays of auxiliary information while providing remote support.

[0019] Therefore, in this embodiment, in order to provide the remote supporter with an "auxiliary display AD" that allows the remote supporter to easily grasp auxiliary information, the display device 34 displays the auxiliary display AD, which combines a first indicator and a second indicator, together with the support image SI.

[0020] The process for displaying the auxiliary display AD on the display device 34 can be performed as follows. That is, for example, the processor 38 of the remote support terminal 30 generates the auxiliary display AD, synthesizes the generated auxiliary display AD with the support image SI, and displays it on the display device 34. Alternatively, the process may be performed by the processor 38 and the processor 20 of the vehicle 10 in cooperation with each other.

[0021] 2-1. First example (watch type) 2(A) to 2(D) are diagrams for explaining auxiliary display AD_1 according to a first example of the embodiment. Auxiliary display AD_1 includes a first indicator I1_1 and a second indicator I2_1 together with a circumference C. The first indicator I1_1 and the second indicator I2_1 are second hands that rotate around the center of the circumference C. Note that arrows indicating a straight line L, elapsed time Te, and delay time Td (angular interval Ga) are shown in Figs. 2(A) to 2(D), but these are for explanation purposes only and are not included in auxiliary display AD_1.

[0022] The auxiliary display AD_1 represents a clock in which the first indicator I1_1 rotates once in a predetermined unit time T0 (e.g., 3 seconds). A straight line L indicates the rotational position of the first indicator I1_1 at the start time of remote support. The first indicator I1_1 is displayed with a continuous change in position according to the elapsed time Te from the start of remote support.

[0023] More specifically, as shown in FIG. 2(A), the first indicator I1_1 is a second hand that is continuously displayed while rotating within a circumference C as the elapsed time Te progresses. That is, the position of the first indicator I1_1 changes continuously with the passage of time. While the remote support is continuing, the first indicator I1_1 continues to rotate. Note that the rotation direction of the first indicator I1_1 is clockwise, but may be counterclockwise. Note that the second indicator I2_1 is omitted from the illustration in FIG. 2(A).

[0024] As shown in FIG. 2(B), the second indicator I2_1 indicates the delay time Td relatively by the interval G with respect to the first indicator I1_1. The delay time Td corresponds to the communication time required to transmit the support image SI from the vehicle 10 to the remote support terminal 30. More specifically, the second indicator I2_1 is displayed within the circumference C so as to indicate the delay time Td by the angle interval Ga (relative angle) with the first indicator I1_1, which corresponds to an example of the interval G. In other words, the second indicator I2_1 is a second hand that indicates the time that is the delay time Td before the first indicator I1_1.

[0025] The second indicator I2_1 is displayed with a discontinuous change in position due to updating at the timing TM when the remote support terminal 30 receives the support image SI. Specifically, FIG. 2C illustrates a plurality of second indicators I2_1a to I2_1e whose positions are updated at each reception timing TM. In this example, the positions of the second indicators I2_1 are updated in ascending order of the alphabetical subscripts attached to the second indicators I2_1. In this way, the second indicator I2_1 is displayed with a discontinuous change in position, unlike the first indicator I1_1 which changes continuously with the passage of time. Note that the first indicator I1_1 is not illustrated in FIG. 2C.

[0026] In addition, the second indicator I2_1 may be updated to display only the latest indicator each time the reception timing TM arrives. Alternatively, as shown in FIG. 2C, the second indicator I2_1 may be updated to display one or more second indicators I2_1 (e.g., I2_1a to I2_1d) that have been updated in the past, along with the latest indicator (e.g., I2_1e). The display of the multiple second indicators I2_1 may be displayed with shading so that the newer the indicator, the darker the indicator. According to this example, the display of a certain second indicator I2_1 becomes fainter each time the reception timing TM arrives, and eventually disappears.

[0027] FIG. 2D shows the second indicator I2_1 displayed at the arrival of a certain reception timing TM, together with the first indicator I1_1 at the same reception timing TM.

[0028] The delay time Td is determined, for example, as follows. That is, the control device 18 of the vehicle 10 measures the time A when the vehicle 10 transmits the support image SI. Meanwhile, the control device 36 of the remote support terminal 30 measures the time B when the support image SI transmitted from the vehicle 10 is received by the remote support terminal 30. In an example in which the processor 38 generates the auxiliary display AD, the processor 38 determines (calculates) the delay time Td from the difference between the time A and the time B acquired from the vehicle 10. In addition, in the remote support system 1, the computers (control devices) that measure the times A and B are different. For this reason, it is desirable that the control devices 18 and 36 are time-synchronized. If time synchronization is not performed or cannot be performed, the time difference required for time synchronization may be acquired in advance. Then, the delay time Td may be corrected according to the time difference.

[0029] <Effects> As shown in Fig. 2(B) and Fig. 2(D), the second indicator I2_1 is displayed at a position corresponding to the time preceding the first indicator I1_1 by the delay time Td. Therefore, a remote supporter who sees the auxiliary display AD_1 can easily grasp the delay time Td from the angle interval Ga between the first indicator I1_1 and the second indicator I2_1. In addition, for example, Fig. 3 is a diagram showing three auxiliary displays AD_1 showing the state in which the delay time Td changes each time an support image SI is received. A remote supporter who sees the three auxiliary displays AD_1 that change in sequence as shown in Fig. 3 can constantly grasp the delay time Td from the change in the angle interval Ga while remote support is being performed.

[0030] In addition, according to the auxiliary display AD_1, by displaying on the display device 34 a discontinuous drawing of a plurality of second indicators I2_1 whose positions are updated every time the reception timing TM arrives, as exemplified in FIG. 2(C), the remote supporter can easily grasp the frame rate of the support image SI. More specifically, for example, a remote supporter who sees the display of the plurality of second indicators I2_1 shown in FIG. 2(C) can easily grasp that the frame rate is unstable due to the variation in the angle interval Ga. Also, for example, a remote supporter who sees the plurality of second indicators I2_1 displayed at nearly equal angle intervals Ga can easily grasp that the frame rate is stable. In addition, according to the auxiliary display AD_1, the remote supporter can easily distinguish between an image (moving image) in which a fixation occurs and an image with no or little change (for example, an image in a windless state, an image without other vehicles, or an image when the vehicle 10 is stopped).

[0031] As described above, according to the auxiliary display AD_1, the remote supporter can easily and intuitively grasp auxiliary information such as the delay time Td and the frame rate from a single display that combines the first and second indicators I1_1, I2_2.

[0032] <Modification> The above example shows that the unit time T0 of the auxiliary display AD_1 is 3 seconds. However, the unit time T0 may be set arbitrarily according to the maximum communication delay expected in the usage environment of the remote support system 1, and may be, for example, 10 seconds or 1 minute.

[0033] Furthermore, the unit time T0 is not limited to a fixed value determined in advance, and may be changeable during the execution of remote assistance. Specifically, the unit time T0 may be changed, for example, according to the location information of the vehicle 10 and the past communication speed history. For example, when the vehicle 10 is traveling in an urban area with good communication conditions, the unit time T0 may be set to be short. On the other hand, when the vehicle 10 is traveling in a suburban area with poor communication conditions, the unit time T0 may be set to be long. This allows the auxiliary display AD_1 to be appropriately displayed according to the usage environment. Alternatively, the unit time T0 may be set, for example, according to the lowest communication speed of the vehicle 10 in a predetermined period of time in the past (for example, 10 minutes).

[0034] 4(A) and 4(B) are diagrams showing other examples of the auxiliary display AD_1 according to the embodiment. When the delay time Td is longer than a predetermined threshold, the auxiliary display AD_1 may be colored in a warning color to warn the remote supporter. Specifically, this coloring may be performed by displaying the circumference C in any warning color such as red as shown in FIG. 4(A). Also, the coloring may be performed by displaying the area inside the circumference C in any warning color such as red as shown in FIG. 4(A). In addition, when the coloring is performed, the circumference C may be displayed thicker as shown in FIG. 4(A) compared to when the delay time Td is equal to or less than the threshold.

[0035] In order to make the angular interval Ga in the auxiliary display AD_1 easier to understand, the sector-shaped area representing the angular interval Ga in the auxiliary display AD_1 may be colored in any conspicuous color such as red as shown in Fig. 4(B) . This coloring may be performed only when the angular interval Ga is equal to or greater than a predetermined threshold value.

[0036] Furthermore, the above coloring does not necessarily have to be done in a single color. That is, the coloring may be done, for example, by changing the color of the entire sector-shaped area from blue to red according to the size of the angle interval Ga. Alternatively, the coloring may be done, for example, by using a gradation display in which the color of the sector-shaped area gradually changes from blue to red along the circumferential direction. According to these examples, it is possible to realize an auxiliary display AD_1 that can more easily convey to the remote supporter the change in the angle interval Ga (i.e., the delay time Td) from a problem-free state to a state requiring a warning.

[0037] On the other hand, in order to prevent the auxiliary display AD_1 from being bothersome to the remote supporter, the second indicator I2_1 may be hidden when the angle interval Ga is equal to or less than a predetermined threshold (i.e., when the delay time Td is an acceptable value). Even when only the first indicator I1_1 is displayed in this manner, the remote supporter can know whether the image is fixed or not from the presence or absence of the operation of the first indicator I1_1.

[0038] 2-2. Second example (bar type) 5(A) and 5(B) are diagrams for explaining auxiliary display AD_2 according to a second example of the embodiment. Instead of the clock-shaped auxiliary display AD_1, the "auxiliary display AD" may be a bar-shaped auxiliary display AD_2. The differences between the auxiliary display AD_1 and the auxiliary display AD_2 will be described below.

[0039] First, the example shown in Fig. 5(A) will be described. The auxiliary display AD_2 includes a first indicator I1_2 and a second indicator I2_2 together with a horizontally long rectangular (box) perimeter P1. The first indicator I1_2 and the second indicator I2_2 are bars displayed to divide the area within the perimeter P1 in the vertical direction D1.

[0040] The first indicator I1_2 is continuously displayed while moving linearly along the left-right direction D2 as the elapsed time Te progresses. With respect to the movement of the first indicator I1_2, the length of the rectangle having the periphery P1 in the left-right direction D2 corresponds to the unit time T0 (e.g., 3 seconds). As an example, the first indicator I1_2 moves from left to right on the paper. After the first indicator I1_2 reaches the right end of the periphery P1, the first indicator I1_2 jumps to the left end of the periphery P1 and repeatedly moves to the right.

[0041] The second indicator I2_2 is displayed to indicate the delay time Td by the distance Gd. This distance Gd is the distance between the first indicator I1_2 and the second indicator I2_2 in the left-right direction D2, and corresponds to an example of the interval G described above. More specifically, in order to indicate a time that is the delay time Td before the first indicator I1_2, the second indicator I2_2 is displayed to the left of the first indicator I1_2 by the distance Gd. In addition, similar to the example of the auxiliary display AD_1, in order to make the interval G even easier to grasp, the area representing the distance Gd in the auxiliary display AD_2 may be colored in a conspicuous color such as red as shown in FIG. 5(A).

[0042] Contrary to the example shown in Fig. 5(A), the first indicator I1_2 may be displayed to move from right to left. Alternatively, the first indicator I1_2 may be displayed to move, for example, from left to right, then reflect at the right end and move left, and then reflect at the left end and move right, repeating this process.

[0043] Also, as shown in Fig. 5(B), the auxiliary display AD_2 may include a first indicator I1_2 and a second indicator I2_2 together with an outer periphery P2 of a vertically long rectangle (box). The manner in which the first indicator I1_2 and the second indicator I2_2 are displayed in this example is basically the same as the example shown in Fig. 5(A). In addition, the first indicator I1_2 may be displayed so as to proceed from the bottom to the top of the paper surface of Fig. 5(B), or may be displayed so as to proceed from the top to the bottom.

[0044] The above-mentioned auxiliary display AD_2 also enables the remote supporter to intuitively and easily grasp auxiliary information such as the delay time Td and the frame rate from a single display.

[0045] 2-3. Third example (concentric circle type) 6 is a diagram for explaining an auxiliary display AD_3 according to a third example of the embodiment. Instead of the clock-shaped auxiliary display AD_1, the "auxiliary display AD" may be a concentric circle-shaped auxiliary display AD_3. The differences between the auxiliary display AD_1 and the auxiliary display AD_3 will be described below.

[0046] The auxiliary display AD_3 includes a first indicator I1_3 and a second indicator I2_3 along with a circumference C. The first indicator I1_3 is a circle that is displayed continuously within the circumference C while its size changes concentrically as the elapsed time Te progresses. In an example of the auxiliary display AD_3, the radius of the circle having the circumference C corresponds to a unit time T0 (e.g., 3 seconds). The first indicator I1_3 expands from a center P0 of the circle having the circumference C. After the first indicator I1_3 reaches the position of the circumference C, the first indicator I1_3 may jump to P0 and expand repeatedly. Alternatively, the first indicator I1_3 may be displayed so as to be reflected at the position of the circumference C, proceed to the center P0, and then reflected at the position of the center P0 and expand repeatedly.

[0047] The second indicator I2_3 is a circle that is concentric with the first indicator I1_3 and is displayed to indicate the delay time Td based on the radial distance Gr between the first indicator I1_3, which corresponds to an example of the distance G. That is, in order to indicate a time that is earlier than the first indicator I1_3 by the delay time Td, the second indicator I2_3 is displayed as a circle that is smaller than the first indicator I1_3 by the radial distance Gr. In addition, as in the example of the auxiliary display AD_1, in order to make the radial distance Gr easier to grasp, the area representing the radial distance Gr in the auxiliary display AD_3 may be colored in a conspicuous color such as red as shown in FIG. 6. Note that the arrow and center P0 indicating the radial distance Gr in FIG. 6 are for explanation purposes and are not included in the auxiliary display AD_3.

[0048] The above-mentioned auxiliary display AD_3 also enables the remote supporter to intuitively and easily grasp auxiliary information such as the delay time Td and the frame rate from a single display.

[0049] 2-4. Fourth Example (Circular) 7 is a diagram for explaining an auxiliary display AD_4 according to a fourth example of the embodiment. Instead of the clock-shaped auxiliary display AD_1, the "auxiliary display AD" may be a ring-shaped auxiliary display AD_4. The differences between the auxiliary display AD_1 and the auxiliary display AD_4 will be described below.

[0050] The auxiliary display AD_4 includes a first indicator I1_4 and a second indicator I2_4 together with a circular area AR. The first indicator I1_4 is a bar that is continuously displayed while rotating in the area AR as the elapsed time Te progresses. As with the auxiliary display AD_1, the second indicator I2_4 is a bar that is displayed in the area AR so as to indicate the delay time Td by the angle interval Ga (relative angle) with the first indicator I1_4, which corresponds to an example of the interval G. In addition, as with the example of the auxiliary display AD_1, in order to make the angle interval Ga easier to grasp, the area representing the angle interval Ga in the auxiliary display AD_4 may be colored in a conspicuous color such as red as shown in FIG. 7. Note that, also in FIG. 7, the arrow indicating the angle interval Ga is for explanatory purposes and is not included in the auxiliary display AD_4.

[0051] The above-mentioned auxiliary display AD_4 also enables the remote supporter to easily and intuitively grasp auxiliary information such as the delay time Td and the frame rate from a single display. In addition, in the example of the bar-shaped auxiliary display AD_2 (see FIG. 5(A)), there is a problem that the first indicator I1_2 is displayed to the left of the second indicator I2_2 immediately after the first indicator I1_2 reaches the right end of the outer periphery P1 and jumps to the left end of the outer periphery P1. According to the auxiliary display AD_4, the first and second indicators I1_4 and I2_4 are displayed within the annular area AR, so that such a problem can be solved.

[0052] 3. Other examples of communication time In the above examples of the auxiliary displays AD_1 to AD_4, the delay time Td corresponding to the communication time required for transmitting the support image SI from the vehicle 10 (mobile body) is used as the "communication time required for communication between the mobile body and the remote support terminal" according to the present disclosure. However, the "communication time" according to the present disclosure is not limited to such a "delay time of image display."

[0053] Specifically, the "communication time" according to the present disclosure is not necessarily limited to "one-way communication time (delay time)" but may be "the communication time required for one round trip of sending and receiving information between a mobile body and a remote support terminal." The one-way delay time is sufficient to grasp how many seconds ago an image was displayed. On the other hand, in order to grasp not only the time it takes for the remote supporter to see the support image SI transmitted from the mobile body, but also how many seconds it takes for the input of the remote supporter who sees the support image SI to reach the mobile body, the above-mentioned "one round trip communication time" may be better.

[0054] Moreover, the measurement of the "one-way communication time" or the "one round-trip communication time" does not necessarily have to be performed using the communication time required to transmit the support image SI itself. That is, the measurement may be performed using a small packet of, for example, a few kilobytes. In addition, the source of the measurement of the "one round-trip communication time" is not limited to a mobile body, but may be a remote support terminal. That is, the communication time required to transmit information from the remote support terminal to the mobile body and to transmit information from the mobile body to the remote support terminal may be measured. Furthermore, the use of small packets makes it possible to constantly measure the "communication time", which is difficult to achieve using the support image SI. And the ability to constantly measure the "communication time" may lead to the ease of setting an appropriate unit time T0. [Explanation of symbols]

[0055] 1 Remote assistance system, 10 Autonomous driving vehicle (mobile body), 12 Camera, 14, 32 Communication device, 18, 36 Control device, 20, 38 Processor, 30 Remote assistance terminal

Claims

1. A remote support system including a mobile object and a remote support terminal operated by a remote supporter for remote support of the mobile object, the remote support terminal includes a display device that displays a support image transmitted from the mobile object for the remote support; The display device displays an auxiliary display combining a first indicator and a second indicator together with the support image; the first indicator is displayed with a continuous change in position according to an elapsed time from the start of the remote assistance, The second indicator indicates a communication time required for communication between the mobile object and the remote support terminal by an interval with respect to the position of the first indicator, and is displayed with discontinuous positional changes due to updates at the timing when the remote support terminal receives the support image. A remote support system comprising:

2. the first indicator is a second hand that rotates and continuously displays the elapsed time as the elapsed time progresses, The second indicator is a second hand that is displayed to indicate the communication time according to an angular interval with the first indicator that corresponds to the interval.

2. The remote assistance system according to claim 1.

3. the first indicator is a bar that is continuously displayed while linearly moving in a predetermined direction as the elapsed time progresses, the interval is a distance between the first indicator and the second indicator in the predetermined direction, The second indicator is a bar displayed to indicate the communication time according to the distance.

2. The remote assistance system according to claim 1.

4. the first indicator is a circle that is continuously displayed while its size changes concentrically as the elapsed time progresses, The second indicator is a circle that is concentric with the first indicator and is displayed to indicate the communication time by a radial distance from the first indicator that corresponds to the distance.

2. The remote assistance system according to claim 1.

5. the first indicator is a bar that is continuously displayed while rotating in a circular area as the elapsed time progresses, The second indicator is a bar displayed within the annular area so as to indicate the communication time by an angular interval with the first indicator that corresponds to the interval.

2. The remote assistance system according to claim 1.

Images