Remote operation system, remote operation management method, and management program

Abstract

To ensure the accuracy of the remote operation of a mobility.SOLUTION: A remote operation system for remote operation of a mobility is provided. The remote operation system acquires terminal specification information indicating specifications of each of a plurality of remote operator terminals. The remote operation system acquires required capability information indicating at least a required terminal specification required for the remote operation of a target mobility. Then, the remote operation system assigns a first remote operator terminal that satisfies the required terminal specification out of a plurality of remote operator terminals to the remote operation of the target mobility, on the basis of the terminal specification information and the required terminal specification.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] The present disclosure relates to remote operation of mobility.

Background Art

[0002] Patent Document 1 discloses a system for remote operation of a vehicle. The system assigns an appropriate remote operator to the remote operation of the vehicle based on the skills and experience values of the remote operator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Consider the remote operation of mobility by a remote operator. The specifications required for the remote operator terminal used by the remote operator can vary depending on the type of target mobility and the content of the required remote operation. If a remote operator terminal that does not meet the specifications required for the remote operation of the target mobility is assigned to the remote operation of the target mobility, the accuracy of the remote operation will decrease.

[0005] One object of the present disclosure is to provide a technology capable of ensuring the accuracy of remote operation of mobility.

Means for Solving the Problems

[0006] One aspect of the present disclosure relates to a remote operation system for remote operation of mobility. The remote operation system includes one or more processors. The one or more processors acquire terminal specification information indicating the specifications of each of the plurality of remote operator terminals. One or more processors obtain requirement capability information that at least indicates requirement terminal specifications required for remote operation of the target mobility. One or more processors allocate, based on the terminal specification information and the requirement terminal specifications, a first remote operator terminal that meets the requirement terminal specifications among the plurality of remote operator terminals to the remote operation of the target mobility.

[0007] Another aspect of the present disclosure relates to a remote operation management method for a computer to manage remote operation of mobility. The remote operation management method obtains terminal specification information indicating the specifications of each of the plurality of remote operator terminals, obtains requirement capability information that at least indicates requirement terminal specifications required for remote operation of the target mobility, and based on the terminal specification information and the requirement terminal specifications, allocates a first remote operator terminal that meets the requirement terminal specifications among the plurality of remote operator terminals to the remote operation of the target mobility. including.

[0008] Still another aspect of the present disclosure relates to a management program for managing remote operation of mobility. The management program is executed by a computer. The management program obtains terminal specification information indicating the specifications of each of the plurality of remote operator terminals, obtains requirement capability information that at least indicates requirement terminal specifications required for remote operation of the target mobility, and based on the terminal specification information and the requirement terminal specifications, allocates a first remote operator terminal that meets the requirement terminal specifications among the plurality of remote operator terminals to the remote operation of the target mobility. causes the computer to execute.

Advantages of the Invention

[0009] According to the present disclosure, the specifications of each remote operator terminal and the required terminal specifications for remotely operating the target mobility are considered. Then, a first remote operator terminal that meets the required terminal specifications is assigned to remotely operate the target mobility. Thereby, the accuracy of remotely operating the target mobility is ensured.

Brief Description of the Drawings

[0010]

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Embodiments for Carrying Out the Invention

[0011] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0012] 1. Overview of the Remote Operation System FIG. 1 is a conceptual diagram for explaining the overview of the remote operation system 1 according to the present embodiment. The remote operation system 1 is a system for remotely operating the mobility 100. Remote operation is a concept including remote driving. The remote operation system 1 includes the mobility 100, the remote operator terminal 200, and the management system 300.

[0013] The mobility 100 is a movable moving body. The mobility 100 may be manually operated by an operator on board the mobility 100. The mobility 100 may be equipped with an autonomous movement function. In any case, the mobility 100 is configured to be remotely operable as needed. That is, the mobility 100 is the object of remote operation by the remote operation system 1.

[0014] The types of mobility 100 that can be remotely operated are not limited to one, and there may be multiple. For example, the mobility 100 can be a vehicle traveling on a public road (e.g., a passenger car, a truck, a bus, a MaaS vehicle, an autonomous vehicle, etc.). As another example, the mobility 100 can be a vehicle used in a factory (e.g., a forklift, a factory cart, etc.). As yet another example, the mobility 100 can be a special small vehicle (e.g., a golf course cart, a personal mobility, an electric wheelchair, etc.). As yet another example, the mobility 100 can be a construction machine (e.g., a power shovel, a bulldozer, etc.). As yet another example, the mobility 100 can be a robot (e.g., a logistics robot, a working robot, etc.). As yet another example, the mobility 100 can be an aircraft (e.g., a drone, etc.). As yet another example, the mobility 100 can be a ship (e.g., a small ship, a large cruiser, etc.). As yet another example, the mobility 100 can be a ride in an amusement park (e.g., a cart, an attraction, etc.).

[0015] Figure 2 shows examples of the various remote operation contents required for various mobilities 100. As illustrated in Figure 2, the mobilities 100 are diverse, and the required remote operation contents are also diverse. Note that the remote operation may be requested from the mobility 100 itself, or may be requested from a service provider in partnership with the remote operation system 1. In the latter case, the content of the remote operation can also be said to be the content of the service provided by the service provider.

[0016] The remote operator terminal 200 is a terminal device used when the remote operator O remotely operates the mobility 100. That is, the remote operator terminal 200 is configured to be used by the remote operator O for remotely operating the mobility 100. Examples of the remote operator terminal 200 include a cockpit-type terminal, a PC, a tablet, a smartphone, etc. A single remote operator terminal 200 may be configured to support remote operations of various types of mobility 100. Alternatively, a single remote operator terminal 200 may be dedicated to remotely operating a specific mobility 100. Also, the combination of the remote operator O and the remote operator terminal 200 may be predetermined or may be freely changeable. That is, a single remote operator terminal 200 may be used only by a specific remote operator O, or may be used in turn by various remote operators O.

[0017] The management system (manager) 300 manages the remote operation system 1. The management system 300 may be composed of a plurality of servers that perform distributed processing. For example, the management system 300 manages a plurality of remote operators O and a plurality of remote operator terminals 200. Also, the management system 300 assigns the remote operator O and the remote operator terminal 200 to the remote operation of the mobility 100 in response to a remote operation request. Further, the management system 300 may manage the state of the mobility 100 during remote operation. Details of the management system 300 will be described later.

[0018] The mobility 100, the remote operator terminal 200, and the management system 300 can communicate with each other via a communication network. For example, the mobility 100 can wirelessly communicate with the remote operator terminal 200 or the management system 300 via a wireless communication network. The remote operator terminal 200 and the management system 300 can communicate with each other via a wired communication network or a wireless communication network. The mobility 100 and the remote operator terminal 200 may communicate via the management system 300, or may communicate directly without going through the management system 300.

[0019] The general flow of information during the remote operation of Mobility 100 is as follows.

[0020] Mobility 100 is equipped with various sensors including a camera. The camera captures the surrounding situation of Mobility 100. A video showing the surrounding situation of Mobility 100 is obtained by the camera. Mobility information MOV is information obtained by various sensors and includes at least the video captured by the camera. Mobility information MOV may include the position and state (e.g., speed, steering angle, etc.) of Mobility 100. Mobility 100 transmits the mobility information MOV to the remote operator terminal 200.

[0021] The remote operator terminal 200 receives the mobility information MOV transmitted from Mobility 100. The remote operator terminal 200 presents the mobility information MOV to the remote operator O. Specifically, the remote operator terminal 200 is equipped with a display device and displays videos and the like on the display device. The remote operator O recognizes the surrounding situation of Mobility 100 by looking at the displayed information and performs remote operation of Mobility 100. Remote operation information OPE is information regarding remote operations (steering operation, acceleration operation, deceleration operation, forward and backward movement operation, lateral movement operation, etc.) by the remote operator O. For example, the remote operation information OPE includes the operation amount input by the remote operator O. It can be said that the remote operation information OPE is information reflecting the degree of remote operation by the remote operator O. The remote operator terminal 200 transmits the remote operation information OPE to Mobility 100.

[0022] Mobility 100 receives the remote operation information OPE transmitted from the remote operator terminal 200. Mobility 100 performs mobility control according to the received remote operation information OPE. In this way, the remote operation of Mobility 100 is realized.

[0023] FIG. 3 is a conceptual diagram showing a configuration example of the remote operation system 1. In the example shown in FIG. 3, the remote operation management center is provided within a predetermined site or a predetermined building. Then, the management system 300 and a plurality of remote operator terminals 200 (200-1 to 200-N: N is an integer of 2 or more) are installed within the remote operation management center. Also, a plurality of remote operators O work within the remote operation management center. The management system 300 monitors and manages the states of the plurality of remote operator terminals 200 within the remote operation management center. Also, the management system 300 monitors and manages the states of the plurality of remote operators O within the remote operation management center.

[0024] 2. Configuration example 2-1. Configuration example of mobility FIG. 4 is a block diagram showing a configuration example of the mobility 100. The mobility 100 includes a communication device 110, a sensor group 120, one or more actuators 130, and a control device 150.

[0025] The communication device 110 performs wireless communication with the outside of the mobility 100. For example, the communication device 110 performs wireless communication with the remote operator terminal 200 and the management system 300.

[0026] The sensor group 120 includes a recognition sensor, a mobility state sensor, a position sensor, etc. The recognition sensor recognizes (detects) the situation around the mobility 100. Examples of the recognition sensor include a camera C, LIDAR (Laser Imaging Detection and Ranging), a radar, etc. The mobility state sensor detects the state of the mobility 100. The mobility state sensor includes a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc. The position sensor detects the position and orientation of the mobility 100. For example, the position sensor includes GNSS (Global Navigation Satellite System).

[0027] Actuator 130 moves mobility 100. For example, actuator 130 includes a longitudinal movement actuator for moving mobility 100 forward and backward (accelerating and decelerating). As another example, actuator 130 may include a lateral movement actuator for moving mobility 100 laterally. As yet another example, if mobility 100 includes an arm, actuator 130 may include an arm actuator for moving the arm.

[0028] For example, when mobility 100 is a general vehicle, actuator 130 includes a steering device, a driving device, and a braking device. The steering device steers the wheels. For example, the steering device includes an electric power steering (EPS) device. The driving device is a power source that generates a driving force. Examples of the driving device include an engine, an electric motor, an in-wheel motor, etc. The braking device generates a braking force.

[0029] The control device 150 is a computer that controls the mobility 100. The control device 150 includes one or more processors 160 (hereinafter simply referred to as the processor 160) and one or more storage devices 170 (hereinafter simply referred to as the storage device 170). The processor 160 executes various processes. Examples of the processor 160 include a general-purpose processor, an application-specific processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), an integrated circuit, a conventional circuit, and / or a combination thereof. The processor 160 can also be referred to as circuitry or processing circuitry. Circuitry is hardware programmed to implement the described functions or hardware that executes the functions. The storage device 170 stores various information. Examples of the storage device 170 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc.

[0030] The control program PROG1 is a computer program executed by the processor 160. The functions of the control device 150 may be realized by the cooperation of the processor 160 and the storage device 170 that execute the control program PROG1. The control program PROG1 is stored in the storage device 170. Alternatively, the control program PROG1 may be recorded on a computer-readable recording medium.

[0031] The control device 150 acquires operation environment information ENV indicating the operation environment of the mobility 100. The operation environment information ENV is stored in the storage device 170.

[0032] The driving environment information ENV includes the surrounding situation information indicating the recognition result by the recognition sensor. For example, the surrounding situation information includes the video captured by the camera C. Further, the surrounding situation information may include object information regarding the objects around the mobility 100. Examples of the objects around the mobility 100 include pedestrians, other vehicles (preceding vehicles, parked vehicles, etc.), white lines, stop lines, traffic lights, signs, roadside structures, etc. The object information indicates the relative position and relative speed of the object with respect to the mobility 100. For example, by analyzing the video obtained by the camera, the object can be identified and the relative position of the object can be calculated. Also, based on the point cloud information obtained by the LIDAR, the object can be identified and the relative position and relative speed of the object can be acquired.

[0033] In addition, the driving environment information ENV may include mobility state information indicating the detection result by the mobility state sensor. The mobility state information indicates the speed, acceleration (longitudinal acceleration, lateral acceleration), yaw rate, steering angle, etc. of the mobility 100.

[0034] Furthermore, the driving environment information ENV may include position information indicating the position and moving direction (azimuth) of the mobility 100. The position information is obtained by the position sensor. High-precision position information may be acquired by self-position estimation processing (Localization) using the map information and the surrounding situation information (object information).

[0035] The control device 150 executes movement control for controlling the movement of the mobility 100. The movement control includes forward / backward movement control and lateral movement control. The control device 150 executes the movement control by controlling the actuator 130.

[0036] The control device 150 may execute autonomous movement control based on the driving environment information ENV. More specifically, the control device 150 generates a movement plan for the mobility 100 based on the driving environment information ENV. Further, the control device 150 generates a target trajectory necessary for the mobility 100 to travel according to the movement plan based on the driving environment information ENV. The target trajectory includes a target position and a target speed. Then, the control device 150 performs movement control so that the mobility 100 follows the target trajectory.

[0037] When the remote operation of the mobility 100 is performed, the control device 150 communicates with the remote operator terminal 200 via the communication device 110.

[0038] The control device 150 transmits the mobility information MOV to the remote operator terminal 200. The mobility information MOV is information necessary for the remote operation of the mobility 100 by the remote operator O, and includes at least a part of the above-described driving environment information ENV. In particular, the mobility information MOV includes the video captured by the camera C. The mobility information MOV may include other peripheral situation information. The mobility information MOV may include mobility state information. The mobility information MOV may include position information.

[0039] Also, the control device 150 receives the remote operation information OPE from the remote operator terminal 200. The remote operation information OPE is information regarding the remote operation (steering operation, acceleration operation, deceleration operation, forward and backward movement operation, lateral movement operation, etc.) by the remote operator O. For example, the remote operation information OPE includes the operation amount input by the remote operator O. The control device 150 performs movement control according to the received remote operation information OPE.

[0040] 2-2. Configuration Example of Remote Operator Terminal FIG. 5 is a block diagram showing a configuration example of the remote operator terminal 200. The remote operator terminal 200 includes a communication device 210, a display device 220, an input device 230, an operator sensor 240, and a control device 250.

[0041] The communication device 210 communicates with the mobility 100 and the management system 300.

[0042] The display device 220 displays various information to the remote operator O who performs remote operations. In other words, the display device 220 presents various information to the remote operator O by displaying the various information. Typically, the display device 220 is a display (monitor) such as a liquid crystal display or an organic EL display. The display device 220 may be a touch panel.

[0043] The input device 230 receives an input from the remote operator O. For example, the input device 230 includes a remote operation member that is operated when the remote operator O remotely operates the mobility 100. Examples of the remote operation member include a handle (steering wheel), an accelerator pedal, a brake pedal, a direction indicator, a joystick, a cross key, a switch, and the like. The remote operation member may be a touch panel. The input device 230 may include a keyboard, a mouse, a touch panel, etc. other than the remote operation member.

[0044] The operator sensor 240 is a sensor for monitoring the state of the remote operator O. For example, the operator sensor 240 includes a biological sensor that detects the biological information of the remote operator O. Examples of the biological information include body temperature, heart rate, blood pressure, sweating amount, and the like.

[0045] The control device 250 controls the remote operator terminal 200. The control device 250 includes one or more processors 260 (hereinafter simply referred to as the processor 260) and one or more storage devices 270 (hereinafter simply referred to as the storage device 270). The processor 260 executes various processes. Examples of the processor 260 include a CPU, a GPU, an ASIC, an FPGA, etc. The storage device 270 stores various information. Examples of the storage device 270 include a volatile memory, a non-volatile memory, an HDD, an SSD, etc. The processor 260 executes various processes. Examples of the processor 260 include a general-purpose processor, an application-specific processor, a CPU, a GPU, an ASIC, an FPGA, an integrated circuit, a conventional circuit, and / or a combination thereof. The processor 260 can also be referred to as circuitry or processing circuitry. Circuitry is hardware programmed to implement the described functions or hardware that executes the functions. The storage device 270 stores various information. Examples of the storage device 270 include a volatile memory, a non-volatile memory, an HDD, an SSD, etc.

[0046] The control program PROG2 is a computer program executed by the processor 260. The functions of the control device 250 may be realized by the cooperation of the processor 260 and the storage device 270 that execute the control program PROG2. The control program PROG2 is stored in the storage device 270. Alternatively, the control program PROG2 may be recorded on a computer-readable recording medium. The control program PROG2 may be provided via a network.

[0047] The control device 250 communicates with the mobility 100 via the communication device 210. The control device 250 receives the mobility information MOV transmitted from the mobility 100. The control device 250 presents the mobility information MOV to the remote operator O by displaying the mobility information MOV including video on the display device 220. The remote operator O can recognize the state of the mobility 100 and the surrounding situation based on the mobility information MOV displayed on the display device 220.

[0048] The remote operator O operates the remote operation member of the input device 230. The operation amount of the remote operation member is detected by a sensor installed on the remote operation member. The control device 250 generates remote operation information OPE that reflects the operation amount of the remote operation member by the remote operator O. It can be said that the remote operation information OPE is information that reflects the degree of driving operation by the remote operator O. Then, the control device 250 transmits the remote operation information OPE to the mobility 100 via the communication device 210.

[0049] 2-3. Configuration example of the management system FIG. 6 is a block diagram showing a configuration example of the management system 300. The management system 300 includes a communication device 310 and a control device 350.

[0050] The communication device 310 communicates with the mobility 100 and the remote operator terminal 200.

[0051] The control device 350 controls the management system 300. The control device 350 includes one or more processors 360 (hereinafter simply referred to as the processor 360) and one or more storage devices 370 (hereinafter simply referred to as the storage device 370). The processor 360 executes various processes. Examples of the processor 360 include general-purpose processors, application-specific processors, CPUs, GPUs, ASICs, FPGAs, integrated circuits, conventional circuits, and / or combinations thereof. The processor 360 can also be referred to as circuitry or processing circuitry. Circuitry is hardware programmed to realize the described functions, or hardware that executes the functions. The storage device 370 stores various information. Examples of the storage device 370 include volatile memories, non-volatile memories, HDDs, SSDs, etc.

[0052] The management program PROG3 is a computer program executed by the processor 360. The functions of the control device 350 may be realized by the cooperation of the processor 360 that executes the management program PROG3 and the storage device 370. The management program PROG3 is stored in the storage device 370. Alternatively, the management program PROG3 may be recorded on a computer-readable recording medium. The management program PROG3 may be provided via a network.

[0053] The storage device 370 further stores operator management information MGT-O and terminal management information MGT-T. The operator management information MGT-O is information for managing a plurality of remote operators O. For example, the operator management information MGT-O indicates, for each remote operator O, an operator ID, a held license, availability, an assignment status, a work history, and the like. The terminal management information MGT-T is information for managing a plurality of remote operator terminals 200. For example, the terminal management information MGT-T indicates, for each remote operator terminal 200, a terminal ID, specifications, availability, an assignment status, a movement history, and the like.

[0054] The control device 350 communicates with the mobility 100 and the remote operator terminal 200 via the communication device 310. The control device 350 may relay the communication between the mobility 100 and the remote operator terminal 200. That is, the control device 350 may relay mobility information MOV or remote operation information OPE between the mobility 100 and the remote operator terminal 200.

[0055] Before starting the remote operation of the mobility 100, the control device 350 executes an "assignment process" for assigning an appropriate remote operator O and an appropriate remote operator terminal 200 for the remote operation of the mobility 100. Hereinafter, the assignment process by the management system 300 (control device 350) will be described in more detail.

[0056] 3. Assignment Process FIG. 7 is a conceptual diagram for explaining the outline of the allocation process by the management system 300. The mobility 100 that is the target of remote operation is hereinafter referred to as "target mobility 100-X". The remote operator O assigned to the remote operation of the target mobility 100-X is hereinafter referred to as "first remote operator O-X". The remote operator terminal 200 assigned to the remote operation of the target mobility 100-X is hereinafter referred to as "first remote operator terminal 200-X".

[0057] The management system 300 (control device 350) includes an allocation processing unit 400 that executes an allocation process. First, the allocation processing unit 400 receives a remote operation request REQ regarding the target mobility 100-X. For example, the remote operation request REQ is issued from the target mobility 100-X itself. In this case, the target mobility 100-X transmits the remote operation request REQ to the management system 300 via wireless communication. As another example, the remote operation request REQ may be transmitted from a service provider in cooperation with the remote operation system 1 to the management system 300.

[0058] The remote operation request REQ indicates the type of the target mobility 100-X and the content of the desired remote operation. In response to the received remote operation request REQ, the allocation processing unit 400 allocates the first remote operator O-X and the first remote operator terminal 200-X to the remote operation of the target mobility 100-X. More specifically, the allocation processing unit 400 allocates an appropriate first remote operator O-X among the plurality of remote operators O to the remote operation of the target mobility 100-X based on the remote operation request REQ and the operator management information MGT-O. Also, the allocation processing unit 400 allocates an appropriate first remote operator terminal 200-X among the plurality of remote operator terminals 200 to the remote operation of the target mobility 100-X based on the remote operation request REQ and the terminal management information MGT-T.

[0059] In order to achieve an appropriate allocation process, the following three viewpoints are considered. [First viewpoint] The states of each remote operator O and each remote operator terminal 200. [Second Perspective] The licenses held by each remote operator O and the required licenses for remote operation of the target mobility 100-X. [Third Perspective] The terminal specifications of each remote operator terminal 200 and the required terminal specifications for remote operation of the target mobility 100-X. The allocation processing unit 400 executes allocation processing in consideration of at least one of the first to third perspectives. The allocation processing unit 400 may execute allocation processing in consideration of two or more of the first to third perspectives. Hereinafter, the first perspective, the second perspective, and the third perspective will be described in detail in Sections 4, 5, and 6, respectively.

[0060] 4. [First Perspective] Allocation Processing Considering Operator State and Terminal State Regarding the remote operator O, there can be a state appropriate for remote operation and a state that is not. If the first remote operator O-X in a state inappropriate for remote operation is selected, the accuracy of the remote operation will decrease. Similarly, regarding the remote operator terminal 200, there can be a state appropriate for remote operation and a state that is not. If the first remote operator terminal 200-X in a state inappropriate for remote operation is used, the accuracy of the remote operation will decrease.

[0061] Therefore, in the first perspective, allocation processing is performed in consideration of the state of each remote operator O and the state of each remote operator terminal 200. For this purpose, the state of each remote operator O and the state of each remote operator terminal 200 are quantified in the form of a "score". The score is a quantitative parameter indicating the suitability for remote operation. For example, the score is calculated in the range of 0 to 100. The higher the score, the higher the suitability for remote operation. Then, based on the score, an appropriate first remote operator O and an appropriate first remote operator terminal 200-X are selected and assigned to the remote operation of the target mobility 100-X. Hereinafter, the first perspective will be described in more detail.

[0062] 4-1. Example of Score FIG. 8 is a block diagram showing an example of a functional configuration related to score calculation.

[0063] 4-1-1. Example of Operator Score The operator state acquisition unit 510 acquires operator state information STA-O indicating the state of the remote operator O. The operator score calculation unit 520 calculates an operator score SCR-O based on the operator state information STA-O. The operator score SCR-O indicates the suitability of the remote operator O for the remote operation.

[0064] FIG. 9 shows an example of the operator state and the operator score SCR-O.

[0065] In the first example, the operator state acquisition unit 510 acquires the health state of the remote operator O. That is, the state of the remote operator O includes the health state of the remote operator O. For example, the remote operator O reports his / her health state using the remote operator terminal 200 or his / her own terminal (e.g., smartphone). As another example, an operator sensor 240 may be used to detect the health state of the remote operator O. The operator sensor 240 may be included in the remote operator terminal 200 (see FIG. 5) or in a terminal (e.g., smartphone) owned by the remote operator O. The operator sensor 240 includes a biosensor that detects biometric information of the remote operator O. Examples of the biometric information include body temperature, heart rate, blood pressure, sweating amount, etc. The operator state acquisition unit 510 acquires the biometric information detected by the operator sensor 240. Then, the operator state acquisition unit 510 acquires the health state of the remote operator O based on the biometric information of the remote operator O. For example, the health state can be obtained from the biometric information by using a machine learning model. The operator score calculation unit 520 calculates a first operator score based on the health state of the remote operator O. As shown in FIG. 9, the first operator score increases as the health state of the remote operator O improves.

[0066] In the second example, the operator state acquisition unit 510 acquires the working hours that the remote operator O has engaged in remote operations over a certain period in the past. That is, the state of the remote operator O includes the working hours that the remote operator O has engaged in remote operations over a certain period in the past. This working hour can be obtained, for example, from the operation log recorded in the remote operator terminal 200 that the remote operator O has operated in the past. Alternatively, the working hour can be obtained from the work history of each remote operator O included in the operator management information MGT - O. The operator score calculation unit 520 calculates a second operator score based on the working hours of the remote operator O. As shown in FIG. 9, the second operator score decreases as the working hours of the remote operator O increase.

[0067] In the third example, the operator state acquisition unit 510 acquires the hourly wage of the remote operator O. That is, the state of the remote operator O includes the hourly wage of the remote operator O. For example, the remote operator O registers his / her hourly wage using the remote operator terminal 200 or his / her own terminal (e.g., smartphone). The hourly wage of each remote operator O may be registered in advance in the operator management information MGT - O and obtained from the operator management information MGT - O. The operator score calculation unit 520 calculates a third operator score based on the hourly wage of the remote operator O. As shown in FIG. 9, the third operator score increases as the hourly wage of the remote operator O decreases.

[0068] Combinations of two or more of the above first to third examples are also possible. In that case, the respective scores are added together.

[0069] Typically, the operator state acquisition unit 510 acquires the operator state information STA - O indicating the state of the remote operator O in real time. Then, the operator score calculation unit 520 calculates the operator score SCR - O in real time based on the operator state information STA - O.

[0070] The operator state acquisition unit 510 and the operator score calculation unit 520 may be included in the remote operator terminal 200, may be included in the management system 300, or may be distributed between the remote operator terminal 200 and the management system 300. When the operator state acquisition unit 510 is included in the management system 300, the remote operator terminal 200 transmits biometric information of the remote operator O, working hour information, etc. to the management system 300. When the operator state acquisition unit 510 and the operator score calculation unit 520 are included in the remote operator terminal 200, the remote operator terminal 200 only needs to transmit information on the operator score SCR-O to the management system 300. In this case, since it is not necessary to transmit biometric information of the remote operator O, working hour information, etc. to the management system 300, the communication volume between the remote operator terminal 200 and the management system 300 is reduced. This contributes to the reduction of communication resources used.

[0071] 4-1-2. Example of Terminal Score The terminal state acquisition unit 530 acquires terminal state information STA-T indicating the state of the remote operator terminal 200. The terminal score calculation unit 540 calculates a terminal score SCR-T based on the terminal state information STA-T. The terminal score SCR-T indicates the suitability of the remote operator terminal 200 for remote operation.

[0072] FIG. 10 shows an example of the terminal state and the terminal score SCR-T.

[0073] In the first example, the terminal state acquisition unit 530 acquires the communication state of the remote operator terminal 200. That is, the state of the remote operator terminal 200 includes the communication state of the remote operator terminal 200. Examples of the communication state include communication speed (throughput), communication delay, etc. The remote operator terminal 200 can measure the communication speed, communication delay, etc. based on the reception state of the data received from the communication partner. As another example, the remote operator terminal 200 measures the communication speed, communication delay, etc. based on the data transmitted to the communication partner and the feedback from the communication partner. The terminal state acquisition unit 530 acquires the communication state measured by the remote operator terminal 200. The terminal score calculation unit 540 calculates a first terminal score based on the communication state of the remote operator terminal 200. As shown in FIG. 10, the first terminal score increases as the communication state of the remote operator terminal 200 improves.

[0074] In the second example, the terminal state acquisition unit 530 acquires the degree of abnormality of the control device 250 (see FIG. 5) of the remote operator terminal 200. That is, the state of the remote operator terminal 200 includes the degree of abnormality of the control device 250 of the remote operator terminal 200. For example, the control device 250 is provided with a self-diagnosis function. The terminal state acquisition unit 530 acquires the self-diagnosis result (normal, warning, abnormal) of the control device 250 by the self-diagnosis function. The terminal score calculation unit 540 calculates a second terminal score based on the degree of abnormality of the control device 250 of the remote operator terminal 200. As shown in FIG. 10, the second terminal score decreases as the degree of abnormality of the control device 250 of the remote operator terminal 200 increases.

[0075] The above combination of the first example and the second is also possible. In that case, the respective scores are added together.

[0076] Typically, the terminal state acquisition unit 530 acquires in real time the terminal state information STA-T indicating the state of the remote operator terminal 200. Then, the terminal score calculation unit 540 calculates in real time the terminal score SCR-T based on the terminal state information STA-T.

[0077] The terminal state acquisition unit 530 and the terminal score calculation unit 540 may be included in the remote operator terminal 200, may be included in the management system 300, or may be distributed between the remote operator terminal 200 and the management system 300. When the terminal state acquisition unit 530 is included in the management system 300, the remote operator terminal 200 transmits information on the communication state and the degree of abnormality of the control device 250 to the management system 300. When the terminal state acquisition unit 530 and the terminal score calculation unit 540 are included in the remote operator terminal 200, the remote operator terminal 200 only needs to transmit the information on the terminal score SCR-T to the management system 300. In this case, since there is no need to transmit information on the communication state of the remote operator terminal 200 and the degree of abnormality of the control device 250 to the management system 300, the communication volume between the remote operator terminal 200 and the management system 300 is reduced. This contributes to the reduction of the communication resources used.

[0078] 4-1-3. Integrated Score FIG. 11 is a block diagram showing another example of the functional configuration related to score calculation. The score integration unit 550 calculates the integrated score SCR by integrating the operator score SCR-O and the terminal score SCR-T. That is, the operator score SCR-O and the terminal score SCR-T are reflected in the integrated score SCR. This integrated score SCR indicates the suitability of the combination of the remote operator O and the remote operator terminal 200 for the remote operation. The higher the integrated score SCR, the higher the suitability.

[0079] For example, the score integration unit 550 calculates the average value of the operator score SCR-O and the terminal score SCR-T. When the average value is less than 100, the average value is used as the integrated score SCR. On the other hand, when the average value is 100 or more, the integrated score SCR is uniformly set to 100.

[0080] The score integration unit 550 may be included in the remote operator terminal 200 or may be included in the management system 300. All of the operator state acquisition unit 510, the operator score calculation unit 520, the terminal state acquisition unit 530, the terminal score calculation unit 540, and the score integration unit 550 may be included in the remote operator terminal 200. In this case, the remote operator terminal 200 only needs to transmit the information of the integrated score SCR to the management system 300. Therefore, the communication volume between the remote operator terminal 200 and the management system 300 is reduced. This contributes to the reduction of the communication resources used.

[0081] 4-2. Assignment Processing FIG. 12 is a block diagram showing a functional configuration example related to the assignment processing from the first viewpoint. The assignment processing unit 400 of the management system 300 includes a score acquisition unit 410 and a selection unit 450.

[0082] The score acquisition unit 410 acquires the operator score SCR-O from the operator score calculation unit 520. More specifically, the score acquisition unit 410 acquires the operator score SCR-O of each of the plurality of remote operators O indicated by the operator management information MGT-O. The score acquisition unit 410 may register the operator score SCR-O of each of the plurality of remote operators O in the operator management information MGT-O. Typically, the score acquisition unit 410 acquires the operator score SCR-O of each of the plurality of remote operators O in real time.

[0083] The selection unit 450 selects an appropriate first remote operator O-X from among a plurality of remote operators O based on the operator score SCR-O and the operator management information MGT-O. More specifically, the selection unit 450 extracts available (idle) remote operators O from among the plurality of remote operators O based on the operator management information MGT-O. Further, the selection unit 450 selects the first remote operator O-X from among the available remote operators O based on the operator score SCR-O. For example, the selection unit 450 preferentially selects a remote operator O with a high operator score SCR-O as the first remote operator O-X. That is, the operator score SCR-O is used as the operator priority order. When there are a plurality of candidates having the same operator score SCR-O, the selection unit 450 may preferentially select a remote operator O with a longer waiting time as the first remote operator O-X. Then, the selected first remote operator O-X is assigned to the remote operation of the target mobility 100-X.

[0084] The score acquisition unit 410 acquires the terminal score SCR-T from the terminal score calculation unit 540. More specifically, the score acquisition unit 410 acquires the terminal score SCR-T of each of the plurality of remote operator terminals 200 indicated by the terminal management information MGT-T. The score acquisition unit 410 may register the terminal score SCR-T of each of the plurality of remote operator terminals 200 in the terminal management information MGT-T. Typically, the score acquisition unit 410 acquires the terminal score SCR-T of each of the plurality of remote operator terminals 200 in real time.

[0085] The selection unit 450 selects an appropriate first remote operator terminal 200-X from among a plurality of remote operator terminals 200 based on the terminal score SCR-T and the terminal management information MGT-T. More specifically, the selection unit 450 extracts available (idle) remote operator terminals 200 from among the plurality of remote operator terminals 200 based on the terminal management information MGT-T. Further, the selection unit 450 selects the first remote operator terminal 200-X from among the available remote operator terminals 200 based on the terminal score SCR-T. For example, the selection unit 450 preferentially selects a remote operator terminal 200 with a high terminal score SCR-T as the first remote operator terminal 200-X. That is, the terminal score SCR-T is used as the terminal priority order. When there are a plurality of candidates having the same terminal score SCR-T, the selection unit 450 may preferentially select a remote operator terminal 200 with a longer waiting time as the first remote operator terminal 200-X. Then, the selected first remote operator terminal 200-X is assigned to the remote operation of the target mobility 100-X.

[0086] Alternatively, in the case of the example shown in FIG. 11, the score acquisition unit 410 acquires the integrated score SCR from the score integration unit 550. More specifically, the score acquisition unit 410 acquires the integrated score SCR for each of a plurality of combinations of the remote operator O and the remote operator terminal 200. Typically, the score acquisition unit 410 acquires the integrated score SCR for each of a plurality of combinations of the remote operator O and the remote operator terminal 200 in real time.

[0087] The selection unit 450 selects an appropriate combination of the first remote operator O-X and the first remote operator terminal 200-X based on the integrated score SCR, the operator management information MGT-O, and the terminal management information MGT-T. More specifically, the selection unit 450 extracts available (idle) remote operators O from among a plurality of remote operators O based on the operator management information MGT-O. Also, the selection unit 450 extracts available (idle) remote operator terminals 200 from among a plurality of remote operator terminals 200 based on the terminal management information MGT-T. Further, the selection unit 450 selects the first remote operator O-X from among the available remote operators O and selects the first remote operator terminal 200-X from among the available remote operator terminals 200 based on the integrated score SCR. For example, the selection unit 450 preferentially selects a combination of a remote operator O and a remote operator terminal 200 with a high integrated score SCR as the combination of the first remote operator O-X and the first remote operator terminal 200-X. That is, the integrated score SCR is used as a priority. When there are a plurality of candidates having the same integrated score SCR, the selection unit 450 may preferentially select a combination including a remote operator O with a longer waiting time. Then, the selected combination of the first remote operator O-X and the first remote operator terminal 200-X is assigned to the remote operation of the target mobility 100-X.

[0088] 4-3. Effect As described above, according to the first aspect, an operator score SCR-O indicating the suitability of a remote operator O for a remote operation is calculated based on the state of the remote operator O. Then, based on the operator score SCR-O, the first remote operator O-X assigned to the remote operation of the target mobility 100-X is selected. That is, an appropriate first remote operator O-X is assigned to the remote operation of the target mobility 100-X in consideration of the suitability. Thereby, the accuracy of the remote operation of the target mobility 100-X is ensured.

[0089] Further, based on the state of the remote operator terminal 200, a terminal score SCR-T indicating the compatibility of the remote operator terminal 200 with respect to the remote operation is calculated. Then, based on the terminal score SCR-T, a first remote operator terminal 200-X assigned to the remote operation of the target mobility 100-X is selected. That is, an appropriate first remote operator terminal 200-X is assigned to the remote operation of the target mobility 100-X in consideration of compatibility. Thereby, the accuracy of the remote operation of the target mobility 100-X is ensured.

[0090] The score calculation may be performed by the remote operator terminal 200. In this case, the remote operator terminal 200 only needs to transmit the score information to the management system 300. Therefore, the communication volume between the remote operator terminal 200 and the management system 300 is reduced. This contributes to the reduction of the communication resources used.

[0091] 5. [Second Perspective] Assignment Process Considering Operator License Consider the case where there are multiple types of mobility 100 as the target of remote operation (see FIG. 2). The remote operator O does not necessarily hold licenses (qualifications, permits) for all types of mobility 100. If a remote operator O who does not have a license to operate the target mobility 100-X is erroneously assigned to the remote operation of the target mobility 100-X, it is necessary to start the assignment process over again, which is inefficient.

[0092] Therefore, from the second perspective, the assignment process is performed in consideration of the licenses held by each of the multiple remote operators O. More specifically, a first remote operator O-X having the required license for the remote operation of the target mobility 100-X is assigned to the remote operation of the target mobility 100-X. Hereinafter, the second perspective will be described in more detail.

[0093] 5-1. Operator License Information FIG. 13 shows an example of operator license information LIC. The operator license information LIC indicates the license (qualification, permit) that each of a plurality of remote operators O has regarding the operation (driving) of a plurality of types of mobility 100. In other words, the operator license information LIC indicates the license held for each remote operator O. The license for a certain mobility 100 is what officially permits the operation of that mobility 100. Each remote operator O holds a license for one or more types of mobility 100. One remote operator O may hold licenses for two or more types of mobility 100. The licenses held may vary for each remote operator O.

[0094] The operator license information LIC is included in the operator management information MGT-O. For example, each remote operator O reports the license they hold using a remote operator terminal 200 or their own terminal. The management system 300 pre-generates the operator license information LIC by collecting information on the licenses held by each remote operator O, and also updates it as needed.

[0095] 5-2. Assignment Processing FIG. 14 is a block diagram showing a functional configuration example related to the assignment processing from a second perspective. The assignment processing unit 400 of the management system 300 includes a requested license acquisition unit 420 and a selection unit 450.

[0096] The requested license acquisition unit 420 receives a remote operation request REQ. The remote operation request REQ indicates the type of the target mobility 100-X. The requested license acquisition unit 420 can recognize the "requested license REQ-LIC" required for the remote operation of the target mobility 100-X based on the type of the target mobility 100-X.

[0097] The requested ability information REQ-ABL indicates the ability required for the remote operation of the target mobility 100-X. The requested ability information REQ-ABL includes at least the information of the requested license REQ-LIC.

[0098] The selection unit 450 includes an operator selection unit 450-O. The operator selection unit 450-O selects an appropriate first remote operator O-X from among a plurality of remote operators O based on the operator management information MGT-O and the required ability information REQ-ABL. More specifically, the operator selection unit 450-O extracts available (idle) remote operators O from among the plurality of remote operators O based on the operator management information MGT-O. Further, the operator selection unit 450-O acquires the operator license information LIC included in the operator management information MGT-O and the information of the required license REQ-LIC included in the required ability information REQ-ABL. Then, the operator selection unit 450-O selects a first remote operator O-X having the required license REQ-LIC from among the available remote operators O based on the operator license information LIC and the required license REQ-LIC. The selected first remote operator O-X is assigned to the remote operation of the target mobility 100-X.

[0099] When there are a plurality of remote operators O having the required license REQ-LIC, the operator selection unit 450-O may select the first remote operator O-X in consideration of the operator score SCR-O described in Section 4 above. More specifically, the operator selection unit 450-O may preferentially select a remote operator O with a high operator score SCR-O as the first remote operator O-X. When there are a plurality of candidates having the same operator score SCR-O, the operator selection unit 450-O may preferentially select a remote operator O with a longer waiting time as the first remote operator O-X.

[0100] As another example, when there are multiple remote operators O having a required license REQ-LIC, the operator selection unit 450-O may select the remote operator O having the fewest types of licenses held as the current first remote operator O-X. In this case, remote operators O having more types of mobility 100 licenses will be retained. As a result, the probability of being able to assign an appropriate remote operator O to the target mobility 100-X for which a remote operation is next required increases.

[0101] 5-3. Effect As described above, according to the second perspective, the licenses held by each remote operator O and the required license REC-LIC required for the remote operation of the target mobility 100-X are considered. Then, the first remote operator O-X having the required license REC-LIC is assigned to the remote operation of the target mobility 100-X. Thereby, the accuracy of the remote operation of the target mobility 100-X is ensured. Also, a situation where a remote operator O not having the required license REC-LIC is erroneously assigned to the target mobility 100-X is avoided. Therefore, it is not necessary to redo the assignment process from the beginning, and an efficient assignment process is realized.

[0102] 6. [Third Perspective] Assignment Process Considering Terminal Specifications The specifications required for the remote operator terminal 200 may vary depending on the type of the target mobility 100-X. Also, the specifications required for the remote operator terminal 200 may vary depending on the content of the required remote operation. If a remote operator terminal 200 that does not meet the specifications required for the remote operation of the target mobility 100-X is assigned to the remote operation of the target mobility 100-X, the accuracy of the remote operation will decrease. Also, it is inefficient to redo the assignment process from the beginning.

[0103] Therefore, from the third perspective, the allocation process is performed in consideration of the specifications of each of the plurality of remote operator terminals 200. More specifically, the first remote operator terminal 200-X that satisfies the required terminal specifications required for the remote operation of the target mobility 100-X is allocated to the remote operation of the target mobility 100-X. Hereinafter, the third perspective will be described in more detail.

[0104] 6-1. First Example FIG. 15 shows an example of terminal specification information SPC. The terminal specification information SPC indicates the specifications of each of the plurality of remote operator terminals 200. In the example shown in FIG. 15, the terminal specification information SPC shows, for each remote operator terminal 200, the type of the remote operator terminal 200, the type of the mobility 100 that can be supported, and the content of the remote operation (service) that can be supported.

[0105] Examples of the type of the remote operator terminal 200 include a cockpit-type terminal, a PC, a tablet, a smartphone, and the like. If the type of the remote operator terminal 200 changes, the type of the mobility 100 that can be supported and the content of the remote operation that can be supported also change. For example, a vehicle cockpit is suitable for remote operations of various types of vehicles and is also suitable for driving on public roads and long-distance driving. On the other hand, a tablet is not necessarily suitable for driving on public roads and long-distance driving. A tablet can be used for short-distance driving of a vehicle in a limited area such as a parking lot, automatic driving support such as shoulder evacuation in an emergency, and remote operation of a small vehicle in a factory.

[0106] The terminal specification information SPC is included in the terminal management information MGT-T. For example, the management system 300 collects information on the type of each of the plurality of remote operator terminals 200. Then, the management system 300 generates in advance the terminal specification information SPC illustrated in FIG. 15 based on the type of each remote operator terminal 200 and updates it as necessary.

[0107] FIG. 16 is a block diagram showing a functional configuration example related to the allocation process from a third perspective. The allocation processing unit 400 of the management system 300 includes a request terminal specification acquisition unit 430 and a selection unit 450.

[0108] The request terminal specification acquisition unit 430 receives a remote operation request REQ. The remote operation request REQ indicates at least one of "the type of the target mobility 100-X" and "the content of the desired remote operation of the target mobility 100-X". Based on the remote operation request REQ, the request terminal specification acquisition unit 430 can recognize the "request terminal specification REQ-SPC" required for the remote operation of the target mobility 100-X. In this example, the remote operation request REQ is used as the request terminal specification REQ-SPC as it is.

[0109] The required ability information REQ-ABL indicates the ability required for the remote operation of the target mobility 100-X. The required ability information REQ-ABL includes at least the information of the request terminal specification REQ-SPC.

[0110] The selection unit 450 includes a terminal selection unit 450-T. Based on the terminal management information MGT-T and the required ability information REQ-ABL, the terminal selection unit 450-T selects an appropriate first remote operator terminal 200-X from among a plurality of remote operator terminals 200. More specifically, based on the terminal management information MGT-T, the terminal selection unit 450-T extracts the available (idle) remote operator terminals 200 from among the plurality of remote operator terminals 200. Further, the terminal selection unit 450-T acquires the terminal specification information SPC included in the terminal management information MGT-T and the information of the request terminal specification REQ-SPC included in the required ability information REQ-ABL. Then, based on the terminal specification information SPC and the request terminal specification REQ-SPC, the terminal selection unit 450-T selects a first remote operator terminal 200-X that satisfies the request terminal specification REQ-SPC from among the available remote operator terminals 200. The selected first remote operator terminal 200-X is assigned to the remote operation of the target mobility 100-X.

[0111] When there are multiple remote operator terminals 200 that meet the terminal specification REQ-SPC, the terminal selection unit 450-T may select the first remote operator terminal 200-X in consideration of the terminal score SCR-T described in Section 4 above. More specifically, the terminal selection unit 450-T may preferentially select a remote operator terminal 200 with a high terminal score SCR-T as the first remote operator terminal 200-X. When there are multiple candidates having the same terminal score SCR-T, the terminal selection unit 450-T may preferentially select a remote operator terminal 200 with a longer waiting time as the first remote operator terminal 200-X.

[0112] 6-2. Second Example It is also conceivable to prepare a dedicated remote operator terminal 200 (remote cockpit) for each type of mobility 100. On the other hand, it is preferable from the viewpoints of cost reduction, reduction of installation area, efficiency improvement, convenience, etc. if a single remote operator terminal 200 can remotely operate various types of mobility 100. Therefore, in the second example, remotely operating various types of mobility 100 with a single remote operator terminal 200 is considered. For this purpose, the specifications (equipment) of the remote operator terminal 200 are grasped again by more abstracting. More specifically, as described below, the specifications (equipment) of the remote operator terminal 200 are defined by "operating system capabilities" and "display system capabilities". Note that descriptions overlapping with the above-described first example are appropriately omitted.

[0113] 6-2-1. Operating System Capabilities The input device 230 (see FIG. 5) of the remote operator terminal 200 includes a remote operation member that the remote operator O operates when remotely operating the mobility 100. Examples of the remote operation member include a handle (steering wheel), an accelerator pedal, a brake pedal, a joystick, a cross key, a touch panel, and the like. Even if the physical structures of the remote operation members are different, the uses of the remote operation members are common. That is, the remote operation member is used to perform forward / backward and lateral operations of the target mobility 100-X. Therefore, one remote operation member can be substituted with another remote operation member.

[0114] For example, the forward operation, backward operation, and lateral operation of the joystick are respectively associated with the operation of the accelerator pedal, the operation of the brake pedal, and the operation of the steering wheel. As another example, the operation systems of various types of mobility 100 can also be reproduced by a user interface displayed on the touch panel. In any case, it is possible to convert the operation amount of a certain remote operation member into the operation amount of another remote operation member. Therefore, a certain remote operation member can be substituted with another remote operation member.

[0115] From the above viewpoints, the operation system capabilities of the remote operator terminal 200 are defined. Specifically, the operation system capabilities of the remote operator terminal 200 include "the number of inputs for the forward and backward operations of the mobility 100" and "the number of inputs for the lateral operation of the mobility 100". The operation system capabilities of the remote operator terminal 200 may further include "the presence or absence of operation feedback". The presence or absence of operation feedback means whether the remote operator terminal 200 is equipped with an operation reaction force mechanism capable of generating an operation reaction force for the remote operator O.

[0116] FIG. 17 is a diagram showing an example of terminal specification information SPC and required terminal specification REC-SPC related to the operation system. As shown in FIG. 17, the terminal specification information SPC includes operation system information indicating the operation system capabilities of each of the plurality of remote operator terminals 200. For example, the number of forward and backward operation inputs of the remote operator terminal 200 equipped with an accelerator pedal and a brake pedal is "2". As another example, the number of forward and backward operation inputs of the remote operator terminal 200 equipped with a joystick is "2". In the case of a tablet capable of displaying an arbitrary user interface on the touch panel, the operation system capabilities can be freely set.

[0117] The required terminal specification REC-SPC includes the operating system capabilities required for the remote operation of the target mobility 100-X. As shown in FIG. 17, if the type of the target mobility 100-X (e.g., vehicle, ship, construction machinery) is different, the required operating system capabilities will also change. Further, even if the types of the target mobility 100-X are the same, the required operating system capabilities may differ depending on the content of the desired remote operation (e.g., long-distance driving, shoulder avoidance).

[0118] The required terminal specification acquisition unit 430 receives a remote operation request REQ. The remote operation request REQ indicates at least one of "the type of the target mobility 100-X" and "the content of the desired remote operation of the target mobility 100-X". The required terminal specification acquisition unit 430 can recognize a required terminal specification REQ-SPC including the operating system capabilities required for the remote operation of the target mobility 100-X based on the remote operation request REQ.

[0119] For example, a conversion table 435 showing the correspondence between the remote operation request REQ and the required terminal specification REQ-SPC is prepared in advance (see FIG. 16). The conversion table 435 is stored in advance in the storage device 370 of the management system 300. The required terminal specification acquisition unit 430 can recognize the required terminal specification REQ-SPC corresponding to the remote operation request REQ by referring to the conversion table 435.

[0120] The terminal selection unit 450-T acquires the terminal specification information SPC and the information of the required terminal specification REQ-SPC. Then, based on the terminal specification information SPC and the required terminal specification REQ-SPC, the terminal selection unit 450-T selects a first remote operator terminal 200-X that satisfies the required terminal specification REQ-SPC from among the available remote operator terminals 200. More specifically, the terminal selection unit 450-T selects a first remote operator terminal 200-X that has at least the required operating system capabilities based on the terminal specification information SPC (operating system information) and the required terminal specification REQ-SPC. The selected first remote operator terminal 200-X is assigned to the remote operation of the target mobility 100-X.

[0121] When there are multiple remote operator terminals 200 with the required operating system capabilities, the terminal selection unit 450-T may select the first remote operator terminal 200-X in consideration of the terminal score SCR-T described in Section 4 above. More specifically, the terminal selection unit 450-T may preferentially select a remote operator terminal 200 with a high terminal score SCR-T as the first remote operator terminal 200-X. When there are multiple candidates with the same terminal score SCR-T, the terminal selection unit 450-T may preferentially select a remote operator terminal 200 with a longer waiting time as the first remote operator terminal 200-X.

[0122] As another example, when there are multiple remote operator terminals 200 that meet the required operating system capabilities, the terminal selection unit 450-T may select a remote operator terminal 200 with the minimum operating system capabilities as the current first remote operator terminal 200-X. In this case, remote operator terminals 200 with higher operating system capabilities will be reserved. As a result, even when high operating system capabilities are required for the remote operation of the next target mobility 100-X, the probability of being able to assign an appropriate remote operator terminal 200 increases.

[0123] As a variant, in a specific situation, the terminal selection unit 450-T may select a remote operator terminal 200 that slightly fails to meet the required operating system capabilities as the first remote operator terminal 200-X. As a specific situation, it is conceivable that there are no other options in an emergency. For example, although operation feedback is preferably desired, a remote operator terminal 200 without operation feedback may be selected as the first remote operator terminal 200-X in an emergency. However, in that case, the terminal selection unit 450-T instructs functional restrictions on the target mobility 100-X and the first remote operator terminal 200-X. Examples of functional restrictions include reducing the upper limit speed to a limit value lower than the default value, narrowing the steering range to a limit range narrower than the default range, etc. The instructions for the target mobility 100-X and the first remote operator terminal 200-X are carried out through communication.

[0124] 6-2-2. Display system capabilities The display devices 220 (see Fig. 5) of the remote operator terminals 200 are also diverse. For example, the number of monitors included in the display device 220 can vary for each remote operator terminal 200. Also, the resolution (size) of each monitor is also diverse. If the resolution (size) of the monitor is large, it is possible to simultaneously display multiple types of videos within one monitor. Further, when the control device 250 of the remote operator terminal 200 is equipped with a Picture-in-Picture function, it is also possible to embed another video within one video. From the above viewpoints, the display system capabilities of the remote operator terminal 200 are defined. Specifically, the display system capabilities of the remote operator terminal 200 include the "number of monitors" and the "number of videos that can be displayed simultaneously".

[0125] Fig. 18 is a diagram showing an example of terminal specification information SPC and required terminal specification REC-SPC related to the display system. As shown in Fig. 18, the terminal specification information SPC includes display system information indicating the display system capabilities of each of the plurality of remote operator terminals 200.

[0126] The required terminal specification REC-SPC includes the display system capabilities required for the remote operation of the target mobility 100-X. As shown in Fig. 18, if the type of the target mobility 100-X (e.g., vehicle, construction machine) is different, the required display system capabilities also change. Also, even if the type of the target mobility 100-X is the same, the required display system capabilities can be different depending on the content of the desired remote operation (e.g., driving assistance, parking assistance).

[0127] The required terminal specification acquisition unit 430 receives a remote operation request REQ. The remote operation request REQ indicates at least one of the "type of the target mobility 100-X" and the "content of the desired remote operation of the target mobility 100-X". The required terminal specification acquisition unit 430 can recognize a required terminal specification REQ-SPC including the display system capabilities required for the remote operation of the target mobility 100-X based on the remote operation request REQ.

[0128] For example, a conversion table 435 showing the correspondence between a remote operation request REQ and a request terminal specification REQ-SPC is prepared in advance (see FIG. 16). The conversion table 435 is stored in advance in the storage device 370 of the management system 300. By referring to the conversion table 435, the request terminal specification acquisition unit 430 can recognize the request terminal specification REQ-SPC corresponding to the remote operation request REQ.

[0129] The terminal selection unit 450-T acquires the terminal specification information SPC and the request terminal specification REQ-SPC information. Then, based on the terminal specification information SPC and the request terminal specification REQ-SPC, the terminal selection unit 450-T selects a first remote operator terminal 200-X that meets the request terminal specification REQ-SPC from among the available remote operator terminals 200. More specifically, the terminal selection unit 450-T selects a first remote operator terminal 200-X that has at least the required display system capabilities based on the terminal specification information SPC (display system information) and the request terminal specification REQ-SPC. The selected first remote operator terminal 200-X is assigned to the remote operation of the target mobility 100-X.

[0130] When there are a plurality of remote operator terminals 200 having the required display system capabilities, the terminal selection unit 450-T may select the first remote operator terminal 200-X in consideration of the terminal score SCR-T described in section 4 above. More specifically, the terminal selection unit 450-T may preferentially select a remote operator terminal 200 with a high terminal score SCR-T as the first remote operator terminal 200-X. When there are a plurality of candidates having the same terminal score SCR-T, the terminal selection unit 450-T may preferentially select a remote operator terminal 200 with a longer waiting time as the first remote operator terminal 200-X.

[0131] As another example, when there are a plurality of remote operator terminals 200 that satisfy the required display system capabilities, the terminal selection unit 450-T may select a remote operator terminal 200 having the minimum display system capabilities as the current first remote operator terminal 200-X. In this case, remote operator terminals 200 having higher display system capabilities will be reserved. As a result, even when high display system capabilities are required for the remote operation of the next target mobility 100-X, the probability of being able to assign an appropriate remote operator terminal 200 increases.

[0132] As a modification, in a specific situation, the terminal selection unit 450-T may select a remote operator terminal 200 that slightly fails to meet the required display system capabilities as the first remote operator terminal 200-X. As a specific situation, a case where there are no other options in an emergency can be considered. For example, although it is desired to display two types of auxiliary images in addition to preferably three types of essential images, a remote operator terminal 200 that can only display three types of images in an emergency may be selected as the first remote operator terminal 200-X. However, in that case, the terminal selection unit 450-T instructs functional restrictions on the target mobility 100-X and the first remote operator terminal 200-X. Examples of functional restrictions include lowering the upper limit speed to a limit value lower than the default value, narrowing the steering range to a limit range narrower than the default range, and the like. The instructions for the target mobility 100-X and the first remote operator terminal 200-X are performed through communication.

[0133] In addition, the remote operator O can freely customize the display mode of the video according to the content of the remote operation request REQ. The display mode of the video includes layout, video display position, video size, presence or absence of video display, and the like. The remote operator O can also freely set the presence or absence of display of the auxiliary image. The auxiliary image includes vehicle width lines, trajectory lines, maximum turning lines, safe parking positions, and the like.

[0134] 6-3. Effects As described above, according to the third perspective, the specifications of each remote operator terminal 200 and the required terminal specifications REQ-SPC required for the remote operation of the target mobility 100-X are considered. Then, the first remote operator terminal 200-X that meets the required terminal specifications REC-SPC is assigned to the remote operation of the target mobility 100-X. Thereby, the accuracy of the remote operation of the target mobility 100-X is ensured. In addition, a situation where a remote operator terminal 200 that does not have the required terminal specifications REC-SPC is erroneously assigned to the target mobility 100-X is avoided. Therefore, it is not necessary to redo the assignment process from the beginning, and an efficient assignment process is realized.

Explanation of Signs

[0135] 1 Remote operation system 100 Mobility 200 Remote operator terminal 300 Management system 400 Assignment processing unit MOV Mobility information O Remote operator OPE Remote operation information REQ Remote operation request

Claims

1. A remote operation system for remotely operating mobility, comprising: one or more processors, wherein the one or more processors are configured to: obtain terminal specification information indicating the specifications of each of a plurality of remote operator terminals; obtain requirement capability information indicating at least the required terminal specifications for the remote operation of the target mobility; allocate, based on the terminal specification information and the required terminal specifications, a first remote operator terminal that meets the required terminal specifications among the plurality of remote operator terminals to the remote operation of the target mobility. A remote operation system thus configured.

2. The remote operation system according to claim 1, wherein the one or more processors are further configured to: receive a remote operation request indicating at least one of the type of the target mobility and the content of the remote operation of the target mobility; recognize the required terminal specifications for the remote operation of the target mobility based on the remote operation request. A remote operation system thus configured.

3. The remote operation system according to claim 2, comprising one or more storage devices storing a table indicating the correspondence between the remote operation request and the required terminal specifications, wherein the one or more processors are configured to recognize the required terminal specifications corresponding to the remote operation request by referring to the table. A remote operation system thus configured.

4. The remote operation system according to any one of claims 1 to 3, wherein the terminal specification information includes operating system information indicating the operating system capabilities of each remote operator terminal, the required terminal specifications include the operating system capabilities required for the remote operation of the target mobility, and the one or more processors are configured to allocate, based on the operating system information and the required terminal specifications, the first remote operator terminal having at least the required operating system capabilities to the remote operation of the target mobility. A remote operation system thus configured.

5. The remote operation system according to claim 4, wherein the operating system capabilities include the number of inputs for forward / backward operations and the number of inputs for lateral operations. A remote operation system thus configured.

6. The remote operation system according to claim 5, wherein the operating system capabilities further include the presence or absence of operation feedback. A remote operation system thus configured.

7. The remote operation system according to any one of claims 1 to 3, wherein The terminal specification information includes display system information indicating the display system capabilities of each of the remote operator terminals. The required terminal specification includes the display system capabilities required for the remote operation of the target mobility. The one or more processors are configured to assign the first remote operator terminal having at least the required display system capabilities based on the display system information and the required terminal specification to the remote operation of the target mobility. Remote operation system.

8. The remote operation system according to claim 7, The display system capabilities include the number of monitors and the number of videos that can be displayed simultaneously. Remote operation system.

9. A remote operation management method for a computer to manage the remote operation of a mobility, obtaining terminal specification information indicating the specifications of each of a plurality of remote operator terminals, obtaining required capability information indicating at least the required terminal specification for the remote operation of the target mobility, and based on the terminal specification information and the required terminal specification, assigning the first remote operator terminal that meets the required terminal specification among the plurality of remote operator terminals to the remote operation of the target mobility. including Remote operation management method.

10. A management program for managing the remote operation of a mobility, The management program is executed by a computer, obtaining terminal specification information indicating the specifications of each of a plurality of remote operator terminals, obtaining required capability information indicating at least the required terminal specification for the remote operation of the target mobility, and based on the terminal specification information and the required terminal specification, causing the computer to assign the first remote operator terminal that meets the required terminal specification among the plurality of remote operator terminals to the remote operation of the target mobility. causing the computer to execute Management program.

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