Remote driving system

Abstract

To provide a remote driving system for remote driving of a mobility, materialize remote driving of a mobility through collaboration between a first remote driver and second remote driver, and properly ensure safety of the remote driving of the mobility.SOLUTION: A remote driving system includes one or plural processors designed to additionally allocate a second remote driver to an object mobility, to which a first remote driver has been allocated, under a predetermined requirement. When remote driving by the second remote driver is not under way, the object mobility operates in line with driving operation information on remote driving by the first remote driver. When the remote driving by the second remote driver is under way, the object mobility operates in line with driving operation information on remote driving by the second remote driver.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a method for operating a remotely operated vehicle. In the method disclosed in Patent Document 1, the remotely operated vehicle is connected to a first control center and a second control center. In normal operation, the remotely operated vehicle is operated by an operator at the first control center via communication with the first control center. The communication path between the second control center and the remotely operated vehicle is in a standby state that can be switched from the first control center.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a remote operation system, a remote driver is assigned to a mobility, and the remote operation of the mobility is performed by the assigned remote driver. Typically, one remote driver is assigned to one mobility. On the other hand, although the driving judgment in the remote operation of the mobility is entrusted to the assigned remote driver, there is a possibility that the assigned single remote driver makes an incorrect driving judgment. The prediction of such a situation becomes an issue in the safety of remote operation of mobility.

[0005] According to the technology disclosed in Patent Document 1, a redundant remote operation system in which a first control center and a second control center are connected to one mobility is realized, and the availability of the system can be improved. On the other hand, the second control center is in a standby state, and the driving judgment by the remote driver (operator) of the second control center in normal operation is not reflected in the remote operation of the mobility. Thus, conventionally, sufficient consideration has not been given to the above problems.

Means for Solving the Problems

[0006] One aspect of the present disclosure relates to a remote operation system in which a remote driver is assigned to a mobility, and the remote operation of the mobility is performed by the assigned remote driver. The remote operation system includes one or more processors configured to additionally assign a second remote driver to a target mobility to which a first remote driver is assigned under a predetermined condition. The target mobility operates according to the first driving operation information of the remote operation by the first remote driver while the remote operation by the second remote driver is not being performed, and operates according to the second driving operation information of the remote operation by the second remote driver while the remote operation by the second remote driver is being performed.

Advantages of the Invention

[0007] According to the present disclosure, it is possible to realize the remote operation of mobility by the cooperation of the first remote driver and the second remote driver. Thereby, the safety of the remote operation of the mobility can be appropriately ensured.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0009] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0010] 1 Remote Driving System FIG. 1 is a conceptual diagram for explaining the overall configuration of a remote driving system 10 according to the present embodiment. The remote driving system 10 includes a management server 100, a mobility 200, and a remote driver 300. In the remote driving system 10, remote driving of the mobility 200 by the remote driver 300 is performed.

[0011] The Mobility 200 is a device capable of performing at least a movement operation. The Mobility 200 typically includes a plurality of Mobilities 200 (200-A, 200-B, 200-C, ···). Each Mobility 200 may be of a different type of mobility. Also, each Mobility 200 may be a mobility capable of various operations other than the movement operation. For example, the Mobility 200 is 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 200 may be a vehicle used in a factory (e.g., a forklift, a factory cart, etc.). As yet another example, the Mobility 200 may be a special small vehicle (e.g., a golf course cart, a personal mobility, a motorized wheelchair, etc.). As yet another example, the Mobility 200 may be a robot (e.g., a logistics robot, a work robot, etc.). As yet another example, the Mobility 200 may be an aircraft (e.g., a drone, etc.). As yet another example, the Mobility 200 may be a ship (e.g., a small ship, a large cruiser, etc.). As yet another example, the Mobility 200 may be a ride in an amusement park (e.g., a cart, an attraction, etc.).

[0012] The Remote Driver 300 typically includes a plurality of Remote Drivers 300 (300-a, 300-b, 300-c, 300-d, ···). Each Remote Driver 300 uses a remote cockpit 301 (301-a, 301-b, 301-c, 301-d, ···) to perform remote driving of the Mobility 200. Each remote cockpit 301 is configured to receive various operation inputs related to the remote driving of the Mobility 200. That is, each Remote Driver 300 performs remote driving of the Mobility 200 by operating the remote cockpit 301.

[0013] A plurality of remote drivers 300 are typically located within a specific facility (mobility service center) and engage in the remote operation of the mobility 200. In this case, each remote driver 300 is assumed to use a remote cockpit 301 deployed within the mobility service center. At this time, the combination of the remote driver 300 and the remote cockpit 301 may be pre-determined or may be freely changeable. The plurality of remote drivers 300 may include remote drivers 300 who engage in the remote operation of the mobility 200 outside the mobility service center. In this case, it is assumed that the remote driver 300 uses the remote cockpit 301 that they manage.

[0014] The management server 100 is communicably connected to each mobility 200 and each remote cockpit 301 via a communication network. The management server 100 may be composed of a plurality of servers that perform distributed processing.

[0015] The management server 100 manages the remote operation system 10. In particular, the management server 100 executes a process of allocating a remote driver 300 to the mobility 200 in response to a request REQ for the remote operation of the mobility 200. The request REQ requests service support by the remote operation of the mobility 200. For example, the request REQ requests a share car delivery service that delivers a share car by remote operation. Also, for example, the request REQ requests a passenger transportation service by the remote operation of a bus. Also, for example, the request REQ requests support for stacked autonomous vehicles. Also, for example, the request REQ requests a service for collecting and delivering luggage by the remote operation of a forklift. The request REQ includes information on the mobility 200 for which remote operation is requested and service support information. The request REQ is transmitted, for example, from an operator who provides service support using the mobility 200. Alternatively, the request REQ may be transmitted from the mobility 200 to the management server 100.

[0016] The management server 100 stores the management database D10. The management database D10 contains data for managing the status of the remote drivers 300. For example, the management database D10 manages data such as the correspondence status and availability status of each remote driver 300, management information of the remote cockpit 301 used by each remote driver 300 (e.g., management number, type, terminal specifications, etc.), the ID and attribute information of each remote driver (e.g., age, gender, qualifications, work experience, etc.), and so on. The management database D10 may also contain data for managing the processing status of each request REQ received by the management server 100. For example, the management database D10 manages data such as the mobility 200 corresponding to each request REQ, the service support requested by each request REQ, the remote driver 300 assigned to the corresponding mobility 200, and so on.

[0017] When the management server 100 receives a request REQ, it checks the content of the mobility 200 and service support for which remote driving is requested. Next, the management server 100 refers to the management database D10 and selects a remote driver 300 to be assigned to the mobility 200 related to the request REQ. When the assignment is made, based on the information transmitted from the management server 100, communication is started between the mobility 200 related to the request REQ and the remote cockpit 301 of the assigned remote driver 300. Through this communication, remote driving of the mobility 200 by the remote driver 300 is performed. Note that the communication may be configured to be relayed by the management server 100.

[0018] In this way, in the remote driving system 10, a remote driver 300 is assigned to the mobility 200, and the remote driver 300 performs remote driving of the mobility 200.

[0019] FIG. 2 is a block diagram showing a configuration example of the remote driving system 10 related to remote driving of the mobility 200 by the remote driver 300.

[0020] The management server 100, the mobility 200, and the remote cockpit 301 are configured to communicate with each other via the communication network 400. The communication network 400 is composed of, for example, a mobile communication network, the Internet, a LAN, etc.

[0021] The remote cockpit 301 includes a communication interface (communication I / F) 310, a control device 320, a driving operation input unit 330, and an output unit 340.

[0022] The communication interface 310 is an interface for connecting to the communication network 400 and communicating with devices external to the remote cockpit 301. The remote cockpit 301 transmits and receives information to and from the management server 100 and the mobility 200 via the communication interface 310.

[0023] The control device 320 is a computer that controls the remote cockpit 301. The control device 320 includes a processor 321 and a storage device 322. The processor 321 executes various processes. The processor 321 is composed of, for example, 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 combinations thereof. The processor 321 can also be referred to as circuitry or processing circuitry. Circuitry is hardware programmed to implement the functions described in the present disclosure, or hardware that executes those functions. The storage device 322 stores various information necessary for the execution of the processes of the processor 321. The storage device 322 is composed of, for example, recording media such as RAM (Random Access Memory), ROM (Read Only Memory), SSD (Solid State Drive), HDD (Hard Disk Drive), etc.

[0024] A computer program 323 is stored in the memory device 322. The computer program 323 may be recorded on a computer-readable recording medium. The computer program 323 describes the processing to be executed by the processor 321. The functions of the control device 320 are realized by the cooperation of the processor 321 that executes the computer program 323 and the memory device 322.

[0025] In addition, mobility information MOV regarding the mobility 200 to be remotely operated is stored in the memory device 322. The mobility information MOV includes at least operation status information related to the operation of the mobility 200. The operation status information includes information regarding the state of operation of the mobility 200, such as, for example, the moving speed of the mobility 200, longitudinal and lateral accelerations, altitude, operation states of various mounted devices, etc. The operation status information also includes information regarding the environment of the operation of the mobility 200, such as, for example, the distance from surrounding objects, the types of surrounding objects, operation restrictions imposed at the operation position (e.g., speed limit, temporary stop, driving position, etc.), etc. In addition, the mobility information MOV includes various types of information necessary for the remote operation of the mobility 200 by the remote driver 300. For example, the mobility information MOV includes images and sounds around the mobility 200. The control device 320 receives the mobility information MOV from the mobility 200.

[0026] The output unit 340 is controlled by the control device 320 and outputs information to the remote driver 300. The output unit 340 includes a display 341 and a speaker 342. The control device 320 outputs various types of information necessary for the remote operation of the mobility 200 by the remote driver 300 from the output unit 340 based on the mobility information MOV. For example, the control device 320 displays an image around the mobility 200 on the display 341.

[0027] The driving operation input unit 330 receives the input of driving operations by the remote driver 300. The driving operation input unit 330 is composed of, for example, an accelerator pedal, a brake pedal, a steering wheel, a joystick, etc. It is assumed that the remote driver 300 performs driving operations via the driving operation input unit 330 while recognizing the information output from the output unit 340. The control device 320 acquires the driving operation information OPE input to the driving operation input unit 330 and transmits the acquired driving operation information OPE to the management server 100 and the mobility 200.

[0028] The mobility 200 includes a communication interface (communication I / F) 210, a control device 220, an actuator 230, and a sensor 240.

[0029] The communication interface 210 is an interface for connecting to the communication network 400 and communicating with devices external to the mobility 200. The mobility 200 transmits and receives information to and from the management server 100 and the remote cockpit 301 via the communication interface 210.

[0030] The control device 220 is a computer that controls the mobility 200. The control device 220 includes a processor 221 and a storage device 222. The processor 221 executes various processes. The processor 221 is composed of, for example, 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 combinations thereof. The storage device 222 stores various information necessary for the execution of the processes by the processor 221. The storage device 222 is composed of, for example, recording media such as RAM (Random Access Memory), ROM (Read Only Memory), SSD (Solid State Drive), HDD (Hard Disk Drive), etc.

[0031] A computer program 223 is stored in the memory device 222. The computer program 223 may be recorded on a computer-readable recording medium. The computer program 223 describes the processing to be executed by the processor 221. The functions of the control device 220 are realized by the cooperation of the processor 221 that executes the computer program 223 and the memory device 222.

[0032] Also, driving operation information OPE is stored in the memory device 222. The control device 220 receives the driving operation information OPE from the remote cockpit 301. The control device 220 generates a control signal for controlling the actuator 230 based on the driving operation information OPE.

[0033] The actuator 230 operates various devices mounted on the mobility 200. For example, the actuator 230 includes an actuator that operates the moving mechanism of the mobility 200. The actuator 230 is driven according to the control signal acquired from the control device 220. By driving the actuator 230, the operation of the mobility 200 is realized. In this way, the mobility 200 operates according to the driving operation information OPE.

[0034] The sensor 240 detects mobility information MOV. Examples of the sensor 240 include a speed sensor, an acceleration sensor, a gyro sensor, an IMU (Inertial Measurement Unit), a camera, a radar, a LiDAR, a GNSS (Global Navigation Satellite System) sensor, and the like. The control device 220 acquires the mobility information MOV detected by the sensor 240 and transmits the acquired mobility information MOV to the management server 100 and the remote cockpit 301.

[0035] The management server 100 includes a communication interface (communication I / F) 110, a processor 121, and a memory device 122.

[0036] The communication interface 110 is an interface for connecting to the communication network 400 and communicating with devices external to the management server 100. The management server 100 transmits and receives information to and from the mobility 200 and the remote cockpit 301 via the communication interface 110.

[0037] The processor 121 executes various processes. The processor 121 is composed of, for example, 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 combinations thereof. The storage device 122 stores various information necessary for the execution of the processes by the processor 121. The storage device 122 is composed of, for example, recording media such as a RAM (Random Access Memory), a ROM (Read Only Memory), an SSD (Solid State Drive), and an HDD (Hard Disk Drive).

[0038] The storage device 122 stores a computer program 123. The computer program 123 may be recorded on a computer-readable recording medium. The computer program 123 describes the processes to be executed by the processor 121. The functions of the management server 100 are realized by the cooperation of the processor 121 that executes the computer program 123 and the storage device 122.

[0039] The storage device 122 also stores mobility information MOV and driving operation information OPE. The management server 100 acquires the mobility information MOV and the driving operation information OPE from the mobility 200 and the remote cockpit 301, respectively. The storage device 122 also stores a management database D10. The management database D10 may be updated at any time by the processes executed by the processor 121.

[0040] As described above, the remote operation system 10 according to the present embodiment is configured. The remote operation system 10 according to the present embodiment has further characteristic functions related to remote operation based on the above-described configuration. Hereinafter, the characteristics of the remote operation system according to the present embodiment will be described.

[0041] 2 Features of the Present Embodiment 2.1 Assignment of an Additional Remote Driver The management server 100 according to the present embodiment performs an operation of further assigning a remote driver 300 to the mobility 200 to which the remote driver 300 is assigned under a predetermined condition. That is, when a predetermined condition is satisfied, two remote drivers 300 are assigned to one mobility 200. For example, in the case shown in FIG. 1, an additional remote driver 300-d is assigned to the mobility 200-A to which the remote driver 300-a is assigned. Hereinafter, the assigned remote driver 300 is referred to as the "first remote driver 300-1", and the additionally assigned remote driver 300 is referred to as the "second remote driver 300-2".

[0042] The predetermined condition for assigning the second remote driver 300-2 may be appropriately set according to the environment to which the present embodiment is applied. Incidentally, in the remote operation system 10 according to the present embodiment, as will be described later, the second remote driver 300-2 can intervene in the driving operation so as to assist the remote operation by the first remote driver 300-1. That is, assigning the second remote driver 300-2 ensures the safety of the remote operation of the mobility 200. On the other hand, assigning the second remote driver 300-2 to all the mobilities 200 is not desirable from the viewpoint of the resources of the remote driver 300. Therefore, the predetermined condition can be particularly set to be that it is determined that the remote operation by the first remote driver 300-1 is inappropriate.

[0043] Whether the remote driving by the first remote driver 300-1 is appropriate can be determined based on a comparison between the driving operation information OPE of the remote driving by the first remote driver 300-1 and the operation status information of the mobility 200. For example, in the following cases (1) to (3), it is determined that the remote driving by the first remote driver 300-1 is inappropriate. When driving operations related to specific operations such as sudden acceleration, sudden braking, and sudden turning are performed a predetermined number of times or more When the driving operation continues in a state where the distance from surrounding objects (for example, other vehicles) is not sufficiently maintained When a driving operation that does not comply with the operation restrictions imposed at the operation position is performed

[0044] By giving such predetermined conditions, in view of the resources of the remote driver 300, the second remote driver 300-2 can be appropriately assigned.

[0045] 2.2 Remote driving by cooperation between the first remote driver and the second remote driver As described above, in the remote driving system 10 according to the present embodiment, under predetermined conditions, two remote drivers 300, namely the first remote driver 300-1 and the second remote driver 300-2, are assigned to one mobility 200 (target mobility 200-X). At this time, the remote driving system 10 according to the present embodiment enables the first remote driver 300-1 and the second remote driver 300-2 to cooperate to perform remote driving of the target mobility 200-X. Hereinafter, with reference to FIG. 3, the remote driving of the target mobility 200-X by the cooperation between the first remote driver 300-1 and the second remote driver 300-2 realized by the remote driving system 10 will be described.

[0046] When the second remote driver 300-2 is assigned to the target mobility 200-X, in addition to the remote cockpit 301 (the first remote cockpit 301-1) used by the first remote driver 300-1, the remote cockpit 301 (the second remote cockpit 301-2) used by the second remote driver 300-2 also communicates with the target mobility 200-X. That is, the second remote driver 300-2 is in a state where it can perform remote driving by operating the second remote cockpit 301-2. Therefore, the remote driving of the target mobility 200-X can be divided into when the remote driving by the second remote driver 300-2 is not being performed and when it is being performed.

[0047] When the remote driving by the second remote driver 300-2 is not being performed, only the driving operation information OPE (the first driving operation information OPE-1) of the remote driving by the first remote driver is transmitted to the target mobility 200-X. The target mobility 200-X operates according to the first driving operation information OPE-1. That is, the remote driving by the first remote driver 300-1 continues. On the other hand, the second remote driver 300-2 can monitor the operation of the target mobility 200-X from the information output from the output unit 340 of the second remote cockpit 301-2.

[0048] Also, when the remote driving by the second remote driver 300-2 is not being performed, the first driving operation information OPE-1 is transmitted to the second remote cockpit 301-2. Then, the control device 320 of the second remote cockpit 301-2 synchronizes the operation state of the second remote cockpit 301-2 with the operation state of the first remote cockpit 301-2. The operation states to be synchronized are typically the operation amounts of the operation input unit 330. For example, the amount of depression of the accelerator pedal, the steering angle of the steering wheel, etc. can be mentioned. The operation input unit 330 may include an actuator that can be controlled by the control device 320. The control device 320 can control the operation amounts of the respective members of the operation input unit 330 through the control of the actuator. In this way, the synchronization of the operation states of the first remote cockpit 301-2 and the second remote cockpit 301-2 is realized.

[0049] When the second remote driver 300-2 senses an abnormality in the operation of the first remote driver 300-1, it is assumed that the second remote driver 300-2 operates the second remote cockpit 301-2 to intervene in the operation. By synchronizing the operation states, it becomes easier for the second remote driver 300-2 to determine whether to intervene in the operation.

[0050] Next, the case where the remote operation by the second remote driver 300-2 is being performed will be described. When the remote operation by the second remote driver 300-2 is being performed, in addition to the first operation information OPE-1, the operation information OPE (second operation information OPE-2) of the remote operation by the second remote driver 300-2 is also transmitted to the target mobility 200-X. At this time, in the remote operation system 10 according to the present embodiment, the target mobility 200-X is configured to operate according to the second operation information OPE-2. That is, the remote operation of the target mobility 200-X switches to the remote operation by the second remote driver 300-2. The control device 220 of the target mobility 200-X controls the actuator 230 based on the second operation information OPE-2.

[0051] Also, when the remote operation by the second remote driver 300-2 is being performed, the first remote driver 300-1 is notified that the remote operation by the second remote driver 300-2 is being performed. For example, the management server 100 transmits the determination result as to whether the remote operation by the second remote driver 300-2 is being performed to the first remote cockpit 301-1. Then, when the determination result indicates that the remote operation by the second remote driver 300-2 is being performed, the control device 320 of the first remote cockpit 301-1 notifies the first remote driver 300-1 of this fact from the output unit 340 by display or sound. By performing such notification, it is possible to prevent the first remote driver 300-1 from feeling anxious about the fact that its own operation is not reflected in the operation of the mobility 200.

[0052] As described above, according to the remote driving system 10 according to the present embodiment, when the remote driving by the second remote driver 300-2 is being performed, the target mobility 200-X operates according to the second driving operation information OPE-2. That is, the remote driving by the second remote driver 300-2 is prioritized. As a result, the second remote driver 300-2 can intervene in the driving operation so as to assist the remote driving by the first remote driver 300-1. In this way, the remote driving system 10 according to the present embodiment realizes the remote driving of the target mobility 200-X through the cooperation of the first remote driver 300-1 and the second remote driver 300-2. As a result, the safety of the remote driving of the target mobility 200-X can be appropriately ensured.

[0053] 2.3 Switching period As described above, when the remote driving by the second remote driver 300-2 is started, the remote driving of the target mobility 200-X switches to the remote driving by the second remote driver 300-2. That is, the target mobility 200-X switches from the operation according to the first driving operation information OPE-1 to the operation according to the second driving operation information OPE-2. At this time, due to the difference between the first driving operation information OPE-1 and the second driving operation information OPE-2, there is a risk that the operation of the target mobility 200-X may change suddenly.

[0054] Therefore, the remote driving system 10 according to the present embodiment may be configured to have a switching period until the target mobility 200-X switches from the operation according to the first driving operation information OPE-1 to the operation according to the second driving operation information OPE-2 when the remote driving by the second remote driver 300-2 is started. And the target mobility 200-X may be configured to operate according to the third driving operation information OPE-3 that gradually changes from the first driving operation information OPE-1 to the second driving operation information OPE-2 during the switching period.

[0055] FIG. 4 is a conceptual diagram for explaining the switching period. In FIG. 4, the time-series data of the first operation information OPE-1 and the second operation information OPE-2 are conceptually shown. In particular, the remote operation by the second remote driver 300-2 is started at time T1. As shown in FIG. 4, the third operation information OPE-3 is generated so as to gradually change from the first operation information OPE-1 to the second operation information OPE-2 during the switching period Δt. Then, the target mobility 200-X operates according to the first operation information OPE-1 until time T1. Also, the target mobility 200-X operates according to the third operation information OPE-3 during the switching period Δt from time T1. Further, the target mobility 200-X operates according to the second operation information OPE-2 from time T1+Δt.

[0056] For example, the control device 220 of the target mobility 200-X generates the third operation information OPE-3 by changing α from 0→1 during the switching period Δt according to the following formula (1). Then, the control device 220 of the target mobility 200-X controls the actuator 230 based on the third operation information OPE-3 during the switching period Δt. Formula (1): (OPE-3)=(OPE-2)×α+(OPE-1)×(1-α)

[0057] In this way, since the remote operation system 10 has a switching period, it is possible to prevent the operation of the target mobility 200-X from suddenly changing when the remote operation by the second remote driver 300-2 is started. As a result, the safety of the remote operation of the target mobility 200-X can be further enhanced.

[0058] 2.4 Processing Flow FIG. 5 is a diagram showing the processing flow executed in the remote operation system 10 according to the present embodiment. In FIG. 5, some of the processing by the first remote driver 300-1 and the second remote driver 300-2 is replaced by the processing by the first remote cockpit 301-1 and the second remote cockpit 301-2, respectively, as described below.

[0059] First, a first remote driver 300-1 is assigned to the target mobility 200-X. The first remote driver 300-1 performs remote operation of the target mobility 200-X (S100). At this time, the target mobility 200-X operates according to the first operation information OPE-1.

[0060] While the remote operation by the first remote driver 300-1 is being performed, the target mobility 200-X transmits mobility information MOV including the operation status information of the target mobility 200-X to the management server 100 (S111). Also, the first remote cockpit 301-1 transmits the first operation information OPE-1 to the management server 100 (S112).

[0061] Based on the comparison between the first operation information OPE-1 and the operation status information of the target mobility 200-X, the management server 100 determines whether the remote operation by the first remote driver 300-1 is appropriate (S120). If it is determined that the remote operation by the first remote driver 300-1 is appropriate, the remote operation (S100) by the first remote driver 300-1 is continued.

[0062] If it is determined that the remote operation by the first remote driver 300-1 is not appropriate, the management server 100 assigns a second remote driver 300-2 to the target mobility 200-X (S130).

[0063] After the assignment of the second remote driver 300-2, when the remote operation by the first remote driver 300-1 is performed (S140), the operation state of the second remote cockpit 301-2 is synchronized with the operation state of the first remote cockpit 301-1 (S150). The second remote driver 300-2 confirms the driving operation of the first remote driver 300-1 from the synchronized operation state. Also, the second remote driver 300-2 monitors the operation of the target mobility 200-X from the information of the output unit 340 of the second remote cockpit 301-2 (S160).

[0064] When the second remote driver 300-2 senses an abnormality in the operation of the first remote driver 300-1 or the like, it starts an operation via the second remote cockpit 301-2 (S170).

[0065] When the second remote driver 300-2 starts an operation, the target mobility 200-X operates according to the third operation information OPE-3 during the switching period (S180). The third operation information OPE-3 is generated so as to gradually change from the first operation information OPE-1 to the second operation information OPE-2 during the switching period.

[0066] After the switching period, remote operation of the target mobility 200-X by the second remote driver 300-2 is performed (S190). At this time, the target mobility 200-X operates according to the second operation information OPE-2. Also, the management server 100 notifies the first remote driver 300-1 that remote operation by the second remote driver 300-2 is being performed.

Explanation of Signs

[0067] 10 Remote operation system, 100 Management server, 200 Mobility, 300 Remote driver, 301 Remote cockpit

Claims

1. A remote driving system in which a remote driver is assigned to a mobility and the remote driving of the mobility is performed by the assigned remote driver, comprising one or more processors configured to additionally assign a second remote driver to a target mobility under a predetermined condition, wherein the target mobility operates according to first driving operation information of the remote driving by the first remote driver while the remote driving by the second remote driver is not being performed, and operates according to second driving operation information of the remote driving by the second remote driver while the remote driving by the second remote driver is being performed and is configured as a remote driving system.

2. The remote driving system according to claim 1, wherein the one or more processors acquire the first driving operation information and operation status information related to the operation of the target mobility, determine whether the remote driving by the first remote driver is appropriate based on a comparison between the first driving operation information and the operation status information, and additionally assign the second remote driver to the target mobility on the condition that it is determined that the remote driving by the first remote driver is inappropriate and is configured as a remote driving system.

3. The remote driving system according to claim 1 or 2, wherein the first remote driver performs remote driving by operating a first remote cockpit, the second remote driver performs remote driving by operating a second remote cockpit, and the one or more processors are further configured to synchronize the operation state of the second remote cockpit with the operation state of the first remote cockpit based on the first driving operation information while the remote driving by the second remote driver is not being performed and is configured as a remote driving system.

4. The remote driving system according to claim 1 or 2, wherein when the remote driving by the second remote driver is started, there is a switching period until the target mobility switches from operating according to the first driving operation information to operating according to the second driving operation information, and the target mobility operates according to third driving operation information generated to gradually change from the first driving operation information to the second driving operation information during the switching period and is configured as a remote driving system.

5. The remote driving system according to claim 1 or 2, The one or more processors are further configured to notify the second remote driver that the remote driving by the second remote driver is being performed while the remote driving by the second remote driver is being performed as described above remote driving system.

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