Control method, control device, control system, and control program

Abstract

To provide a control device and the like that can realize a situation in which a remote controlling person can easily concentrate on a remote control of an automatic driving vehicle which is a target of the remote control when the remote controlling person is remotely monitoring a plurality of automatic driving vehicles.SOLUTION: A control device 1 is a control device used for remote monitoring a plurality of automatic driving vehicles configured to be switchable between an autonomous travel mode and a remote control mode, which comprises: a vehicle specifying unit 122 that specifies a non-target vehicle other than a target vehicle which is a target of remote control among the plurality of automatic driving vehicles when a predetermined event occurs; a control command forming unit 123 that forms a remote control avoidance controlling command for making the non-target vehicle travel autonomously so as to avoid a situation in which the non-target vehicle needs the remote control when the target vehicle is controlled to travel in the remote control mode in response to the operation of the remote control device; and a communication unit 11 that transmits the remote control avoidance controlling command to the non-target vehicle.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a control device used to remotely monitor multiple self-driving vehicles configured to be switchable between an autonomous driving mode in which the vehicles drive autonomously and a remote control mode in which the vehicles are remotely controlled by a remote control device, a control method and control program for the control device, and a control system equipped with the control device. [Background technology]

[0002] In recent years, technological developments have been made regarding autonomous vehicles that can perform fully autonomous driving without the need for a driver, and there are plans and practical experiments for using such autonomous vehicles to deliver packages. In addition, vehicle remote control systems for operating vehicles in remote locations are also being developed.

[0003] For example, Patent Document 1 discloses that the vehicle in the vehicle remote control system is equipped with an imaging unit that images all around, a steering angle sensor that detects the angle of the front wheels, a vehicle speed sensor, a steering unit that changes the direction of the front wheels, a drive unit that drives the rear wheels, a braking unit that brakes the rear wheels, a lateral G sensor, a yaw rate sensor, a vehicle control unit that controls each unit, a wireless communication unit that communicates wirelessly with a remote control room in a remote location, and a switching unit that switches between operation by the driver unit (not used here) and operation by the remote control room, and receives input values ​​for steering, driving, and braking from the driver in the remote control room via wireless communication, and provides signals indicating the vehicle's behavior and surrounding conditions to the remote control room. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2004-206218 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, while the above-mentioned conventional technologies disclose remote control of normal vehicles that can be operated by a driver, i.e., vehicles that are manually driven and not autonomous, there is no consideration given to how to control the other autonomous vehicles when a remote operator needs to remotely operate an autonomous vehicle while remotely monitoring multiple autonomous vehicles, and further improvements are needed regarding the control of the other autonomous vehicles.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a control device, a control method, a control program, and a control system that can realize a situation in which, when a remote operator is remotely monitoring multiple autonomous vehicles, the remote operator can easily concentrate on remotely operating the autonomous vehicle that is the target of remote operation. [Means for solving the problem]

[0007] A control method according to one aspect of the present disclosure is a control method for a control device used to remotely monitor a plurality of autonomous vehicles configured to be switchable between an autonomous driving mode in which the vehicles drive autonomously and a remotely controlled mode in which the vehicles are remotely controlled by a remote control device, and when a specified event occurs, identifies non-target vehicles among the plurality of autonomous vehicles other than a target vehicle that is to be remotely controlled, and when the target vehicle is controlled to drive in the remotely controlled mode in accordance with the operation of the remote control device, creates a remotely controlled avoidance control command for causing the non-target vehicles to drive autonomously so as to avoid a situation in which the non-target vehicles require remote control, and transmits the remotely controlled avoidance control command to at least some of the non-target vehicles. Effect of the Invention

[0008] According to the present disclosure, when a remote pilot is remotely monitoring multiple autonomous vehicles, it is possible to realize a situation in which the remote pilot can easily concentrate on remotely operating the autonomous vehicle that is the target of remote operation. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing an example of a configuration of a control system according to a first embodiment of the present disclosure. [Diagram 2] 2 is a block diagram showing an example of the configuration of a control device shown in FIG. 1. [Diagram 3] 2 is a block diagram showing an example of the configuration of the autonomous driving vehicle shown in FIG. 1. [Figure 4] 2 is a block diagram showing an example of the configuration of the remote control device shown in FIG. 1. [Diagram 5] 4 is a flowchart showing an example of a remote control avoidance control process performed by the control device shown in FIG. [Figure 6] FIG. 11 is a block diagram showing an example of a configuration of a control device of a control system according to a second embodiment of the present disclosure. [Figure 7] 7 is a flowchart showing an example of a remote control avoidance control process performed by the control device shown in FIG. 6. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] (Findings on which this disclosure is based) As described above, when a remote operator is remotely monitoring multiple autonomous vehicles, one autonomous vehicle may have an accident or may be unable to drive autonomously. For example, when environmental conditions deteriorate due to bad weather such as snow, rain, and wind, when the roads are congested with many people, when a large number of obstacles such as garbage are scattered on the road, or when an on-board sensor or the like breaks down, the autonomous vehicle may misrecognize objects such as signs and obstacles on the road, or may be unable to grasp its own position, making it impossible for the sensor to accurately sense, and therefore unable to drive autonomously.

[0011] When the above-mentioned situation occurs, the remote pilot needs to switch the above-mentioned autonomous vehicle from the autonomous driving mode to the remote control mode and remotely control it. At this time, when the remote pilot starts remote control of the autonomous vehicle, the remote pilot cannot monitor the other autonomous vehicles, and furthermore, even if the above-mentioned situation occurs in the other autonomous vehicles and remote control is requested, the remote pilot cannot respond. Therefore, if the other autonomous vehicles are in a situation requiring remote control, they must wait until remote control becomes possible, so it is necessary to prevent the other autonomous vehicles from being in a situation requiring remote control.

[0012] In order to solve the above problems, in the present disclosure, for example, when remote control of one of a plurality of autonomous vehicles being remotely monitored is started, a command to drive autonomously is sent to the other autonomous vehicles so as to reduce the possibility of a situation requiring remote control occurring. As a result, it is possible to reduce the possibility that the other autonomous vehicles will fall into a situation requiring remote control during remote control, and also to reduce the possibility that the other autonomous vehicles will fall into a situation where they have to wait for remote control while traveling.

[0013] In other words, a control method according to one aspect of the present disclosure is a control method for a control device used to remotely monitor a plurality of autonomous vehicles configured to be switchable between an autonomous driving mode in which the vehicles drive autonomously and a remote control mode in which the vehicles are remotely controlled by a remote control device, and when a specified event occurs, identifies non-target vehicles among the plurality of autonomous vehicles other than a target vehicle that is to be remotely controlled, and when the target vehicles are controlled to drive in the remote control mode in accordance with the operation of the remote control device, creates a remote control avoidance control command for causing the non-target vehicles to drive autonomously so as to avoid a situation in which the non-target vehicles require remote control, and transmits the remote control avoidance control command to at least some of the non-target vehicles.

[0014] According to this configuration, when a predetermined event occurs, non-target vehicles other than the target vehicle that is the target of remote control are identified among the multiple autonomous vehicles, and when the target vehicle is controlled to run in a remote control mode in response to the operation of the remote control device, a remote control avoidance control command is created to cause the non-target vehicles to run autonomously so as to avoid a situation in which the non-target vehicles require remote control, and the created remote control avoidance control command is transmitted to at least some of the non-target vehicles, so that when the target vehicle is remotely controlled, it is possible to reduce the possibility that the non-target vehicles that receive the remote control avoidance control command will get into a situation in which they require remote control, and it is possible to reduce the possibility that the non-target vehicles that receive the remote control avoidance control command will get into a situation in which they have to wait for remote control while traveling. As a result, it is possible to realize a situation in which, when a remote operator is remotely monitoring a multiple autonomous vehicles, the remote operator can easily concentrate on remotely controlling the autonomous vehicle that is the target of remote control.

[0015] The remote control avoidance control command may include a remote control suppression control command for causing the non-target vehicle to autonomously drive so as to reduce the likelihood that the non-target vehicle will require remote control below a current likelihood.

[0016] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in accordance with the operation of a remote control device, a remote control suppression control command is created to cause the non-target vehicle to run autonomously so as to reduce the possibility that the non-target vehicle will need remote control below the current possibility, and the created remote control suppression control command is sent to the non-target vehicle, thereby reliably reducing the possibility that the non-target vehicle will get into a situation where it needs remote control when the target vehicle is remotely controlled, and reliably reducing the possibility that the non-target vehicle will get into a situation where it has to wait for remote control while traveling.

[0017] The remote steering inhibit control command may include a speed inhibit control command for causing the non-target vehicle to autonomously drive at a speed lower than a current speed.

[0018] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in accordance with the operation of the remote control device, a speed suppression control command is created for causing the non-target vehicle to run autonomously at a speed slower than its current speed, and the created speed suppression control command is transmitted to the non-target vehicle, so that when the target vehicle is remotely controlled, the non-target vehicle can be caused to run at a safe low speed.

[0019] The remote control inhibition control command may include an autonomous driving maintenance control command for causing the non-target vehicle to drive autonomously so as to reduce the possibility that the non-target vehicle will not be able to drive autonomously below the current possibility.

[0020] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in accordance with the operation of the remote control device, an autonomous driving maintenance control command is created to cause the non-target vehicle to run autonomously so as to reduce the possibility that the non-target vehicle will not be able to run autonomously below the current possibility, and the created autonomous driving maintenance control command is sent to the non-target vehicle, thereby reliably reducing the possibility that the non-target vehicle will get into a situation where it requires remote control when the target vehicle is remotely controlled, and reliably reducing the possibility that the non-target vehicle will get into a situation where it has to wait for remote control while traveling.

[0021] The autonomous driving maintenance control command may include a center driving control command for causing the non-target vehicle to autonomously drive in a lane on the center line of the multiple lanes when the non-target vehicle is driving on a road with multiple lanes.

[0022] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in response to operation of a remote control device, if a non-target vehicle is running on a road with multiple lanes, a center side driving control command is created to cause the non-target vehicle to run autonomously in the center lane of the multiple lanes, and the created center side driving control command is transmitted to the non-target vehicle.Therefore, when the target vehicle is remotely controlled, even if the non-target vehicle is running on a road with multiple lanes, the non-target vehicle can be made to run in the center lane where there are fewer obstacles, etc.

[0023] The autonomous driving maintenance control command may include a width widening control command for causing the non-target vehicle to autonomously drive on a road whose width is equal to or greater than a predetermined value when the non-target vehicle is driving on a road whose width is narrower than a predetermined value.

[0024] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in response to the operation of a remote control device, if a non-target vehicle is running on a road whose width is narrower than a predetermined value, a width widening control command is created to cause the non-target vehicle to run autonomously on a road whose width is equal to or greater than the predetermined value, and the created width widening control command is transmitted to the non-target vehicle.Therefore, when the target vehicle is remotely controlled, even if the non-target vehicle is running on a road whose width is narrower than the predetermined value, the non-target vehicle can be made to run on a safe, wide road where remote control is unlikely to be required.

[0025] The autonomous driving maintenance control command may include a route change control command for causing the non-target vehicle to autonomously drive so as not to drive through a driving avoidance area of ​​a predetermined range including the point where the driving mode of the target vehicle is switched from the autonomous driving mode to the remote control mode.

[0026] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in response to the operation of the remote control device, a route change control command is created to cause the non-target vehicle to run autonomously so that the non-target vehicle does not run through a driving avoidance area including the point where the driving mode of the target vehicle has been switched from autonomous driving mode to remote driving mode, and the created route change control command is transmitted to the non-target vehicle.Therefore, when the target vehicle is remotely controlled, the non-target vehicle can be caused to run along a safe route that is unlikely to require remote control, without running through the driving avoidance area including the point where remote control of the target vehicle became necessary.

[0027] The autonomous driving maintenance control command may include a replenishment promotion control command for causing the non-target vehicle to autonomously drive so as to promote replenishment of fuel or electricity for driving the non-target vehicle.

[0028] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in accordance with the operation of the remote control device, a replenishment promotion control command is created to cause the non-target vehicle to run autonomously so as to promote the replenishment of fuel or electricity for running the non-target vehicle, and the created replenishment promotion control command is transmitted to the non-target vehicle, so that when the target vehicle is remotely controlled, the non-target vehicle can be replenished with fuel or electricity and the non-target vehicle can be stopped.

[0029] The remote control avoidance control command may include a remote control standby control command for causing the non-target vehicle to drive autonomously so that immediate remote control is possible for the non-target vehicle if the non-target vehicle requires remote control.

[0030] According to this configuration, when the identified target vehicle is controlled to run in remote control mode in response to the operation of the remote control device, a remote control standby control command is created to cause the non-target vehicle to run autonomously so that the non-target vehicle can be immediately remotely controlled if the non-target vehicle requires remote control, and the created remote control standby control command is transmitted to the non-target vehicle, so that the non-target vehicle can be immediately remotely controlled when the target vehicle is remotely controlled.

[0031] The remote control standby control command may include a side road side driving control command for causing the non-target vehicle to autonomously drive in a lane opposite a center line of the multiple lanes when the non-target vehicle is driving on a road with multiple lanes.

[0032] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in response to operation of a remote control device, if a non-target vehicle is traveling on a road with multiple lanes, a side road driving control command is created to cause the non-target vehicle to autonomously drive in the lane opposite the center line of the multiple lanes, and the created side road driving control command is transmitted to the non-target vehicle.Therefore, when the target vehicle is remotely controlled, even if the non-target vehicle is traveling on a road with multiple lanes, the non-target vehicle can be made to drive in the lane opposite the center line, and the non-target vehicle can be stopped immediately.

[0033] The remote control standby control command may include a width widening control command for causing the non-target vehicle to autonomously drive on a road whose width is equal to or greater than a predetermined value when the non-target vehicle is driving on a road whose width is narrower than a predetermined value.

[0034] According to this configuration, when an identified target vehicle is controlled to run in remote control mode in response to the operation of a remote control device, if a non-target vehicle is running on a road whose width is narrower than a predetermined value, a width widening control command is created to cause the non-target vehicle to run autonomously on a road whose width is equal to or greater than the predetermined value, and the created width widening control command is transmitted to the non-target vehicle.Therefore, when the target vehicle is remotely controlled, even if the non-target vehicle is running on a road whose width is narrower than the predetermined value, the non-target vehicle can be made to run on a wider road, and the non-target vehicle can be stopped immediately.

[0035] The remote control device may include a plurality of remote control devices, and the remote control avoidance control command may be created when the number of unused remote control devices that are not being used for remote control among the plurality of remote control devices becomes equal to or less than a predetermined first threshold value.

[0036] According to this configuration, a remote control avoidance control command is created when the number of unused remote control devices that are not being used for remote control among the multiple remote control devices falls below a predetermined first threshold.Therefore, when there is a surplus in the number of unused remote control devices and the situation is such that it is possible to accommodate the next remote control, smooth driving of non-target vehicles can be achieved without sending a remote control avoidance control command.In addition, a remote control avoidance control command is sent only when there is an insufficient number of unused remote control devices and the situation is such that it is difficult to accommodate the next remote control, thereby reducing the possibility that the non-target vehicles will fall into a situation where they require remote control when the target vehicle is remotely controlled, and reducing the possibility that the non-target vehicles will fall into a situation where they have to wait for remote control while driving.

[0037] When the number of the unused remote control devices is less than the first threshold and exceeds a second threshold which is less than the first threshold, a remote control suppression control command may be created as the remote control avoidance control command for causing the non-target vehicles to drive autonomously so as to reduce the possibility that the non-target vehicles will need remote control below the current possibility, and when the number of the unused remote control devices is less than the second threshold, a remote control standby control command may be created as the remote control avoidance control command for causing the non-target vehicles to drive autonomously so that immediate remote control is possible for the non-target vehicles if they need remote control.

[0038] According to this configuration, when the number of unused remote control devices is equal to or less than the first threshold and exceeds a second threshold which is smaller than the first threshold, a remote control suppression control command is created as a remote control avoidance control command for causing the non-target vehicles to drive autonomously so as to make the possibility that the non-target vehicles will need remote control lower than the current possibility, and when the number of unused remote control devices is equal to or less than the second threshold, a remote control standby control command is created as a remote control avoidance control command for causing the non-target vehicles to drive autonomously so that immediate remote control is possible for the non-target vehicles if they need remote control.Therefore, when the number of unused remote control devices is equal to or less than the first threshold and exceeds the second threshold, there is a certain amount of leeway in the number of unused remote control devices, and the situation is such that the next remote control can be handled to a certain extent, the non-target vehicles can be driven so as to reduce the possibility of requiring remote control, and when the number of unused remote control devices is equal to or less than the second threshold and there is not much leeway in the number of unused remote control devices, the non-target vehicles can be driven so as to enable immediate remote control.

[0039] The remote control device may include a plurality of remote control devices, and the non-target vehicle to which the remote control avoidance control command is sent may be changed depending on the number of unused remote control devices among the plurality of remote control devices that are not being used for remote control.

[0040] According to this configuration, the non-target vehicles to which the remote control avoidance control command is sent are changed depending on the number of unused remote control devices that are not being used for remote control among the multiple remote control devices. Therefore, when there is a certain amount of leeway in the number of unused remote control devices, the remote control avoidance control command is sent only to non-target vehicles that are suitable for executing the remote control command, thereby reducing the need for remote control of non-target vehicles to a certain extent and enabling smooth driving of other non-target vehicles. Furthermore, when there is not a certain amount of leeway in the number of unused remote control devices, the remote control avoidance control command is sent to all non-target vehicles, thereby reliably reducing the need for remote control of non-target vehicles.

[0041] When the number of unused remote control devices is within a predetermined range, the remote control avoidance control command may be preferentially sent to non-task executing vehicles among the non-target vehicles that are not executing a specified task.

[0042] According to this configuration, when the number of unused remote control devices is within a specified range, a remote control avoidance control command is preferentially sent to non-task-performing vehicles among non-target vehicles that are not performing a specified task, so that, overall, the task efficiency of non-target vehicles can be maintained while the need for remote control of non-target vehicles can be reduced.

[0043] When the number of unused remote control devices is within a predetermined range, the remote control avoidance control command may be preferentially sent to non-target vehicles that are located in an area where the likelihood of requiring remote control is higher than usual.

[0044] According to this configuration, when the number of unused remote control devices is within a specified range, remote control avoidance control commands are preferentially sent to non-target vehicles that are located in areas where the likelihood of remote control being required is higher than usual. This allows remote control avoidance control commands to be issued preferentially to non-target vehicles that are located in areas where remote control is likely to be required, and prevents the driving efficiency of non-target vehicles from being reduced by issuing remote control avoidance control commands more than necessary.

[0045] When the number of the unused remote control devices is within a predetermined range, the remote control avoidance control command may be preferentially transmitted to non-manually driven vehicles that cannot be manually driven among the non-target vehicles.

[0046] According to this configuration, when the number of unused remote control devices is within a specified range, remote control avoidance control commands are preferentially sent to non-manually driven vehicles that cannot be manually driven among the non-target vehicles, so that remote control avoidance control commands are not issued to vehicles that can be manually driven more than to non-manually driven vehicles, and it is possible to avoid reducing the driving efficiency of non-target vehicles by issuing remote control avoidance control commands more than necessary.

[0047] The present disclosure can be realized not only as a control method for executing the characteristic processes as described above, but also as a control device or control system having a characteristic configuration corresponding to the characteristic processes executed by the control method. Also, the present disclosure can be realized as a computer program that causes a computer to execute the characteristic processes included in such a control method. Therefore, the same effects as those of the above control method can be achieved in the following other aspects as well.

[0048] A control device according to another aspect of the present disclosure is a control device used to remotely monitor a plurality of autonomously driving vehicles configured to be switchable between an autonomous driving mode in which the vehicles drive autonomously and a remote control mode in which the vehicles are remotely controlled by a remote control device, and includes an identification unit that identifies non-target vehicles among the plurality of autonomously driving vehicles other than a target vehicle that is to be remotely controlled when a specified event occurs, a creation unit that creates a remote control avoidance control command for causing the non-target vehicles to drive autonomously so as to avoid a situation in which the non-target vehicles require remote control when the target vehicles are controlled to drive in the remote control mode in accordance with the operation of the remote control device, and a communication unit that transmits the remote control avoidance control command to at least some of the non-target vehicles.

[0049] A control system according to another aspect of the present disclosure includes a plurality of autonomous vehicles configured to be switchable between an autonomous driving mode in which the vehicles drive autonomously and a remote driving mode in which the vehicles are remotely controlled by a remote driving device, a control device used to remotely monitor the plurality of autonomous vehicles, and a remote driving device that remotely controls a target vehicle from among the plurality of autonomous vehicles that is to be remotely controlled, wherein the control device includes an identification unit that identifies non-target vehicles from the plurality of autonomous vehicles other than the target vehicles that are to be remotely controlled when a specified event occurs, a creation unit that creates a remote driving avoidance control command for causing the non-target vehicles to drive autonomously so as to avoid a situation in which the non-target vehicles require remote driving when the target vehicles are controlled to run in the remote driving mode in accordance with the operation of the remote driving device, and a communication unit that transmits the remote driving avoidance control command to at least some of the non-target vehicles.

[0050] A control program according to another aspect of the present disclosure is a control program for causing a computer to function as a control device used to remotely monitor a plurality of autonomously driving vehicles configured to be switchable between an autonomous driving mode in which the vehicles drive autonomously and a remotely controlled mode in which the vehicles are remotely controlled by a remote control device, and causes the computer to execute a process of identifying non-target vehicles among the plurality of autonomously driving vehicles other than a target vehicle that is subject to remote control when a specified event occurs, and when the target vehicle is controlled to drive in the remotely controlled mode in accordance with the operation of the remote control device, creating a remotely controlled avoidance control command for causing the non-target vehicles to drive autonomously so as to avoid a situation in which the non-target vehicles require remote control, and transmitting the remotely controlled avoidance control command to at least some of the non-target vehicles.

[0051] Needless to say, the above-mentioned computer program can be distributed via a computer-readable non-transitory recording medium such as a CD-ROM or a communication network such as the Internet. In addition, some of the components of the device or system according to an embodiment of the present disclosure and the other components may be distributed across multiple computers to form a system.

[0052] In addition, the embodiments described below are all intended to show a specific example of the present disclosure. The numerical values, shapes, components, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, components that are not described in an independent claim showing the highest concept are described as optional components. In addition, in all embodiments, the contents of each of the embodiments can be combined. Furthermore, various modified examples obtained by modifying each embodiment of the present disclosure within the scope conceived by a person skilled in the art are also included in the present disclosure, as long as they do not deviate from the gist of the present disclosure.

[0053] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0054] (Embodiment 1) Fig. 1 is a block diagram showing an example of the configuration of a control system according to the first embodiment of the present disclosure. The control system shown in Fig. 1 includes a control device 1, a plurality of autonomous vehicles 21-2i, a plurality of remote control devices 31-3j, and a plurality of display devices 41-4k (where i, j, and k are any positive integers). Note that in this embodiment, the description will be given taking an example of a plurality of autonomous vehicles 21-2i, a plurality of remote control devices 31-3j, and a plurality of display devices 41-4k, but the present invention is not particularly limited to this example, and one autonomous vehicle, one remote control device, and one display device may also be used.

[0055] The control device 1, a plurality of autonomously driven vehicles 21-2i, a plurality of remote control devices 31-3j, and a plurality of display devices 41-4k are connected to each other so as to be able to communicate with each other via a predetermined wired or wireless network 5 such as the Internet or a dedicated line.

[0056] Each of the multiple autonomous vehicles 21-2i performs autonomous driving at level 4 (High Driving Automation) or level 5 (Full Driving Automation) as defined in J3016 defined by SAE International in the United States, and travels in an unmanned state. Note that the autonomous vehicles 21-2i are not particularly limited to the above examples, and may be, for example, autonomous vehicles performing autonomous driving at levels 1 to 3 or normal vehicles performing driving at level 0 (manually driven vehicles manually driven by a driver).

[0057] The autonomous vehicles 21-2i are configured to be switchable between an autonomous driving mode in which the vehicles autonomously drive and a remote control mode in which the vehicles are remotely controlled by remote control devices 31-3j. The autonomous vehicles 21-2i are vehicles that execute a predetermined task in the autonomous driving mode. Examples of the predetermined task include a task of a delivery service such as home delivery, a task of a delivery service such as a taxi service, and the like.

[0058] In a normal task execution state, the automatically driven vehicles 21 to 2i are set in an autonomous driving mode and drive autonomously. The automatically driven vehicles 21 to 2i capture images related to their own driving state.

[0059] The multiple display devices 41-4k display images captured by the autonomous vehicles 21-2i in remote locations. When the multiple remote operators P1-Pl (where l is any positive integer) are not performing remote control using the multiple remote control devices 31-3j, they remotely monitor the traveling state of the autonomous vehicles 21-2i in remote locations while watching the images of the autonomous vehicles 21-2i displayed on the display devices 41-4k. The number of remote operators P1-Pl is not particularly limited to the above example, and may be one. In addition, it is not necessary to perform remote monitoring while watching the images of the autonomous vehicles 21-2i. For example, remote monitoring may be performed by displaying information in which the vehicle positions are mapped on a map, and any display may be used as long as it is used for remote monitoring of the autonomous vehicles 21-2i.

[0060] Meanwhile, when a predetermined event occurs, the automatically driven vehicles 21-2i transmit a remote control request requesting switching from the autonomous driving mode to the remote control mode to the control device 1. If the remote operators P1-Pl are able to perform remote control using the remote control devices 31-3j, the control device 1 accepts the remote control request and switches the driving mode of the automatically driven vehicles 21-2i from the autonomous driving mode to the remote control mode.

[0061] The method of transmitting the remote control request is not limited to the above example, and various modifications are possible, such as, for example, when the remote operators P1 to Pl are remotely monitoring the driving status of the autonomous vehicles 21 to 2i displayed on the display devices 41 to 4k, the remote operators P1 to Pl determine the need for remote control, and use the display devices 41 to 4k or the remote control devices 31 to 3j to transmit a remote control request for the autonomous vehicles that they determine require remote control to the control device 1.

[0062] After being switched to the remote control mode, the autonomous vehicles 21-2i transmit vehicle information including vehicle state information related to the vehicle body, such as vehicle speed, current position, steering angle, etc., and surrounding environment information obtained by photographing the surrounding environment of the autonomous vehicles 21-2i, to the control device 1 and the remote control devices 31-3j periodically or at a predetermined timing so that the remote drivers P1-Pl can remotely control the autonomous vehicles 21-2i. Furthermore, the autonomous vehicles 21-2i transmit task information indicating the task currently being performed to the control device 1, and the vehicle information storage unit 132 (see FIG. 2), which will be described later, stores the task information as vehicle information. Furthermore, the vehicle information storage unit 132 previously stores, as vehicle information, map information related to roads, etc. on which the autonomous vehicles 21-2i travel, and information indicating whether the autonomous vehicles 21-2i are non-manually driven vehicles that cannot be manually driven, etc.

[0063] The control device 1 is configured, for example, by a cloud server or the like including a processor, a memory, an external storage device, and a communication device, etc. The control device 1 receives and stores vehicle information from the automatically driven vehicles 21 to 2i.

[0064] The remote control devices 31-3j receive and display vehicle information from the automatically driven vehicles 21-2i, and the remote drivers P1-Pl use the remote control devices 31-3j to remotely control the automatically driven vehicles 21-2i. The remote control devices 31-3j transmit remote control commands input by the remote drivers P1-Pl to the automatically driven vehicles 21-2i. When the automatically driven vehicles 21-2i receive remote control commands from the remote control devices 31-3j, they travel in remote control mode in accordance with the commands.

[0065] Here, the occurrence of the above-mentioned predetermined event refers to a situation where the autonomous vehicles 21-2i require remote control, and specifically corresponds to a situation where the autonomous vehicles 21-2i have an accident, where the autonomous vehicles 21-2i are unable to travel in the autonomous driving mode, etc. For example, when the environmental conditions deteriorate due to bad weather such as snow, rain, wind, etc., when the roads are congested with many people, when a large number of obstacles such as garbage are scattered on the road, or when the sensor unit 214 (see FIG. 3), which will be described later, breaks down, etc., the autonomous vehicles 21-2i will misrecognize objects such as signs and obstacles on the road, or will be unable to grasp their own position, resulting in a situation where the autonomous vehicles 21-2i cannot travel in the autonomous driving mode.

[0066] If the above-mentioned event occurs in the autonomous vehicle 21, and for example, the remote operator P1 is one of the remote operators capable of remote control, when the remote operator P1 starts remote control of the autonomous vehicle 21 using the remote control device 31, the remote operator P1 will no longer be able to see the display devices 41-4k that display the traveling states of the other autonomous vehicles 22-2i, and will no longer be able to perform remote monitoring using the display devices 41-4k. Furthermore, in this state, if the above-mentioned event further occurs in the other autonomous vehicles 22-2i and a remote control request is transmitted, the remote operator P1 will not be able to remotely control the other autonomous vehicles 22-2i.

[0067] For this reason, when a specified event occurs, the control device 1 identifies a target vehicle to be remotely controlled from among the multiple automatically driving vehicles 21-2i, and when the target vehicle is controlled to run in remote control mode in accordance with the operation of the remote control device 31-3j, it creates a remote control avoidance control command for causing the non-target vehicles other than the target vehicle among the multiple automatically driving vehicles 21-2i to drive autonomously so as to avoid a situation in which the non-target vehicles require remote control, and transmits the created remote control avoidance control command to at least some of the non-target vehicles.

[0068] Specifically, the control device 1 transmits the created remotely controlled avoidance control command to all non-target vehicles, and the non-target vehicles determine whether or not to execute the received remotely controlled avoidance control command. If the remotely controlled avoidance control command is suitable for their own situation, the remotely controlled avoidance control command is executed, and if the remotely controlled avoidance control command is not suitable for their own situation, the remotely controlled avoidance control command is not executed. In this case, the remotely controlled avoidance control command preferably includes information indicating the conditions under which non-target vehicles are subject to the remotely controlled avoidance control command.

[0069] For example, if the remote control avoidance control command is a width widening control command (a command to move from a narrow road to a wide road) described later, the control device 1 sends the width widening control command to all non-target vehicles, and among the non-target vehicles, non-target vehicles traveling on narrow roads execute the width widening control command, and non-target vehicles traveling on wide roads do not execute the width widening control command.

[0070] In addition, the control device 1 may specify a non-target vehicle to which the created remotely controlled avoidance control command is to be transmitted, and transmit the remotely controlled avoidance control command only to the specified non-target vehicle. For example, when the remotely controlled avoidance control command is a road width widening control command described later, the control device 1 may refer to the vehicle information storage unit 132 (see FIG. 2) described later, and specify a vehicle that is traveling on a narrow road among the non-target vehicles from the vehicle positions and map information of the non-target vehicles, and transmit the road width widening control command only to the specified vehicle.

[0071] Fig. 2 is a block diagram showing an example of the configuration of the control device 1 shown in Fig. 1, Fig. 3 is a block diagram showing an example of the configuration of the autonomous vehicle 21 shown in Fig. 1, and Fig. 4 is a block diagram showing an example of the configuration of the remote control device 31 shown in Fig. 1. Note that Figs. 3 and 4 simplify the illustration and only show the autonomous vehicle 21 and the remote control device 31 among the autonomous vehicles 21-2i and the remote control devices 31-3j, but the other autonomous vehicles 22-2i and the other remote control devices 32-3j are also configured and operate in the same manner as the autonomous vehicle 21 and the remote control device 31, so in the following description, the configurations and operations of the autonomous vehicles 21-2i and the remote control devices 31-3j will be described using the autonomous vehicle 21 and the remote control device 31.

[0072] The control device 1 shown in Figure 2 includes a communication unit 11, a control unit 12, and a memory unit 13, the control unit 12 includes a request receiving unit 121, a vehicle identification unit 122, and a control command creation unit 123, and the memory unit 13 includes a device information memory unit 131, a vehicle information memory unit 132, and a control program memory unit 133.

[0073] The autonomous vehicle 21 shown in Figure 3 includes a communication unit 211, an imaging unit 212, a position measurement unit 213, a sensor unit 214, a drive unit 215, a control unit 216, and a memory unit 217, the control unit 216 includes a communication control unit 261, and a driving control unit 262, and the memory unit 217 includes a map information memory unit 271, a route information memory unit 272, and an autonomous driving program memory unit 273.

[0074] 4 includes a communication unit 311, an output unit 312, an input unit 313, a control unit 314, and a storage unit 315. The configuration of the remote control device 31 is not particularly limited to this example, and the remote control device 31 may include some or all of the functions of the control device 1.

[0075] The control unit 216 of the autonomous vehicle 21 is composed of, for example, a CPU (Central Processing Unit) and the like, and functions as a communication control unit 261 and a driving control unit 262. The storage unit 217 is composed of, for example, a semiconductor memory and the like, and functions as a map information storage unit 271, a route information storage unit 272, and an autonomous driving program storage unit 273. The communication control unit 261 controls the communication unit 211, the photographing unit 212, the position measurement unit 213, the sensor unit 214, and the like.

[0076] The photographing unit 212 is composed of, for example, a plurality of cameras for photographing the periphery of the autonomously driven vehicle 21, and is attached to the front, rear, right side, and left side of the autonomously driven vehicle 21. The photographing unit 212 outputs photographic information of the periphery of the autonomously driven vehicle 21 to the control unit 216 and the communication unit 211 as surrounding environment information.

[0077] The photographing unit 212 is not particularly limited to the above example, and the mounting positions and number of cameras may be changed as long as the configuration is such that the surroundings of the autonomous driving vehicle 21 can be photographed. For example, the right side (or left side) cameras may be mounted at two locations, the right front (or left front) and right rear (or left rear) of the vehicle. As another configuration example, one omnidirectional camera may be mounted in the center of the vehicle.

[0078] The photographing information photographed by the photographing unit 212 is transmitted as surrounding environment information to the remote control device 31 via the communication unit 211, and when the remote control operator P1 remotely controls the autonomous vehicle 21 using the remote control device 31, the remote control operator P1 confirms the surrounding environment information and performs remote control. It is preferable that the photographing information photographed by the photographing unit 212 is photographing information in which not only visual information but also auditory information is recorded. In this case, the photographing unit 212 is composed of, for example, a camera and a microphone.

[0079] The position measurement unit 213 is composed of, for example, a GPS (Global Positioning System) receiver, etc., and periodically measures and acquires vehicle position information indicating the current position of the autonomously driven vehicle 21, and outputs the vehicle position information as vehicle state information to the control unit 216 and the communication unit 211. The vehicle position information is represented, for example, by latitude and longitude.

[0080] The sensor unit 214 senses information on the surrounding environment of the autonomous vehicle 21 and information on the state of the autonomous vehicle 21, and outputs the sensed sensor information as surrounding environment information to the control unit 216 and the communication unit 211. As the sensor unit 214 that senses information on the surrounding environment of the autonomous vehicle 21, for example, a LIDAR (Light Detection and Ranging) sensor is used. Ranging and millimeter wave radar can be used.

[0081] LIDAR detects the distance and relative speed of surrounding objects by emitting infrared laser light and measuring the time it takes for the light to reflect off an object and return, allowing it to read the three-dimensional structure of the surrounding environment.

[0082] Millimeter-wave radar performs measurements similar to those of LIDAR, but uses radio waves instead of infrared lasers. LIDAR uses infrared rays and can be used at night, but its functionality is reduced in bad weather. Millimeter-wave radar uses radio waves and has a lower resolution than LIDAR, but it can detect in any weather and can complement measurements that LIDAR cannot make.

[0083] The sensor information sensed by the sensor unit 214, which senses information about the surrounding environment of the autonomous vehicle 21, is used when the autonomous vehicle 21 drives autonomously when the driving mode of the autonomous vehicle 21 is the autonomous driving mode, and when the driving mode of the autonomous vehicle 21 is the remote control mode, the sensor information sensed by the sensor unit 214 is transmitted to the remote control device 31 as surrounding environment information together with the photographing information captured by the photographing unit 212.

[0084] The sensor unit 214 that senses the state of the autonomous vehicle 21 includes a steering angle sensor, a vehicle speed sensor, an odometer, an inertial sensor, and the like. The steering angle sensor detects the angle of the front wheels. The vehicle speed sensor detects the moving speed of the autonomous vehicle 21. The odometer measures the number of tire rotations to measure the distance traveled by the autonomous vehicle 21. The inertial sensor is a sensor that detects inertial momentum and is made up of a three-axis angular velocity sensor and a three-directional acceleration sensor, and detects the behavior of the autonomous vehicle 21.

[0085] In addition, the sensor information sensed by the sensor unit 214 is used when the autonomous vehicle 21 drives autonomously when the driving mode of the autonomous vehicle 21 is the autonomous driving mode, and when the driving mode of the autonomous vehicle 21 is the remote control mode, the sensor information is transmitted to the remote control device 31 as vehicle status information regarding the vehicle body of the autonomous vehicle 21.

[0086] The communication unit 211, under the control of the communication control unit 261, performs wireless communication with the control device 1 and the remote control device 31, and transmits to the control device 1 and the remote control device 31 vehicle information including vehicle state information relating to the vehicle body such as the vehicle speed, current position, and steering angle of the autonomous vehicle 21, and surrounding environment information obtained by photographing the surrounding environment of the autonomous vehicle 21. The communication unit 211 also receives a remote control command from the remote control device 31 instructing the autonomous vehicle 21 to run in remote control mode. The communication unit 211 can be connected to a wireless LAN (Local Area Network) in addition to a general wireless communication device. A telephone line such as a local area network (LON), a mobile phone, or a personal handyphone system (PHS) may also be used.

[0087] When the autonomous vehicle 21 is an engine vehicle, the drive unit 215 is composed of, for example, an engine, a transmission, etc. When the autonomous vehicle 21 is a battery vehicle in the narrow sense, the drive unit 215 is composed of, for example, a travel motor, a transmission, etc. Both the engine and the travel motor are started and stopped via an ignition switch. Furthermore, the drive unit 215 also includes an accelerator device and a brake device, and accelerates and decelerates the vehicle.

[0088] The map information storage unit 271 stores map information in advance. The map information includes, for example, road data related to road links, intersection data related to intersections, data related to facilities, and feature data indicating display objects installed or formed on roads. The map information is used when generating route information used when the autonomously driven vehicle 21 autonomously drives in the autonomous driving mode.

[0089] The route information storage unit 272 stores route information indicating a route from a departure point to a destination of the autonomously driven vehicle 21. The route information can be generated by an existing route generation program or the like, and the autonomously driven vehicle 21 can acquire the route information generated by an external server or the like by receiving the route information from a server. The autonomously driven vehicle 21 may also have a predetermined route generation program and execute the route generation program to generate route information and store it in the route information storage unit 272.

[0090] The automatic driving program storage unit 273 pre-stores various programs for driving the automatic driving vehicle 21 in the autonomous driving mode and the remote control mode.

[0091] The driving control unit 262 executes the autonomous driving program stored in the autonomous driving program storage unit 273. The driving control unit 262 controls the drive unit 215 in accordance with the autonomous driving program, based on the photographing information photographed by the photographing unit 212, the vehicle position information indicating the vehicle position of the autonomous driving vehicle 21 measured by the position measurement unit 213, the sensor information sensed by the sensor unit 214, and the like.

[0092] Specifically, the driving control unit 262 controls the drive unit 215, etc. to cause the autonomous vehicle 21 to drive autonomously in an autonomous driving mode, or controls the drive unit 215, etc. to cause the autonomous vehicle 21 to drive in a remotely controlled mode in accordance with remote control by the remote control device 31.

[0093] In addition, the driving control unit 262 detects that the above-mentioned specified event has occurred in the autonomous vehicle 21 from the vehicle state information and the surrounding environment information, and uses the communication unit 211 to send a remote control request to the control device 1, requesting switching from the autonomous driving mode to the remote control mode.

[0094] The communication unit 311 of the remote control device 31 communicates with the autonomous vehicle 21 and receives vehicle information from the autonomous vehicle 21 including vehicle state information regarding the vehicle body, such as the vehicle speed, current position, and steering angle of the autonomous vehicle 21, and surrounding environment information photographed from the surrounding environment of the autonomous vehicle 21. The communication unit 311 may be a general communication device, or may be a wide area network (WAN), a wireless LAN, a mobile phone, a PHS, or the like.

[0095] The output unit 312 is composed of, for example, a liquid crystal display, and displays vehicle state information related to the vehicle body such as the vehicle speed, current position, and steering angle of the autonomous vehicle 21, and surrounding environment information obtained by photographing the surrounding environment of the autonomous vehicle 21, which are received from the autonomous vehicle 21 via the communication unit 311. A publicly known display method can be used as a display method for the vehicle state information and the surrounding environment information, and for example, the information may be displayed simultaneously on one display, or each information may be displayed on a separate display. In addition, when the surrounding environment information is photographed information photographed by a plurality of cameras, the photographed information photographed by each camera may be displayed separately, or the photographed information photographed by each camera may be integrated and the integrated photographed information may be displayed. The output unit 312 may be used as the display devices 41 to 4k, and in this case, the output unit 312 and the display devices 41 to 4k are the same device.

[0096] When the control device 1 accepts the remote control request, it transmits an instruction to accept the remote control request to the remote control device 31 that can be remotely controlled, and the communication unit 311 receives the instruction to accept the remote control request and outputs it to the control unit 314. The control unit 314 reads out the identification information of the remote control device 31 from the storage unit 315, and transmits the read identification information to the control device 1 using the communication unit 311.

[0097] The input unit 313 is composed of, for example, a keyboard, a mouse, a joystick, and the like, and is used by the remote pilot P1 to perform various operations. The remote pilot P1 inputs, via the input unit 313, command operation amounts and the like that specify the vehicle speed and steering amount of the autonomous vehicle 21 as driving instructions for remotely driving the autonomous vehicle 21. The input unit 313 may be composed of the same driving environment as when actually driving the vehicle, for example, a steering wheel, a brake, an accelerator, and the like. In this case, the remote pilot P1 can input driving instructions with the feeling of actually driving the vehicle.

[0098] The storage unit 315 is composed of, for example, a semiconductor memory, and stores various information such as a remote control application program for remotely controlling the autonomous vehicle 21, information received from the autonomous vehicle 21, information input from the remote pilot P1, etc. The control unit 314 is composed of, for example, a CPU, and executes the remote control application program in the storage unit 315 and controls the communication unit 311, the output unit 312, the input unit 313, etc., thereby performing various controls of the remote control device 31.

[0099] The remote pilot P1 uses the input unit 313 to remotely pilot the autonomously driven vehicle 21 while checking the information displayed on the output unit 312. The communication unit 311, under the control of the control unit 314, transmits to the autonomously driven vehicle 21 a remote piloting command for remotely piloting the autonomously driven vehicle 21, including driving instructions for the autonomously driven vehicle 21 inputted by the input unit 313.

[0100] The storage unit 13 of the control device 1 is composed of, for example, a semiconductor memory, and functions as a device information storage unit 131, a vehicle information storage unit 132, and a control program storage unit 133.

[0101] The device information storage unit 131 stores in advance the identification number of each remote control device 31-3j. Here, as the identification number, various information can be used as long as it can individually identify each remote control device 31-3j. For example, the IP address (Internet Protocol address) of each remote control device 31-3j can be used. The communication unit 11 receives identification information for identifying the remote control device from the remote control device used for remote control and stores it in the device information storage unit 131.

[0102] The vehicle information storage unit 132 stores in advance the identification number of each of the automatically driven vehicles 21-2i. Here, as the identification number, various information can be used as long as it can individually identify each of the automatically driven vehicles 21-2i, and for example, the IP address of each of the automatically driven vehicles 21-2i can be used. The communication unit 11 receives vehicle information from the automatically driven vehicles 21-2i and stores it in the vehicle information storage unit 132.

[0103] The control unit 12 is composed of, for example, a CPU, and functions as a request receiving unit 121, a vehicle identification unit 122, and a control command creating unit 123 by executing a predetermined control program stored in a control program storage unit 133.

[0104] The communication unit 11 receives a remote control request from one of the automatically driven vehicles 21 to 2i and outputs the request to the request acceptance unit 121.

[0105] The request acceptance unit 121 judges whether or not it is possible to accept a remote control request from one autonomous vehicle. Specifically, the request acceptance unit 121 refers to the device information storage unit 131 and judges whether or not there is an identification number other than the identification number of the remote control device currently being used for remote control among the identification numbers of all the remote control devices 31 to 3j. If there is an identification number other than the identification number of the remote control device currently being used for remote control, that is, an identification number of a remote control device not being used for remote control, the request acceptance unit 121 judges that it is possible to accept the remote control request, and if there is no identification number of a remote control device not being used for remote control, it judges that it is not possible to accept the remote control request.

[0106] When the request acceptance unit 121 determines that the remote control request cannot be accepted, it uses the communication unit 11 to send a stop control command to the autonomous vehicle that sent the remote control request, instructing the autonomous vehicle to stop, and the autonomous vehicle stops in accordance with the stop control command. Note that the method of dealing with the case where the remote control request cannot be accepted is not particularly limited to the above example, and other methods of dealing with the case may be used.

[0107] On the other hand, when the request acceptance unit 121 determines that the remote control request can be accepted, it transmits, using the communication unit 11, a remote control instruction to an unused remote control device that is not being used for remote control, instructing the remote control device to remotely control the autonomous vehicle that transmitted the remote control request, and accepts the remote control request. The communication unit 311 of the unused remote control device receives the remote control instruction and outputs it to the output unit 312. The output unit 312 displays the remote control instruction, and the driver uses the input unit 313 to remotely control the autonomous vehicle that transmitted the remote control request.

[0108] In addition, the request acceptance unit 121 stores the identification number of the autonomous vehicle that it has determined to be able to accept the remote control request, i.e., the target vehicle to be remotely controlled, in the vehicle information storage unit 132, and notifies the vehicle identification unit 122 of the result of its determination that the remote control request can be accepted.

[0109] When the above-mentioned predetermined event occurs, that is, when one autonomously driven vehicle in which the predetermined event has occurred transmits a remote control request and the remote control request is accepted, the vehicle identification unit 122 identifies non-target vehicles other than the target vehicles that are to be remotely controlled among the multiple autonomously driven vehicles 21-2i, and notifies the identified non-target vehicles to the control command creation unit 123. Specifically, the vehicle identification unit 122 refers to the vehicle information storage unit 132, identifies autonomously driven vehicles having identification numbers other than the identification numbers of the target vehicles from among the identification numbers of all autonomously driven vehicles 21-2i as non-target vehicles, and notifies the control command creation unit 123 of the identification numbers of the non-target vehicles.

[0110] When the target vehicle is controlled to run in remote control mode in accordance with the operation of the remote control device, the control command creation unit 123 creates a remote control avoidance control command for causing the non-target vehicle to run autonomously so as to avoid a situation in which the non-target vehicle requires remote control, and outputs the command to the communication unit 11.

[0111] The communication unit 11 transmits the created remote-controlled avoidance control command to the non-target vehicle. Note that the timing of transmitting the remote-controlled avoidance control command is not particularly limited to this example, and any timing can be used after the request acceptance unit 121 has determined that the remote control request can be accepted.

[0112] Of the multiple automatically driving vehicles 21-2i, the target vehicles run in remote control mode in response to operation of a remote control device, and the remaining non-target vehicles run in autonomous driving mode in accordance with remote control avoidance control commands to avoid situations that require remote control.

[0113] Next, the remote control avoidance control command created by the control command creation unit 123 will be specifically described.

[0114] For example, the remote control avoidance control command includes a remote control suppression control command for autonomously driving the non-target vehicle so as to reduce the likelihood of the non-target vehicle needing remote control below a current likelihood, and the remote control suppression control command includes a speed suppression control command for autonomously driving the non-target vehicle so as to drive at a speed lower than a current speed.

[0115] In this case, the control command creation unit 123 creates a speed suppression control command as an example of a remote operation suppression control command, and the non-target vehicle follows the speed suppression control command to travel at a speed lower than the current speed, for example, 5 km / h lower than the legal speed. Note that the remote operation suppression control command is not particularly limited to the above example, and various modifications are possible, such as reducing the acceleration during acceleration by a predetermined value, decelerating the speed when turning on a road by a predetermined value, and prohibiting overtaking other vehicles.

[0116] The remote operation suppression control command includes an autonomous driving maintenance control command for causing the non-target vehicle to autonomously drive so as to reduce the possibility that the non-target vehicle will not be able to autonomously drive to a lower possibility than the current possibility, and the autonomous driving maintenance control command includes a center side driving control command for causing the non-target vehicle to autonomously drive in a lane on the center line side of the multiple lanes when the non-target vehicle is driving on a road with multiple lanes. In this case, the control command creation unit 123 creates a center side driving control command as an example of an autonomous driving maintenance control command, and the non-target vehicle drives in a lane on the center line side of the multiple lanes (a lane other than the leftmost lane in the case of three or more lanes).

[0117] In the left lane, there is a high possibility that there are parked vehicles, bicycles and motorcycles, and pedestrians may walk on the roadway, so the sensor unit 214 detects many types of objects when driving in the left lane. Therefore, there are cases where the sensor unit 214 cannot sense accurately or cannot accurately recognize objects from the sensing data, which may prevent the vehicle from driving in the autonomous driving mode, and there is a relatively high possibility that remote control will be required. Therefore, by driving in the lane on the center line side of the multiple lanes, the possibility that the non-target vehicle will not be able to drive autonomously can be reduced.

[0118] Furthermore, the autonomous driving maintenance control command includes a road width increase control command for causing the non-target vehicle to autonomously drive on a road whose width is equal to or greater than the predetermined value when the non-target vehicle is driving on a road whose width is narrower than a predetermined value. In this case, the control command creation unit 123 creates a road width increase control command as an example of the autonomous driving maintenance control command, and the non-target vehicle changes its route to a road whose width is equal to or greater than the predetermined value.

[0119] In the case of a narrow road, it is more difficult to perform various avoidance driving measures when traveling compared to a wide road, so that even if a small obstacle is detected, it is difficult for the non-target vehicle to make an autonomous decision and travel, and there is a relatively high possibility that the non-target vehicle will request remote control. Therefore, by changing the route to a road with a width equal to or greater than a predetermined value, the possibility that the non-target vehicle will not be able to travel autonomously can be reduced. Note that the width expansion control command is not limited to the above example, and may use the road type instead of the width. For example, various changes are possible, such as instructing a non-target vehicle traveling on a community road to change its route to travel on a main road.

[0120] The autonomous driving maintenance control command also includes a route change control command for autonomously driving the non-target vehicle so that the non-target vehicle does not drive through a driving avoidance area of ​​a predetermined range including the point where the driving mode of the target vehicle was switched from the autonomous driving mode to the remote controlled mode. In this case, the control command creation unit 123 refers to the vehicle information storage unit 132, detects the point where the driving mode of the target vehicle was switched from the autonomous driving mode to the remote controlled mode, and creates a route change control command as an example of the autonomous driving maintenance control command, and the non-target vehicle changes its route so as not to drive through the driving avoidance area including the point where the driving mode of the target vehicle was switched from the autonomous driving mode to the remote controlled mode.

[0121] The control command creation unit 123 may determine whether to transmit a route change control command depending on the cause of switching the driving mode of the target vehicle from the autonomous driving mode to the remote control mode. For example, if the cause is a failure of the sensor unit 214 of the target vehicle, the control command creation unit 123 does not transmit a route change control command. This is because, if the sensor unit 214 of the non-target vehicle does not fail, there is no need to switch to the remote control mode even if the non-target vehicle travels through this location.

[0122] On the other hand, if the cause is not a failure of the sensor unit 214 of the target vehicle but an inability to perform accurate sensing, the control command creation unit 123 transmits a route change control command. This is because even non-target vehicles are highly likely to switch to remote control mode. In addition, since accurate sensing may not be possible due to the type or arrangement of each sensor of the sensor unit 214, the control command creation unit 123 may transmit a route change control command only to non-target vehicles whose sensor unit 214 is the same or similar to the target vehicle, for example, vehicles with the same model number, vehicles of the same model, vehicles with the same sensing method, etc.

[0123] Furthermore, the vehicle information storage unit 132 may store remote control switching point history information indicating a history of points where the driving mode of the target vehicle has been switched from the autonomous driving mode to the remote control mode in the past, and the control command creation unit 123 may transmit a route change control command to change the route based on the remote control switching point history information in the vehicle information storage unit 132. Furthermore, when a remote control request is received from another non-target vehicle, the control command creation unit 123 may transmit a route change control command to change the route so as not to include the position of that vehicle.

[0124] The autonomous driving maintenance control command also includes a replenishment promotion control command for causing the non-target vehicle to autonomously drive so as to promote the replenishment of fuel or electricity for driving the non-target vehicle. In this case, the control command creation unit 123 creates a replenishment promotion control command as an example of the autonomous driving maintenance control command, and the non-target vehicle drives to replenish fuel or electricity so as to promote the replenishment of fuel or electricity. This is because the non-target vehicle stops in order to replenish fuel or electricity, and by increasing the number of stopped non-target vehicles, it is possible to reduce the number of non-target vehicles that may request remote operation. For example, if the non-target vehicle is an electric vehicle, the non-target vehicle may store a threshold value of the remaining battery capacity for charging in the storage unit 217, and when the replenishment promotion control command is received, the driving control unit 262 may increase the threshold value of the remaining battery capacity to more actively charge the non-target vehicle.

[0125] The control command creation unit 123 may select a specific vehicle from among the non-target vehicles and transmit a replenishment promotion control command. For example, the control command creation unit 123 may select a non-target vehicle with a low remaining battery capacity, select a non-target vehicle with a nearby charging location, or select a non-target vehicle with a charging location near the planned driving route. The number of non-target vehicles to be selected may be all or any number of vehicles that meet the above conditions, or the top few vehicles may be selected.

[0126] The remote control avoidance control command also includes a remote control standby control command for causing the non-target vehicle to autonomously drive so that immediate remote control of the non-target vehicle is possible when the non-target vehicle requires remote control. The remote control standby control command includes a side road side driving control command for causing the non-target vehicle to autonomously drive in a lane opposite to the center line of the multiple lanes when the non-target vehicle is traveling on a multiple lane road.

[0127] In this case, the control command creation unit 123 creates a side road side travel control command as an example of a remote control standby control command, and when the non-target vehicle is traveling on a road with multiple lanes, the non-target vehicle travels in the lane opposite the center line of the multiple lanes. For example, when the non-target vehicle is traveling on a road with multiple lanes, the non-target vehicle is controlled to travel in the left lane. Therefore, even if the vehicle needs to stop and wait when remote control is required, the vehicle can be immediately stopped on the shoulder of the road, and the vehicle behind can be prevented from being stopped by stopping.

[0128] In addition, the remote control standby control command includes a width widening control command for making the non-target vehicle autonomously travel on a road whose width is equal to or greater than the predetermined value when the non-target vehicle travels on a road whose width is narrower than a predetermined value. In this case, the control command creation unit 123 creates a width widening control command as an example of a remote control standby control command, and the non-target vehicle changes its route to a road whose width is equal to or greater than the predetermined value. This is because, when a non-target vehicle stops on a narrow road, it may cause a nuisance to other vehicles, such as by blocking the progress of vehicles behind, but when a road is wide, this possibility is relatively low.

[0129] In addition, the control command creation unit 123 may transmit each of the above remotely controlled avoidance control commands individually depending on the situation of the non-target vehicle, or may transmit multiple remotely controlled avoidance control commands in any combination.

[0130] Next, a description will be given of a remote control avoidance control process performed by the control device 1 configured as above. Fig. 5 is a flow chart showing an example of a remote control avoidance control process performed by the control device 1 shown in Fig. 1.

[0131] First, when the above-mentioned specified event occurs in one of the multiple automatically driven vehicles 21-2i and the automatically driven vehicle transmits a remote control request, the communication unit 11 of the control device 1 receives the remote control request and outputs it to the request receiving unit 121 (step S11).

[0132] Next, the request acceptance unit 121 refers to the device information storage unit 131 to determine whether the remote control request can be accepted (step S12). If the remote control request cannot be accepted (NO in step S12), the request acceptance unit 121 transmits a stop control command to the target vehicle that transmitted the remote control request from the communication unit 11 (step S17) and ends the process. At this time, the target vehicle that transmitted the remote control request stops in accordance with the stop control command.

[0133] On the other hand, if the remote control request can be accepted (YES in step S12), the request acceptance unit 121 accepts the remote control request from the target vehicle, uses the communication unit 11 to send a remote control instruction to the unused remote control device to remotely control the target vehicle, and notifies the vehicle identification unit 122 of the result that the remote control request can be accepted (step S13).

[0134] At this time, the output unit 312 of the unused remote control device that receives the remote control instruction displays the remote control instruction, and after the pilot confirms the remote control instruction, the input unit 313 transmits the remote control command input by the pilot to the target vehicle, and the target vehicle that sent the remote control request is remotely controlled.

[0135] Next, the vehicle identification unit 122 refers to the vehicle information storage unit 132 to identify non-target vehicles other than the target vehicles that are the targets of remote control among the multiple autonomously driving vehicles 21-2i, and notifies the control command creation unit 123 of the identified non-target vehicles (step S14).

[0136] Next, the control command creation unit 123 creates a remote control avoidance control command for causing the non-target vehicles to drive autonomously so as to avoid a situation in which the non-target vehicles require remote control, and outputs the remote control avoidance control command to the communication unit 11 (step S15).

[0137] Next, the communication unit 11 transmits the created remote control avoidance control command to the non-target vehicle (step S16) and ends the process. At this time, the non-target vehicle travels in the autonomous driving mode according to the remote control avoidance control command, and avoids a situation requiring remote control.

[0138] In this embodiment, by using the above-mentioned remote control avoidance control processing, when a specified event occurs, non-target vehicles other than the target vehicle that is the subject of remote control are identified among the multiple automatically driving vehicles 21-2i, and when the target vehicles are controlled to run in remote control mode in accordance with the operation of the remote control devices 31-3j, a remote control avoidance control command is created for causing the non-target vehicles to run autonomously so as to avoid situations where the non-target vehicles require remote control, and the created remote control avoidance control command is transmitted to the non-target vehicles.

[0139] Therefore, when a target vehicle is remotely controlled, it is possible to reduce the possibility that a non-target vehicle will fall into a situation requiring remote control, and to reduce the possibility that a non-target vehicle will fall into a situation waiting for remote control while traveling. As a result, when a remote operator is remotely monitoring a plurality of automatically driven vehicles 21-2i using display devices 41-4k, it is possible to realize a situation in which the remote operator can easily concentrate on remotely controlling the automatically driven vehicle that is the target of remote control.

[0140] (Embodiment 2) Fig. 6 is a block diagram showing an example of the configuration of a control device of a control system according to a second embodiment of the present disclosure. The control system of this embodiment differs from the control system shown in Fig. 1 in that the control device 1 shown in Fig. 2 is changed to a control device 1a shown in Fig. 6, and the other points are similar, so that the same parts are denoted by the same reference numerals and detailed description will be omitted.

[0141] In addition, since the control system of this embodiment also uses multiple autonomous vehicles 21-2i and multiple remote control devices 31-3j shown in Figures 1, 3 and 4, illustrations and detailed explanations will be omitted and Figures 1, 3 and 4 will be used instead as necessary for explanation.

[0142] The control device 1a shown in Figure 6 includes a communication unit 11, a control unit 12a, and a memory unit 13a, the control unit 12a includes a request acceptance unit 121, a vehicle identification unit 122, a control command creation unit 123a, and a device number calculation unit 124, and the memory unit 13a includes a device information memory unit 131, a vehicle information memory unit 132, and a control program memory unit 133a.

[0143] The storage unit 13a is composed of, for example, a semiconductor memory, and functions as a device information storage unit 131, a vehicle information storage unit 132, and a control program storage unit 133a.

[0144] The control unit 12a is composed of, for example, a CPU, and functions as a request receiving unit 121, a vehicle identification unit 122, a control command creation unit 123a, and a device number calculation unit 124 by executing a predetermined control program stored in a control program memory unit 133a.

[0145] The communication unit 11 receives a remote control request from one of the autonomously driven vehicles 21-2i and outputs the request to the request acceptance unit 121 and the device number calculation unit 124. The communication unit 11 receives identification information for identifying the remote control device from the remote control device used for remote control and stores the identification information in the device information storage unit 131. The communication unit 11 receives vehicle information from the autonomously driven vehicles 21-2i and stores it in the vehicle information storage unit 132.

[0146] The device number calculation unit 124 calculates the number of unused remote control devices that are not being used for remote control among the multiple remote control devices 31 to 3j. Specifically, the device number calculation unit 124 refers to the device information storage unit 131, and calculates the number of identification numbers other than the identification numbers of remote control devices currently being used for remote control, thereby calculating the number of unused remote control devices.

[0147] Furthermore, the device number calculation unit 124 judges whether the number of unused remote control devices is equal to or less than a predetermined first threshold, for example, equal to or less than four. If the number of unused remote control devices is not equal to or less than the first threshold, the device number calculation unit 124 instructs the request acceptance unit 121 to execute only the processing for the remote control request, the request acceptance unit 121 executes only the processing for the remote control request, and the control command creation unit 123a does not create a remote control avoidance control command. On the other hand, if the number of unused remote control devices is equal to or less than the first threshold, the device number calculation unit 124 notifies the request acceptance unit 121 of the number of unused remote control devices.

[0148] The request acceptance unit 121 judges whether or not the remote control request can be accepted based on the notified number of unused remote control devices. For example, if the number of unused remote control devices is 0, the request acceptance unit 121 judges that the remote control request cannot be accepted, and if the number of unused remote control devices is 1 or more, the request acceptance unit 121 judges that the remote control request can be accepted.

[0149] When the request acceptance unit 121 determines that the remote control request cannot be accepted, it uses the communication unit 11 to send a stop control command to the autonomous vehicle that sent the remote control request, instructing the autonomous vehicle to stop, and the autonomous vehicle stops in accordance with the stop control command. Note that the method of dealing with the case where the remote control request cannot be accepted is not particularly limited to the above example, and other methods of dealing with the case may be used.

[0150] On the other hand, when the request acceptance unit 121 determines that the remote control request can be accepted, it transmits a remote control instruction to one of the unused remote control devices, using the communication unit 11, instructing the remote control device to remotely control the autonomous vehicle that transmitted the remote control request, and accepts the remote control request. The communication unit 311 of the one remote control device not being used for remote control receives the remote control instruction and outputs it to the output unit 312. The output unit 312 displays the remote control instruction, and the remote driver uses the input unit 313 to remotely control the autonomous vehicle that transmitted the remote control request.

[0151] In addition, the request acceptance unit 121 stores the identification number of the autonomous vehicle that it has determined can accept the remote control request, i.e., the target vehicle to be remotely controlled, in the vehicle information storage unit 132, notifies the vehicle identification unit 122 and the control command creation unit 123a of the result of its determination that the remote control request can be accepted, and notifies the control command creation unit 123a of the number of unused remote control devices.

[0152] When the above-mentioned predetermined event occurs, that is, when one autonomous vehicle in which a predetermined event has occurred transmits a remote control request and the remote control request is accepted, the vehicle identification unit 122 identifies non-target vehicles other than the target vehicles to be remotely controlled among the multiple autonomous vehicles 21-2i, and notifies the control command creation unit 123a of the identified non-target vehicles. Specifically, the vehicle identification unit 122 refers to the vehicle information storage unit 132, identifies autonomous vehicles having identification numbers other than the identification numbers of the target vehicles from among the identification numbers of all autonomous vehicles 21-2i as non-target vehicles, and notifies the control command creation unit 123a of the identification numbers of the non-target vehicles. Note that, when an autonomous vehicle is already being remotely controlled, it is preferable that the vehicle identification unit 122 identifies vehicles other than the target vehicle to be remotely controlled and the autonomous vehicle already being remotely controlled as non-target vehicles.

[0153] When the target vehicle is controlled to run in remote control mode in accordance with the operation of the remote control device, the control command creation unit 123a creates a remote control avoidance control command for causing the non-target vehicles to run autonomously so as to avoid a situation in which the non-target vehicles require remote control, depending on the number of unused remote control devices, and outputs the command to the communication unit 11.

[0154] The communication unit 11 transmits the created remote-controlled avoidance control command to the non-target vehicle. Note that the timing of transmitting the remote-controlled avoidance control command is not particularly limited to this example, and any timing can be used after the request acceptance unit 121 has determined that the remote control request can be accepted.

[0155] Of the multiple autonomously driving vehicles 21-2i, the target vehicles run in remote control mode in accordance with the operation of a remote control device, and the non-target vehicles that receive a remote control avoidance control command run in autonomous driving mode in accordance with the remote control avoidance control command, thereby avoiding situations that require remote control.

[0156] Next, the remote control avoidance control command corresponding to the number of unused remote control devices generated by the control command generating unit 123a will be specifically described.

[0157] First, when the number of unused remote control devices not being used for remote control among the multiple remote control devices 31-3j becomes equal to or less than a predetermined first threshold, for example, 4 devices, the control command creation unit 123a creates a remote control avoidance control command and transmits the created remote control avoidance control command to the non-target vehicle from the communication unit 11. As this remote control avoidance command, various remote control avoidance commands of the first embodiment can be used.

[0158] In addition, when the number of unused remote control devices is less than or equal to the first threshold and exceeds a second threshold which is less than the first threshold, the control command creation unit 123a may create, as a remote control avoidance control command, a remote control suppression control command for causing the non-target vehicles to drive autonomously so as to make the possibility that the non-target vehicles will need remote control lower than the current possibility, and when the number of unused remote control devices is less than or equal to the second threshold, may create, as a remote control avoidance control command, a remote control standby control command for causing the non-target vehicles to drive autonomously so that immediate remote control is possible for the non-target vehicles if they need remote control, and may transmit the created remote control avoidance control command to the non-target vehicles from the communication unit 11.

[0159] For example, if the number of unused remote control devices is five or more, the control command creation unit 123a does not send a remote control avoidance control command; if there are two to four, the control command creation unit 123a creates and sends the above-mentioned center side driving control command as a remote control suppression control command; if there is only one, the control command creation unit 123a creates and sends the side road side driving control command as a remote control standby control command.

[0160] In addition, the control command creation unit 123a may change the non-target vehicles to which the remotely controlled avoidance control command is sent depending on the number of unused remote control devices, and transmit the remotely controlled avoidance control command to the changed non-target vehicles from the communication unit 11.

[0161] Furthermore, when the number of unused remote control devices is within a predetermined range, the control command creation unit 123a may read out task information from the vehicle information storage unit 132, identify non-task executing vehicles that are not executing a predetermined task among the non-target vehicles, and transmit a remote control avoidance control command preferentially to the identified non-task executing vehicles from the communication unit 11. Here, the predetermined tasks include the above-mentioned tasks of goods delivery services such as home delivery, tasks of people delivery services such as taxi services, etc.

[0162] For example, the control command creation unit 123a does not transmit a remote control avoidance control command when the number of unused remote control devices is 5 or more, does not transmit a remote control avoidance control command to an executing vehicle that is executing a delivery task of goods or people when the number is 2 to 4, creates and transmits a remote control avoidance control command to a non-executing vehicle that is not executing a delivery task of goods or people, and creates and transmits a remote control avoidance control command to all non-target vehicles when the number is 1. In this case, the possibility that remote control will be required can be reduced while maintaining task efficiency overall.

[0163] In addition, when creating and transmitting a remotely controlled avoidance control command to a non-executing vehicle, the control command creation unit 123a may create and transmit a remotely controlled avoidance control command to the executing vehicle as well. In this case, the executing vehicle may ignore the remotely controlled avoidance control command once and follow the remotely controlled avoidance control command after completing the task. In addition, when creating and transmitting a remotely controlled avoidance control command to the executing vehicle as well, the control command creation unit 123a may notify a person related to the task, for example, a passenger in the case of a taxi, or a recipient at the delivery destination in the case of home delivery, that the remotely controlled avoidance control command has been transmitted.

[0164] In addition, when the number of unused remote control devices is within a predetermined range, the control command creation unit 123a may preferentially transmit the remote control avoidance control command from the communication unit 11 to vehicles located in areas where the possibility of requiring remote control is higher than normal among non-target vehicles. This is because, compared to main roads and expressways, residential roads are narrower and have more people and bicycles, and non-target vehicles are more likely to be in a complex situation where many objects are detected, and are more likely to require remote control, so that the remote control avoidance control command is preferentially transmitted to non-target vehicles traveling in the area. Here, the control command creation unit 123a can refer to the vehicle information storage unit 132 as an area where the possibility of requiring remote control is higher than normal, and determine an area where remote control is more likely to be required based on, for example, the history of past positions of target vehicles where remote control has occurred, and identify vehicles located in areas where the possibility of requiring remote control is higher than normal among non-target vehicles.

[0165] For example, the control command creation unit 123a does not transmit a remotely controlled avoidance control command when the number of unused remote control devices is 5 or more, creates and transmits a remotely controlled avoidance control command only to non-target vehicles traveling in areas where remote control is likely to be required (e.g., residential roads) when the number is 2 to 4, and creates and transmits a remotely controlled avoidance control command to all non-target vehicles when the number is 1. In this case, by preferentially transmitting remotely controlled avoidance control commands from areas where remote control is likely to be required, it is possible to avoid reducing the traveling efficiency of non-target vehicles by issuing more remotely controlled avoidance control commands than necessary.

[0166] Furthermore, when the number of unused remotely controlled devices is within a predetermined range, the control command creation unit 123a may refer to the vehicle information storage unit 132 to identify non-manually driven vehicles that cannot be manually driven among the non-target vehicles, and transmit remote control avoidance control commands to the identified non-manually driven vehicles preferentially from the communication unit 11. This is because a manually driven vehicle that can be manually driven can be driven by a driver even if it cannot be remotely controlled, but a non-manually driven vehicle that cannot be manually driven cannot be driven by a driver.

[0167] For example, the control command creation unit 123a does not transmit a remotely controlled avoidance control command when the number of unused remote control devices is five or more, creates and transmits a remotely controlled avoidance control command only to non-manually driven vehicles that cannot be manually driven among the non-target vehicles when the number is two to four, and creates and transmits a remotely controlled avoidance control command to all non-target vehicles when the number is one. In this case, remotely controlled avoidance control commands are not transmitted to manually driven vehicles more than to non-manually driven vehicles, so that it is possible to avoid reducing the driving efficiency of manually driven vehicles by transmitting remotely controlled avoidance control commands more than necessary.

[0168] For non-target vehicles that also have a manual driving function and have a driver, the control command creation unit 123a may not send a remote control avoidance control command, but may instead send a message to the effect that remote control is not possible immediately. The control command creation unit 123a may also inquire of the driver whether or not to drive according to the remote control avoidance control command. When it becomes necessary to switch to remote control, the control command creation unit 123a may also notify the driver to wait until remote control becomes possible, or to switch to manual driving.

[0169] Next, a remote control avoidance control process performed by the control device 1a configured as above will be described below. Fig. 7 is a flow chart showing an example of the remote control avoidance control process performed by the control device 1a shown in Fig. 6.

[0170] First, when the above-mentioned specified event occurs in one of the multiple autonomous vehicles 21-2i and the autonomous vehicle transmits a remote control request, the communication unit 11 of the control device 1a receives the remote control request and outputs it to the request acceptance unit 121 and the device number calculation unit 124 (step S21).

[0171] Next, the device number calculation unit 124 refers to the device information storage unit 131 to calculate the number of unused remote control devices that are not being used for remote control among the multiple remote control devices 31 to 3j (step S22).

[0172] Next, the device number calculation unit 124 judges whether the number of unused remote control devices is equal to or less than a predetermined first threshold (step S23). If the number of unused remote control devices is not equal to or less than the first threshold (NO in step S23), that is, if there is a surplus in the number of available remote control devices, the device number calculation unit 124 instructs the request acceptance unit 121 to execute only the process for the remote control request, and the request acceptance unit 121 accepts the remote control request from the target vehicle, and transmits a remote control instruction to one unused remote control device by using the communication unit 11 to remotely control the target vehicle (step S30), and ends the process without transmitting a remote control avoidance control command.

[0173] At this time, the output unit 312 of the remote control device that receives the remote control instruction displays the remote control instruction, and after the pilot confirms the remote control instruction, the input unit 313 transmits the remote control command input by the pilot to the target vehicle, and the target vehicle that sent the remote control request is remotely controlled.

[0174] On the other hand, if the number of unused remote control devices is equal to or less than the first threshold (YES in step S23), the device number calculation unit 124 notifies the request acceptance unit 121 of the number of unused remote control devices, and the request acceptance unit 121 determines whether or not the remote control request can be accepted based on the number of unused remote control devices (step S24). For example, if the number of unused remote control devices is 0, the request acceptance unit 121 determines that the remote control request cannot be accepted, and if the number of unused remote control devices is 1 or more, it determines that the remote control request can be accepted.

[0175] If the remote control request cannot be accepted (NO in step S24), the request acceptance unit 121 transmits a stop control command to the target vehicle that transmitted the remote control request from the communication unit 11 (step S29) and ends the process. At this time, the target vehicle that transmitted the remote control request stops in accordance with the stop control command.

[0176] On the other hand, if the remote control request can be accepted (YES in step S24), the request accepting unit 121 accepts the remote control request from the target vehicle, uses the communication unit 11 to send a remote control instruction to one unused remote control device to remotely control the target vehicle, and also notifies the vehicle identification unit 122 and the control command creation unit 123a of the result of its determination that the remote control request can be accepted, and notifies the control command creation unit 123a of the number of unused remote control devices (step S25).

[0177] At this time, the output unit 312 of the remote control device that receives the remote control instruction displays the remote control instruction, and after the pilot confirms the remote control instruction, the input unit 313 transmits the remote control command input by the pilot to the target vehicle, and the target vehicle that sent the remote control request is remotely controlled.

[0178] Next, the vehicle identification unit 122 identifies non-target vehicles other than the target vehicle that is the target of remote driving among the multiple automatically driving vehicles 21-2i, and notifies the control command creation unit 123a of the identified non-target vehicles (Step S26).

[0179] Next, the control command creation unit 123a creates a remote control avoidance control command for causing the non-target vehicles to drive autonomously so as to avoid situations in which the non-target vehicles require remote control, depending on the number of unused remote control devices, and outputs the command to the communication unit 11, and also designates the non-target vehicles to which the remote control avoidance control command should be sent and notifies the communication unit 11 (step S27).

[0180] Next, the communication unit 11 transmits the created remote control avoidance control command to the designated non-target vehicle (step S28), and ends the process. At this time, the non-target vehicle that received the remote control avoidance control command runs in the autonomous driving mode according to the remote control avoidance control command, and avoids a situation that requires remote control.

[0181] In this embodiment, by the above remote control avoidance control processing, a remote control avoidance control command is created when the number of unused remote control devices that are not being used for remote control among the multiple remote control devices 31 to 3j falls below a predetermined first threshold. Therefore, when there is a surplus in the number of unused remote control devices and the situation is such that it is possible to accommodate the next remote control, smooth driving of non-target vehicles can be achieved without sending a remote control avoidance control command. In addition, a remote control avoidance control command is sent only when there is an insufficient number of unused remote control devices and the situation is such that it is difficult to accommodate the next remote control, thereby reducing the possibility that the non-target vehicles will fall into a situation where they require remote control when the target vehicle is remotely controlled, and reducing the possibility that the non-target vehicles will fall into a situation where they have to wait for remote control while driving. [Industrial Applicability]

[0182] The control device, control method, control program, and control system disclosed herein can realize a situation in which, while a remote operator is remotely monitoring multiple autonomous vehicles, the remote operator can easily concentrate on remotely operating the autonomous vehicles that are the target of remote operation. Therefore, the control device, control method, control program, and control system disclosed herein are useful as a control device, control method, control program, and control system used for remotely monitoring multiple autonomous vehicles that are configured to be switchable between an autonomous driving mode in which the autonomous vehicles drive autonomously and a remote operation mode in which the autonomous vehicles are remotely operated by a remote operation device. [Explanation of symbols]

[0183] 1, 1a Control device 11 Communications Department 12, 12a Control section 13, 13a Storage section 121 Request Reception Department 122 Vehicle Identification Department 123, 123a Control command creation section 124 Number of devices calculation unit 131 Device information storage unit 132 Vehicle information storage unit 133, 133a control program memory unit 21~2i Self-driving vehicle 211 Communications Department 212 Photography Department 213 Position measurement section 214 Sensor section 215 Drive unit 216 Control Unit 217 Memory section 261 Communication Control Unit 262 Driving control unit 271 Map information storage unit 272 Route information storage unit 273 Automatic driving program memory unit 31~3j Remote control device 311 Communications Department 312 Output section 313 Input section 314 Control Unit 315 Storage section 41~4k display device

Claims

1. A method for controlling a control device used to remotely control a plurality of autonomous vehicles, comprising: Determining whether the remote control can be accepted, and if it is determined that the remote control cannot be accepted, Identifying a first vehicle among the plurality of autonomous vehicles that is not capable of remote control; a second vehicle to be remotely controlled is controlled to travel in a remote control mode, and a travel control command for the first vehicle is generated so as to avoid a situation in which the first vehicle requires remote control; Control methods.

2. If the number of unused remote control devices is equal to or less than a threshold, it is determined that the remote control cannot be accepted. The control method according to claim 1.

3. The driving control command includes a stop instruction or a deceleration instruction for the autonomous vehicle that has requested remote control. The control method according to claim 1.

4. A control system capable of remotely controlling an autonomous vehicle, A communication device that communicates with the autonomous vehicle; A remote control device for a remote operator to remotely control the autonomous vehicle; A determination means for determining whether or not the remote control is acceptable; and an instruction means for transmitting an instruction to remotely control the autonomous vehicle to the autonomous vehicle via a communication unit, The instruction means transmits an instruction from the remote operator to the autonomous vehicle when the remote control device is remotely controlled by the remote operator, and stops or decelerates the autonomous vehicle when the judgment means judges that the autonomous vehicle cannot accept the remote control. Control system.

5. The determination means determines that the remote control cannot be accepted when the number of unused remote control devices is equal to or less than a threshold value. The system of claim 4.

6. 1. A control system for use in remotely piloting a plurality of autonomous vehicles, comprising: Determining whether the remote control can be accepted, and if it is determined that the remote control cannot be accepted, Identifying a first vehicle among the plurality of autonomous vehicles that is not capable of remote control; A processor controls a second vehicle to be remotely controlled to travel in a remotely controlled mode and creates a travel control command for the first vehicle to avoid a situation in which the first vehicle requires remote control. Control system.

7. A control device used to remotely control a plurality of autonomous vehicles, comprising: Determining whether the remote control can be accepted, and if it is determined that the remote control cannot be accepted, Identifying a first vehicle among the plurality of autonomous vehicles that is not capable of remote control; A processor controls a second vehicle to be remotely controlled to travel in a remotely controlled mode and creates a travel control command for the first vehicle to avoid a situation in which the first vehicle requires remote control. Control device.

8. A control program for causing a computer to function as a control device used to remotely control a plurality of autonomous vehicles, comprising: Determining whether the remote control can be accepted, and if it is determined that the remote control cannot be accepted, Identifying a first vehicle among the plurality of autonomous vehicles that is not capable of remote control; A second vehicle to be remotely controlled is controlled to travel in a remote control mode, and a travel control command for the first vehicle is generated so as to avoid a situation in which the first vehicle requires remote control. Control program.

9. A control method in a control system capable of remotely controlling an autonomous vehicle, comprising: a communication device communicating with the autonomous vehicle; a remote control device allowing a remote operator to remotely control the autonomous vehicle; determining whether the remote control is acceptable; and transmitting an instruction to the autonomous vehicle to remotely control the autonomous vehicle via a communication unit. In the step of transmitting the instruction to the autonomous vehicle, when the remote control device is remotely controlled by the remote control operator, an instruction from the remote control operator is transmitted to the autonomous vehicle, and when it is determined in the step of determining that the remote control cannot be accepted, the autonomous vehicle is stopped or decelerated. Control methods.

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