Management system, management method, and management program

Abstract

To provide a management system, etc., capable of performing integrated management.SOLUTION: A management system comprises a processor and manages an autonomously travelable vehicle. The processor executes a support of a vehicle managed by an individual vehicle management system in a traffic management center which manages traffic in an allocated support area. The processor executes grouping of a plurality of vehicles traveling in the support area under the traffic management center. The processor executes a reception of giving of a management authority relating to the management in the traffic management center recording a corresponding vehicle from a vehicle management system for each grouped vehicle in response to establishment of a support condition.SELECTED DRAWING: Figure 11

Description

Technical Field

[0001] The present disclosure relates to a management technology for managing self-driving vehicles.

Background Art

[0002] Patent Document 1 discloses a vehicle driving management system that controls the operation of a driverless vehicle in an environment where manned vehicles and driverless vehicles are mixed and driving. This vehicle driving management system stops the driving of the driverless vehicle when the inter-vehicle distance between the manned vehicle and the driverless vehicle is shorter than the unconditional stop distance.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the driving environment of multiple vehicles, a situation may occur where vehicles managed by different vehicle management systems are mixed. In such a situation, it may be assumed that there is a need to integrally manage the vehicles managed by different vehicle management systems. However, Patent Document 1 does not describe the integrated management of multiple vehicles managed by different vehicle management systems.

[0005] An object of the present disclosure is to provide a management system capable of coping with integrated management. Another object of the present disclosure is to provide a management method capable of coping with integrated management. Still another object of the present disclosure is to provide a management program capable of coping with integrated management.

Means for Solving the Problems

[0006] Hereinafter, the technical means of the present disclosure for solving the problems will be described. Note that the reference numerals in parentheses described in the claims and this column indicate the correspondence with the specific means described in the embodiments to be described in detail later, and do not limit the technical scope of the present disclosure.

[0007] The first aspect of the present disclosure is a management system that has at least one processor (33, 43, 53) and manages a vehicle (2) capable of autonomous driving, wherein the processor supports vehicles managed by individual vehicle management systems (31; 27) at a traffic management center (5) that manages the traffic in the assigned support area (A); groups a plurality of vehicles traveling in the support area by the traffic management center; and receives, from the vehicle management systems for the grouped vehicles, authorization of management authority regarding management at the traffic management center for the corresponding vehicles in response to the establishment of support conditions. The management system is configured to execute the above.

[0008] The second aspect of the present disclosure is a management method executed by at least one processor (33, 43, 53) to manage a vehicle (2) capable of autonomous driving, including supporting vehicles managed by individual vehicle management systems (31; 27) at a traffic management center (5) that manages the traffic in the assigned support area (A); grouping a plurality of vehicles traveling in the support area by the traffic management center; and receiving, from the vehicle management systems for the grouped vehicles, authorization of management authority regarding management at the traffic management center for the corresponding vehicles in response to the establishment of support conditions. The management method includes the above.

[0009] The third aspect of the present disclosure is a management program stored in a storage medium (32, 42, 52) and including instructions to be executed by a processor (33, 43, 53) to manage a vehicle (2) capable of autonomous driving, wherein the instructions Causing a vehicle managed by an individual vehicle management system (31; 27) to be assisted at a traffic management center (5) that manages the traffic in the assigned support area (A); Grouping a plurality of vehicles traveling in the support area by the traffic management center; Upon the fulfillment of the support conditions, causing the vehicle management system for each grouped vehicle to grant the traffic management center the management authority regarding the management of the corresponding vehicle; including.

[0010] According to these first to third aspects, upon the fulfillment of the support conditions, the vehicle management system for each grouped vehicle grants the traffic management center the management authority regarding the management of the corresponding vehicle. Therefore, when the support conditions are fulfilled, for the grouped vehicles, the management authority is granted from each individual vehicle management system to the traffic management center. Thus, even if a plurality of vehicles grouped by different vehicle management systems are being managed, integrated management by the traffic management center can be made possible.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0012] Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings. In each embodiment, the same reference numerals may be assigned to corresponding components, and redundant explanations may be omitted. Further, when only a part of the configuration is described in each embodiment, the configuration of other embodiments described previously can be applied to other parts of the said configuration. Furthermore, not only the combinations of configurations explicitly shown in the description of each embodiment, but also the configurations of a plurality of embodiments can be partially combined with each other as long as there is no problem with the combination, even if not explicitly shown.

[0013] (First Embodiment) The management system 1 of the first embodiment shown in FIG. 1 manages the operations of a plurality of vehicles 2. For example, the management system 1 includes a vehicle management center 3, an integrated management center 4, and a traffic management center 5.

[0014] The vehicle 2 managed by the management system 1 is a moving body such as an automobile that can travel on a driving route in the passenger boarding state. In the vehicle 2, an automatic driving mode is provided that is classified according to the degree of manual intervention of the passenger in the dynamic driving task (DDT: Dynamic Driving Task). The automatic driving mode may be realized by autonomous driving control in which the system during operation executes all dynamic driving tasks, such as conditional driving automation, highly automated driving, or fully automated driving. The automatic driving mode may be realized by highly automated driving assistance control in which the passenger executes some of the dynamic driving tasks, such as driving assistance or partial driving automation. The automatic driving mode may be realized by either one, a combination, or a switch between the autonomous driving control and the highly automated driving assistance control. The vehicle 2 can also be referred to as an autonomous robot or an autonomous vehicle, etc.

[0015] As shown in FIG. 2, the vehicle 2 includes a communication system 21, a sensor system 22, a map database 25, an information presentation system 26, and an in-vehicle control unit 27.

[0016] The communication system 21 acquires communication information available in the in-vehicle control unit 27 by wireless communication. The communication system 12 may be of the V2X type that transmits and receives communication signals to and from a V2X system existing outside the vehicle 2. The V2X type communication system 12 is at least one of, for example, a DSRC (Dedicated Short Range Communications) communication device and a cellular V2X (C-V2X) communication device, etc. With the V2X type communication system 12, the vehicle 2 can communicate wirelessly with the management system 1.

[0017] The sensor system 22 acquires sensor information that can be used by the vehicle-mounted control unit 27 for the external and internal environments of the vehicle 2. To this end, the sensor system 22 is configured to include an external sensor 23 and an internal sensor 24.

[0018] The external sensor 23 acquires external information as sensor information from the external environment that is the surrounding environment of the vehicle 2. The external sensor 23 is of a target detection type that detects targets existing in the external environment of the vehicle 2. The external sensor 23 of the target detection type includes, for example, a camera that images the external environment. The camera outputs an imaging image to the information processing unit 19 for each imaging cycle. The external sensor 23 may include a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) that can detect the reflected light of the irradiated laser light as point cloud data. In addition, the external sensor 23 may include at least one of a radar, a sonar, etc.

[0019] Alternatively, the external sensor 23 may be of a positioning type that receives a positioning signal from an artificial satellite of the GNSS (Global Navigation Satellite System) existing in the external environment of the vehicle 2. The external sensor 23 of the positioning type is, for example, a GNSS receiver or the like.

[0020] The internal sensor 24 acquires internal information as sensor information from the internal environment that is the internal environment of the vehicle 2. The internal sensor 24 may be of a vehicle state detection type that detects the state of the vehicle 2. The internal sensor 24 of the vehicle state detection type is at least one of, for example, a traveling speed sensor, an acceleration sensor, a gyro sensor, an actuator sensor, a remaining amount sensor, etc. The actuator sensor detects at least one of, for example, the control state of the traveling actuator of the vehicle 2, such as the operation state of the accelerator pedal, the operation state of the brake pedal, the steering state of the steering wheel, the on / off state of the start switch, and the shift state of the shift lever. The remaining amount sensor detects the remaining amount of an energy source that drives the vehicle 2, such as fuel or a battery.

[0021] The in-vehicle sensor 24 may be of a passenger detection type that detects a specific state of a passenger inside the vehicle 2. The in-vehicle sensor 24 of the passenger detection type is, for example, at least one of a driver status monitor (registered trademark), a biological sensor, a seating sensor, an actuator sensor, and an in-vehicle device sensor. Here, the driver status monitor detects at least one of, for example, an eyeball state including a saccade, a face direction, and a posture, as the state of the driver who manually operates the vehicle 2. The biological sensor detects at least one of, for example, a vital sign of a passenger, such as a pulse (i.e., heart rate), an electrocardiogram, respiration, body temperature, and a fingerprint. The seating sensor detects the seating state of a passenger in the vehicle seat. The in-vehicle device sensor detects at least one of, for example, an operation state of an on / off switch, an operation state of a touch panel, and a gesture that can be recognized without contact, as an instruction state of a passenger with respect to an in-vehicle device.

[0022] The map database 25 stores map information that can be used by the in-vehicle control unit 27. The map database 25 is configured to include at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium. The map database 25 may be a database of a locator that estimates a self-state quantity including the self-position of the vehicle 2. The map database 25 may be a database of a navigation unit that navigates the travel route of the vehicle 2. The map database 25 may be configured by a combination of multiple types of these databases and the like.

[0023] The map database 25 acquires and stores the latest map information, for example, through communication with an external center via a V2X type communication system 21. Here, the map information is digitized in two dimensions or three dimensions as information representing the driving environment of the vehicle 2. In particular, as the three-dimensional map data, digital data of a high-precision map may be adopted. The map information may include road information representing at least one of, for example, the position, shape, and road surface condition of the road itself. The map information may include marking information representing at least one of, for example, the position and shape of signs and lane lines attached to the road. The map information may include structure information representing at least one of, for example, the position and shape of buildings and traffic lights facing the road.

[0024] The information presentation system 26 presents notification information to the passengers of the vehicle 2. The information presentation system 26 may be of a visual stimulation type that stimulates the passengers' vision through display. The information presentation system 26 of the visual stimulation type is, for example, at least one of a HUD (Head-Up Display), an MFD (Multi-Function Display), a combination meter, and a navigation unit. The information presentation system 26 may be of an auditory stimulation type that stimulates the passengers' hearing through sound. The information presentation system 26 of the auditory stimulation type is, for example, at least one of a speaker, a buzzer, and a vibration unit.

[0025] The in-vehicle control unit 27 is connected to the communication system 21, the sensor system 22, the map database 25, and the information presentation system 26 via at least one of, for example, a LAN line, a wire harness, an internal bus, and a wireless communication line. The in-vehicle control unit 27 is configured to include at least one dedicated computer.

[0026] The dedicated computer that constitutes the in-vehicle control unit 27 may be an integrated ECU (Electronic Control Unit) that integrates the driving control of the vehicle 2. The dedicated computer that constitutes the in-vehicle control unit 27 may be a judgment ECU that judges the driving tasks in the driving control of the vehicle 2. The dedicated computer that constitutes the in-vehicle control unit 27 may be a monitoring ECU that monitors the driving control of the vehicle 2. The dedicated computer that constitutes the in-vehicle control unit 27 may be an evaluation ECU that evaluates the driving control of the vehicle 2.

[0027] The dedicated computer that constitutes the in-vehicle control unit 27 may be a navigation ECU that navigates the driving route of the vehicle 2. The dedicated computer that constitutes the in-vehicle control unit 27 may be a locator ECU that estimates the self-state quantity of the vehicle 2. The dedicated computer that constitutes the in-vehicle control unit 27 may be an actuator ECU that controls the driving actuator of the vehicle 2. The dedicated computer that constitutes the in-vehicle control unit 27 may be an HCU (HMI (Human Machine Interface) Control Unit) that controls the information presentation in the vehicle 2.

[0028] The dedicated computer that constitutes the in-vehicle control unit 27 has at least one memory 28 and one processor 29. The memory 28 is at least one type of non-transitory physical storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium, that non-temporarily stores programs, data, etc. that can be read by the computer. Here, storage may be an accumulation in which data is retained even when the vehicle 2 is turned on and off, or it may be a temporary storage in which data is erased when the vehicle 2 is turned on and off. The processor 29 includes at least one type, such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer)-CPU, a CISC (Complex Instruction Set Computer)-CPU, a DFP (Data Flow Processor), and a GSP (Graph Streaming Processor), as a core.

[0029] Furthermore, in the in-vehicle control unit 27, the processor 29 executes a plurality of instructions included in the control program stored in the memory 28 in order to execute the running control of the vehicle 2. As a result, the in-vehicle control unit 27 constructs a plurality of functional blocks for the running control of the vehicle 2. The plurality of functional blocks constructed in the in-vehicle control unit 27 include a communication control block 270, a recognition block 271, a planning block 272, and a running control block 273, as shown in FIG. 2.

[0030] The communication control block 270 receives a driving instruction regarding the vehicle 2 from the vehicle management center 3 via the communication system 21. The driving instruction is, for example, a medium- to long-term driving plan such as a driving route. Note that the communication control block 270 may also acquire a driving instruction from another vehicle 2. For example, the communication control block 270 may acquire a driving instruction from a representative vehicle in platoon control. In this case, the driving instruction may include speed adjustment, steering, braking, etc. Further, the communication control block 270 transmits the driving information of the vehicle 2 to the management system 1 via the communication system 21. In the case of this embodiment, the communication control block 270 transmits the driving information to the vehicle management center 3. For example, the driving information includes at least one of the position of the vehicle 2, driving route, destination, waypoint, estimated arrival time for each point on the driving route, speed, accelerator opening, brake opening, steering angle, diagnostic information, and remaining amount of the energy source.

[0031] The recognition block 271 acquires sensor information from the external sensor 23 and the internal sensor 24 of the sensor system 22. The recognition block 271 acquires communication information from the communication system 21. The recognition block 271 acquires map information from the map database 25. The recognition block 271 fuses these acquired information as inputs to determine the internal and external environment of the vehicle 2 and recognize the driving scene.

[0032] Specifically, the recognition block 271 recognizes an object including other road users, obstacles, and structures in the external environment of the vehicle 2. At this time, the recognition block 271 may further recognize at least one of, for example, distance, relative speed, relative acceleration, and attributes, etc. regarding the recognized object. The recognition block 271 recognizes the driving route on which the vehicle 2 is currently and will drive in the future. At this time, the recognition block 271 may further recognize at least one type of state among, for example, road surface, lane, road edge, free space, traffic signal, and sign, etc. regarding the recognized driving route.

[0033] The recognition block 271 presumptively recognizes the self-state quantity including the self-position of the vehicle 2 by localization. The recognition block 271 recognizes the time for each driving scene of the vehicle 2. At this time, the recognition block 271 may output the time information regarding the recognized time in association with other recognition results.

[0034] The planning block 272 acquires the recognition information representing the recognition result from the recognition block 271. The planning block 272 acquires the driving instruction of the vehicle 2 from the communication control block 270. The planning block 272 determines and plans in time series for each driving scene the future route, future trajectory, dynamic driving tasks in future actions of the vehicle 2 and the future transition of the interaction among other road users based on the acquired recognition information and mediation data. At this time, the planning block 272 may perform the determination and planning using a vehicle driving model such as a simulation model or a machine learning model. Here, DDT among the planning targets may be defined as the real-time operation function and tactical function for operating the vehicle 2 in traffic. Or, DDT may be defined as all the real-time operation functions and tactical functions necessary for operating the vehicle 2 in road traffic.

[0035] The planning block 272 that has acquired the driving instruction determines whether the vehicle 2 can transition to the DDT representing the driving instruction. As a result, when an affirmative determination of the transition is made, the planning block 272 executes the plan so as to realize the transition to the DDT represented by the driving instruction. On the contrary, when a negative determination of the transition is made, the planning block 272 executes the plan so as to realize the transition to the DDT by its own determination. When the transition to the DDT representing the specific action content of the driving instruction included in the driving instruction is impossible, the planning block 272 determines whether the vehicle 2 can transition to the DDT representing other action contents included in the driving instruction. The planning block 272 may provide the communication control block 270 with information regarding whether the vehicle 2 can transition to the DDTs representing these driving instructions.

[0036] Next, the details of the management system 1 for managing the above vehicle 2 will be described. The management system 1 is configured to include, for example, a vehicle management center 3, an integrated management center 4, and a traffic management center 5.

[0037] The vehicle management center 3 is a management center that manages a specific plurality of vehicles. For example, the vehicle management center 3 is installed for each vehicle manufacturer that manufactures the vehicle 2, and individually manages each vehicle 2 manufactured by the corresponding vehicle manufacturer. As shown in FIG. 3, the vehicle management center 3 is configured to include a communication system 30 and a vehicle management system 31. The communication system 30 acquires communication information transmitted from the vehicle 2 by wireless communication. The communication system 30 transmits the communication information output from the vehicle management system 31 to the destination vehicle 2 by wireless communication.

[0038] The vehicle management system 31 is connected to the communication system 30 via at least one of, for example, a LAN line, a wire harness, an internal bus, and a wireless communication line. The vehicle management system 31 is configured to include at least one dedicated computer. The dedicated computer constituting the vehicle management system 31 may be a monitoring server that monitors the automatic driving of the vehicle 2. The dedicated computer constituting the vehicle management system 31 may be a management server that integrally manages the operations of a plurality of vehicles 2. The dedicated computer constituting the vehicle management system 31 may be composed of a plurality of servers and its functions may be distributed.

[0039] The dedicated computer that constitutes the vehicle management system 31 has at least one memory 32 and one processor 33. The memory 32 is at least one type of non-transitory physical storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium, that non-temporarily stores programs, data, etc. that can be read by the computer. Here, storage may be an accumulation in which data is retained even when the vehicle management system 31 is turned on and off, or it may be a temporary storage in which data is erased when the vehicle management system 31 is turned on and off. The processor 33 includes at least one type, such as a CPU, a GPU, a RISC-CPU, a CISC-CPU, a DFP, and a GSP, as its core.

[0040] In the vehicle management system 31, the processor 33 executes a plurality of instructions included in the remote support program stored in the memory 32 in order to remotely support the running of the vehicle 2. As a result, the vehicle management system 31 constructs a plurality of functional blocks for remotely supporting the running of the vehicle 2. The plurality of functional blocks constructed in the vehicle management system 31 include an information management block 300, an instruction block 310, and a communication control block 320 as shown in FIG. 3.

[0041] The information management block 300 manages information regarding the vehicle 2 to be managed. For example, the information management block 300 collects information via the communication system 30. The information management block 300 implements information management by sequentially updating the vehicle management database according to the collected information. The vehicle management database stores information regarding at least one type, such as vehicle attribute information, running information, and authority information regarding management authority, for each vehicle 2.

[0042] The instruction block 310 generates a driving instruction for the vehicle 2 to be managed. The instruction block 310 generates a driving instruction according to the request information regarding the driving instruction acquired via the communication system 30. For example, the instruction block 310 generates a driving instruction according to the request information from the user of the vehicle 2 or the request information from the integrated management center 4. The request information from the user of the vehicle 2 is a request transmitted from an operation management center by an operator who provides a service using the vehicle 2, or an operation terminal of an individual who owns the vehicle 2, etc. The request information from the integrated management center 4 is a request transmitted from the traffic management center 5 with management authority granted. When the instruction block 310 acquires a group control request, for example, for the representative vehicle, it may generate a medium- to long-term plan such as a driving route as a driving instruction, and for other vehicles 2, it may generate following the vehicle in front in the group as a driving instruction. Or, the instruction block 310 may generate a medium- to long-term plan such as a driving route as a driving instruction for each vehicle 2 constituting the group. The communication control block 320 executes the acquisition of information from other centers and the vehicle 2 and the output of information to other centers and the vehicle 2 via the communication system 30.

[0043] The integrated management center 4 is a center provided as a facility separate from the vehicle management center 3 and the traffic management center 5. The integrated management center 4 integrally manages the management authority given to the traffic management center 5 for a plurality of vehicles 2 managed by a plurality of vehicle management centers 3. The integrated management center 4 mediates information communication between a plurality of vehicle management centers 3 and a plurality of traffic management centers 5. As shown in FIG. 4, the integrated management center 4 includes a communication system 40 and an integrated management system 41. The communication system 40 transmits and receives various information by wireless communication between the vehicle management center 3 and the traffic management center 5.

[0044] The integrated management system 41 is connected to the communication system 40 via at least one of, for example, a LAN line, a wire harness, an internal bus, and a wireless communication line. The integrated management system 41 is configured to include at least one dedicated computer. The dedicated computer that constitutes the integrated management system 41 may be a monitoring server that monitors the automatic driving of the vehicle 2. The dedicated computer that constitutes the integrated management system 41 may be a management server that integrally manages the operations of a plurality of vehicles 2. The dedicated computer that constitutes the integrated management system 41 may be constituted by a plurality of servers and its functions may be distributed.

[0045] The dedicated computer that constitutes the integrated management system 41 has at least one memory 42 and at least one processor 43. The memory 42 is at least one type of non-transitory physical storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium, that non-temporarily stores programs and data that can be read by a computer. Here, storage may be an accumulation in which data is retained even when the integrated management system 41 is powered on and off, or may be a temporary storage in which data is erased when the integrated management system 41 is powered on and off. The processor 43 includes at least one type of, for example, a CPU, a GPU, a RISC-CPU, a CISC-CPU, a DFP, and a GSP as a core.

[0046] In the integrated management system 41, the processor 43 executes a plurality of instructions included in a remote support program stored in the memory 42 in order to remotely support the driving of the vehicle 2. Thereby, the integrated management system 41 constructs a plurality of functional blocks for remotely supporting the driving of the vehicle 2. As shown in FIG. 4, the plurality of functional blocks constructed in the integrated management system 41 include an information acquisition block 400, a position management block 410, an authority management block 420, and an output block 430.

[0047] The information acquisition block 400 acquires information necessary for the management of the vehicle 2 from the vehicle management center 3 and the traffic management center 5. For example, the information acquisition block 400 sequentially acquires driving information regarding the vehicle 2 from the vehicle management center 3 in accordance with the information acquisition authority. Also, the information acquisition block 400 acquires a support request regarding the vehicle 2 from the traffic management center 5.

[0048] The position management block 410 manages the correspondence between the support area A of each traffic management center 5 and the vehicle 2 to be managed. Specifically, the position management block 410 manages each support area A with respect to which vehicle 2 is traveling.

[0049] Specifically, the position management block 410 performs position management with reference to the area database and the spatial database. The area database is a database showing the correspondence between the administrator of each traffic management center 5 and the support area A managed by the traffic management center 5. The spatial database is a database showing the correspondence between the support area A and the constituent space information constituting the support area A. The constituent space information may be, for example, voxel information of the space constituting each support area A. Alternatively, the constituent space information may be node information and height information on the map. Alternatively, the constituent space information may not include height information but only node information on the map for areas where roads do not intersect. The position management block 410 can grasp all spatial information about the support area A of each traffic management center 5 by matching the area database and the spatial database.

[0050] The position management block 410 sequentially updates a position database regarding which vehicle 2 exists in which support area A by matching the position information of each vehicle 2 and the constituent space information of each support area A. Thereby, the position management block 410 groups the vehicles 2 for each support area A.

[0051] The authority management block 420 manages the management authority of each vehicle 2 in the traffic management center 5. Specifically, when there is a vehicle 2 that newly enters the support area A for each traffic management center 5 due to the update of the location database, the authority management block 420 grants the management authority of the vehicle 2. That is, in this embodiment, the entry into the support area A is an example of the fulfillment of the "support condition". In granting the management authority, the authority management block 420 grants the management authority by turning on the flag that allows the traffic management center 5 to manage the vehicle 2. The management authority includes both the information authority to acquire and manage the driving information regarding the vehicle 2 and the control authority to execute direct or indirect driving control over the vehicle 2.

[0052] On the other hand, when there is a vehicle 2 that newly exits the support area A for each traffic management center 5 due to the update of the location database, the authority management block 420 revokes the management authority of the vehicle 2. In revoking the management authority, the authority management block 420 revokes the management authority by turning off the flag that allows the traffic management center 5 to manage the vehicle 2.

[0053] The output block 430 outputs various information to the outside of the integrated management system 41. When the management authority for a specific vehicle 2 is granted to a specific traffic management center 5, the output block 430 outputs notification information to the traffic management center 5. For example, the notification information includes information indicating that the management authority has been granted and information regarding the target vehicle 2. Also, the output block 430 outputs the notification information to the vehicle management center 3 that manages the corresponding vehicle 2. Note that the output of the notification information to the vehicle management center 3 may be omitted.

[0054] Also, the output block 430 outputs the support request acquired by the information acquisition block 400 to the vehicle management center 3 of the corresponding vehicle 2.

[0055] The traffic management center 5 manages the traffic in a specific support area A. The traffic management center 5 is a control center for, for example, a road management company or the police to implement traffic control. As shown in FIG. 5, the traffic management center 5 includes a communication system 50 and a traffic management system 51. The communication system 50 acquires communication information transmitted from the integrated management center 4 or the like by wireless communication. The communication system 50 transmits the communication information output from the traffic management system 51 to the integrated management center 4 or the like by wireless communication.

[0056] The traffic management system 51 is connected to the communication system 50 via at least one of, for example, a LAN line, a wire harness, an internal bus, and a wireless communication line. The traffic management system 51 includes at least one dedicated computer. The dedicated computer constituting the traffic management system 51 may be a monitoring server that monitors the autonomous driving of the vehicle 2. The dedicated computer constituting the traffic management system 51 may be a management server that integrally manages the operations of a plurality of vehicles 2. The dedicated computer constituting the traffic management system 51 may be composed of a plurality of servers and its functions may be distributed.

[0057] The dedicated computer constituting the traffic management system 51 has at least one memory 52 and at least one processor 53. The memory 52 is at least one type of non-transitory physical storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium, that non-temporarily stores a computer-readable program, data, etc. Here, storage may be an accumulation in which data is retained even when the traffic management system 51 is powered on and off, or a temporary storage in which data is erased when the traffic management system 51 is powered on and off. The processor 53 includes at least one type of, for example, a CPU, a GPU, a RISC-CPU, a CISC-CPU, a DFP, and a GSP as a core.

[0058] In the traffic management system 51, the processor 53 executes a plurality of instructions included in a remote support program stored in the memory 52 to remotely support the running of the vehicle 2. As a result, the traffic management system 51 constructs a plurality of functional blocks for remotely supporting the running of the vehicle 2. The plurality of functional blocks constructed in the traffic management system 51 include an information acquisition block 500, an area monitoring block 510, an area support block 520, and an output block 530 as shown in FIG. 6.

[0059] The information acquisition block 500 acquires information necessary for traffic management in the support area A as communication information from the outside via the communication system 50. For example, the information acquisition block 500 acquires the authority information of the vehicle 2 and vehicle information about the vehicle 2 that has obtained the information acquisition authority from the integrated management center 4.

[0060] The area monitoring block 510 monitors the support area A assigned as a management target in the traffic management system 51. The area monitoring block 510 executes a situation estimation of the support area A from the acquired vehicle information and the like. The area monitoring block 510 estimates the usage status of the roads in the support area A, the presence or absence of risk events that may pose a traffic risk, and the like.

[0061] For example, the area monitoring block 510 estimates the traffic congestion rate of each section as the usage status from the predicted average speed of traffic in each section of the support area A according to the position, number, speed, steering information, etc. of the vehicle 2. Alternatively, the area monitoring block 510 can estimate the presence or absence of the falling object 9 as a risk event from the driving trajectory of the vehicle 2. Specifically, when the area monitoring block 510 can estimate that many vehicles 2 avoid a specific position in a short time from the lane change, the deviation of the driving position within the lane, the frequency of occurrence of going out of the lane, etc., it is estimated that there is a falling object 9 at the said position. Or the area monitoring block 510 may estimate the occurrence of an accident as a risk event from the diag information.

[0062] The area support block 520 performs driving support for a group of vehicles traveling in the support area A according to the monitoring results by the area monitoring block 510. The area support block 520 defines groups for the group of vehicles traveling in the support area A by grouping according to the monitoring results. The area support block 520 executes common driving support as driving control management for a plurality of vehicles 2 included in the grouped groups. For example, the area support block 520 groups the vehicles 2 for each driving lane and performs driving support. Here, the common driving support means, for example, making each grouped vehicle 2 travel on a common driving route.

[0063] The area support block 520 executes common driving support by grouping even if each vehicle 2 is under the management of different vehicle management centers 3 as long as it is a vehicle 2 granted control authority.

[0064] The area support block 520 generates request information for driving control of the vehicle 2 according to the determined driving support as a support request. Note that the area support block 520 may receive an instruction for driving support for the vehicle group from the operator based on the monitoring results or vehicle information, etc., and generate request information for driving control according to the instruction as a support request.

[0065] The output block 530 outputs information to the integrated management center 4. Specifically, the output block 530 outputs a support request for the vehicle group as communication information via the communication system 50.

[0066] With the above management system 1, the management method for managing the vehicle 2 is executed according to a plurality of management flows shown in FIGS. 6 to 11. This management flow is repeatedly executed during the startup of the system to be executed respectively. Note that each "S" in this management flow means a plurality of steps executed by a plurality of instructions included in the remote support program.

[0067] First, in FIG. 6, the process for granting management authority to the integrated management center 4 in the management flow will be described. First, in the vehicle management system 31, in S101, the information management block 300 obtains a permission for granting the management authority of vehicle 2 to the integrated management system 41. The permission for granting authority is transmitted, for example, by the owner of vehicle 2 who purchased vehicle 2 from vehicle 2 or an operation terminal of the owner. The permission for granting authority is a permission for granting management authority including information authority regarding vehicle 2 and control authority of vehicle 2. In the subsequent S102, the communication control block 320 executes the authority granting to the integrated management center 4. Specifically, the communication control block 320 transmits information regarding authority granting to the integrated management center 4. For example, the communication control block 320 transmits at least the identification information of vehicle 2 and an authentication key for authenticating the management authority of vehicle 2.

[0068] On the other hand, in FIG. 6, the information acquisition block 400 of the integrated management system 41 acquires information regarding authority granting via the communication system 40 in S103. In the subsequent S104, the authority management block 420 updates the database of the management authority granted to the integrated management system 41. The database stores data regarding, for example, the identification information of vehicle 2 and the authentication key of vehicle 2. The authority management block 420 updates the database by newly adding each of the above-mentioned data newly acquired to the database.

[0069] Next, in FIG. 7, among the management flows, the process for depriving the integrated management center 4 of management authority will be described. First, in the vehicle management system 31, at S201, the information management block 300 acquires a privilege deprivation request for depriving the integrated management system 41 of the management authority of vehicle 2. The privilege deprivation request is transmitted, for example, by the owner of vehicle 2 who scraps or sells vehicle 2, from vehicle 2 or an operation terminal of the owner. In the subsequent S202, the communication control block 320 executes privilege deprivation with respect to the integrated management center 4. Specifically, the communication control block 320 transmits request information for privilege deprivation to the integrated management center 4. For example, the communication control block 320 transmits at least the identification information of vehicle 2 and a request for deleting the authentication key related to vehicle 2.

[0070] On the other hand, in FIG. 7, the information acquisition block 400 of the integrated management system 41 acquires the request information for privilege deprivation via the communication system 40 at S203. In the subsequent S204, the privilege management block 420 deletes the authentication key related to the deprived vehicle 2 from the management authority database and updates the database, thereby abolishing the management authority of vehicle 2.

[0071] Next, among the management flows, the vehicle management flow executed in the vehicle management system 31 will be described with reference to FIGS. 8 to 10. The flow in FIG. 8 is periodically executed during the startup of the vehicle management system 31. First, at S301, the communication control block 320 acquires the vehicle information transmitted from vehicle 2. In the subsequent S302, the information management block 300 updates the vehicle management database with the acquired vehicle information. Then, at S303, the communication control block 320 transmits the vehicle information to the integrated management system 41 having the management authority of the corresponding vehicle 2.

[0072] The flow of FIG. 9 is executed each time the management authority granted to the traffic management center 5 is changed. First, in S304, the communication control block 320 acquires the authority information transmitted from the integrated management system 41 and granted to the traffic management system 51. In the subsequent S305, the information management block 300 updates the vehicle management database with the acquired authority information. That is, the information management block 300 adds information indicating that the management authority for the corresponding vehicle 2 has been granted to the traffic management system 51 to the vehicle management database.

[0073] The flow of FIG. 10 is executed each time a driving support request is received from the traffic management center 5. In S306, the communication control block 320 acquires the support request transmitted from the integrated management system 41. In the subsequent S307, the communication control block 320 transmits a driving instruction corresponding to the support request to the corresponding vehicle 2.

[0074] Next, in FIG. 11, among the management flows, the processes related to the granting and revocation of the management authority for the traffic management system 51 executed in the integrated management system 41 will be described. First, in S401, the information acquisition block 400 acquires vehicle information from the vehicle management system 31. Next, in S402, based on the vehicle information acquired by the position management block 410, the position of each vehicle 2 running in each support area A is managed. The position management block 410 updates the position database for which vehicle 2 exists in each support area A, and manages the positions of each vehicle 2 grouped as a vehicle group for each support area A.

[0075] In the subsequent S403, the position management block 410 determines whether there is a vehicle 2 that has newly entered the support area A. If it is determined that there is a vehicle 2 that has newly entered the support area A, this flow proceeds to S404. In S404, the authority management block 420 executes the process of granting the management authority to the newly entered vehicle 2. In the subsequent S405, the output block 430 notifies the traffic management system 51 and the vehicle management system 31 of the management authority granting information by means of transmission processing.

[0076] After S405, or if it is determined in S403 that there is no vehicle 2 that has newly entered the support area A and S404 - S405 are skipped, this flow proceeds to S406. In S406, the position management block 410 determines whether there is a vehicle 2 that has newly exited the support area A. If it is determined that there is a vehicle 2 that has newly exited the support area A, this flow proceeds to S407. In S407, the authority management block 420 executes a process of depriving the newly exited vehicle 2 of its management authority. In the subsequent S408, the output block 430 transmits the management authority deprivation information to the traffic management system 51 and the vehicle management system 31.

[0077] After S408, or if it is determined in S406 that there is no vehicle 2 that has newly exited the support area A and S407 - S408 are skipped, this flow proceeds to S409. In S409, the output block 430 transmits vehicle information to the traffic management system 51 that has been granted the management authority of vehicle 2.

[0078] Next, with reference to FIG. 12, the process for the integrated management center 4 to mediate the support by the traffic management center 5 will be described. First, in S410, the information acquisition block 400 acquires the support request transmitted from the traffic management system 51. Then, in S411, the output block 430 transmits the acquired support request to the vehicle management system 31 that manages vehicle 2 as the management target. Subsequently, in S412, the information acquisition block 400 acquires the support completion notice transmitted from the traffic management center 5 upon completion of the support. Further, in S413, the output block 430 transmits the acquired support completion notice to the vehicle management system 31 that manages vehicle 2 as the management target.

[0079] Next, with reference to FIG. 13, the support process for vehicle 2 executed in the traffic management system 51 among the management flows will be described. First, at S501, the information acquisition block 500 acquires a notification regarding the management authority transmitted from the integrated management system 41. Specifically, the information acquisition block 500 acquires the grant information or revocation information of the management authority regarding a specific vehicle 2. Next, at S502, the area monitoring block 510 updates the database of vehicle 2 that can be managed by the traffic management system 51 based on the notification. In the subsequent S503, the information acquisition block 500 acquires vehicle information regarding vehicle 2 that can be managed, that is, vehicle 2 having information authority.

[0080] In the subsequent S504, the area monitoring block 510 determines whether the vehicle 2 that requires control support is in the support area A according to the vehicle information of vehicle 2 acquired based on the information authority. Specifically, the area monitoring block 510 determines that control support is necessary when at least one of the traffic congestion rate outside the allowable range and the risk event occurs. Here, the allowable range is the range of the traffic congestion rate that is below or less than the threshold value. When it is determined that the vehicle 2 that requires control support is in the support area A, this flow proceeds to S505.

[0081] At S505, the area support block 520 groups the vehicles 2 that require control support. The area support block 520 performs grouping to define a vehicle group G for which common driving management is to be executed according to the situation of the support area A. For example, the area support block 520 groups a plurality of vehicles 2 for each driving lane.

[0082] For example, when it is presumed that there is a falling object 9 as a risk event, the area support block 520 defines the vehicle group G for each driving lane by grouping a plurality of vehicles 2 for each driving lane as shown in FIG. 14. Thereby, the area support block 520 can generate a support request to avoid and drive the falling object 9 for each driving lane in the process of S506 described later.

[0083] Or, even when it is presumed that there is an approach of an emergency vehicle as a risk event, the area support block 520 defines a vehicle group G for each driving lane by grouping a plurality of vehicles 2 for each driving lane. Thereby, as shown in FIG. 15, the area support block 520 can generate a support request to move the vehicle group G closer to the road shoulder and stop it in the process of S506 in order to allow the emergency vehicle to pass through.

[0084] Also, even when a traffic congestion rate outside the allowable range occurs, the area support block 520 defines a vehicle group G for each driving lane by grouping a plurality of vehicles 2 for each driving lane. Thereby, as shown in FIG. 16, the area support block 520 can generate a request for driving at a constant speed for each driving lane in the process of S506. In particular, in this case, the area support block 520 defines a vehicle group Gs with a relatively low speed and vehicle groups Gf1 and Gf2 for each driving lane that are relatively fast with respect to the vehicle group Gs.

[0085] In addition, the area support block 520 may group vehicles 2 that execute different driving management. For example, when it is presumed that there is an approach of an emergency vehicle of a vehicle 2 that obstructs a vehicle 2 exiting from the parking lot P as a risk event, the area support block 520 defines a vehicle group G by grouping the vehicle 2 scheduled to exit and the vehicle 2 that obstructs the exit. Thereby, as shown in FIG. 17, the area support block 520 can generate a support request for a temporary exit drive for the vehicle 2 that obstructs the exit and an exit drive for the vehicle 2 scheduled to exit in the process of S506.

[0086] Such grouping processing can also be said to be sub-grouping processing that further subdivides and groups all the vehicles 2 traveling in the support area A.

[0087] In S506, the area support block 520 generates a support request for the grouped vehicle 2. Next, in S507, the output block 530 transmits and outputs the generated support request to the integrated management system 41 via the communication system 50. In the subsequent S508, the information acquisition block 500 acquires vehicle information regarding the vehicle 2 having information authority. Thereby, the information acquisition block 500 updates the current information of at least the vehicle 2 that issued the support request, that is, the vehicle 2 that is the management target.

[0088] Then, in S509, the area support block 502 determines whether it is necessary to change the support content based on the updated current information of the vehicle 2. If it is determined that it is necessary to change the support content, this flow returns to S506. On the other hand, if it is determined that the change of the support content is not necessary, this flow proceeds to S510.

[0089] In S510, the area support block 502 determines whether the support has been completed. If it is determined that the support has not been completed, this flow returns to S508. On the other hand, if it is determined that the support has been completed, this flow proceeds to S511. In S511, the output block 530 outputs a support completion notification including at least information indicating that the support for the vehicle 2 that was the support target has been completed to the integrated management system 41.

[0090] According to the above first embodiment, in response to the establishment of the support condition, the vehicle management system 31 for each of the grouped vehicles 2 grants the traffic management center 5 the management authority regarding the management of the corresponding vehicle 2. Therefore, when the support condition is satisfied, for the grouped vehicles 2, the management authority is granted from each individual vehicle management system 31 to the traffic management center 5. Therefore, even if a plurality of vehicles 2 grouped by different vehicle management systems 31 are being managed, integrated management by the traffic management center 5 can be made possible.

[0091] Moreover, according to the first embodiment, the traffic management center 5 is given the control management authority to manage the driving control of the vehicle 2. As a result, the traffic management center 5 can perform integrated driving control for the grouped vehicles 2.

[0092] Furthermore, according to the first embodiment, among the plurality of grouped vehicles 2, the vehicles 2 that have received the control management authority from different vehicle management systems 31 are sub-grouped, and common driving control management is performed in the support area A. Therefore, even for a plurality of vehicles 2 grouped by different vehicle management systems 31, common driving control support can be implemented.

[0093] In addition, among the plurality of grouped vehicles 2, the vehicles 2 that have received the control management authority according to each driving lane in the support area A are sub-grouped, and common driving control management is performed in the support area A. Therefore, common driving control management can be surely performed for each driving lane. Accordingly, smoother vehicle group control can be achieved.

[0094] Moreover, according to the first embodiment, the support conditions include the conditions that are established by the entry of the vehicle 2 into the support area A. According to this, integrated management by the traffic management center 5 can be performed for the group of vehicles 2 that have entered the support area A.

[0095] Furthermore, according to the first embodiment, the traffic management center 5 is given the management authority regarding the information management of the traffic management center 5 for the driving information of the vehicle 2. Therefore, the traffic management center 5 can perform integrated information management for the vehicles 2 grouped for each support area A.

[0096] (Second Embodiment) As shown in FIGS. 18 to 20, the second embodiment is a modification of the first embodiment. The second embodiment is different from the first embodiment in that only the information authority is given to the traffic management center 5 when entering the support area A.

[0097] Specifically, as shown in FIG. 18, when it is determined in S403 that there is a vehicle 2 that has newly entered the support area A, this flow proceeds to S404a. In S404a, the authority management block 420 executes the process of granting information authority among the management authorities to the newly entered vehicle 2. In the subsequent S405a, the output block 430 transmits the information authority grant information to the traffic management system 51 and the vehicle management system 31.

[0098] That is, in this embodiment, entry into the support area A is a support condition related to the grant of information authority among the management authorities. In other words, merely entering the support area A does not satisfy the support conditions related to the grant of control authority, and the traffic management system 51 is not granted control authority.

[0099] Also, in S406, when it is determined that there is a vehicle 2 that has newly exited the support area A, this flow proceeds to S407a. In S407, the authority management block 420 executes the process of revoking the information authority from the newly exited vehicle 2. In the subsequent S408a, the output block 430 transmits the information authority revocation information to the traffic management system 51 and the vehicle management system 31.

[0100] As described above, in the integrated management system 41 of this embodiment, when the vehicle 2 enters the support area A, only the information authority among the management authorities is granted to the corresponding traffic management system 51. Furthermore, in the integrated management system 41 of this embodiment, when a request for granting control authority is received after entering the support area A, the control authority is granted to the traffic management system 51. The processes related to the grant and revocation of control authority executed by the integrated management system 41 will be described below with reference to FIG. 19.

[0101] First, in S420, the information acquisition block 400 acquires a request for granting control authority transmitted from the traffic management system 51. Next, in S421, the authority management block 420 executes the granting of control authority. In the subsequent S422, the output block 430 notifies the corresponding traffic management system 51 and vehicle management system 31 of the control authority granting information.

[0102] Next, in S423, the information acquisition block 400 acquires a support request from the traffic management system 51 for the vehicle group to which the traffic management system 51 has granted control authority. Then, in S424, the output block 430 transmits the acquired support request to the vehicle management system 31.

[0103] Next, in S425, the information acquisition block 400 acquires a support completion notification from the traffic management system 51. After that, in S426, the authority management block 420 executes the revocation of the control authority granted to the traffic management system 51 for the vehicle group for which the support has been completed. Then, in S427, the output block 430 notifies the traffic management system 51 and vehicle management system 31 of the control authority revocation notification.

[0104] Next, the processing executed by the traffic management system 51 in the present embodiment will be described below with reference to FIG. 20. In the flow of FIG. 20, in S504a, similar to S504, the area monitoring block 510 determines that control support is necessary when at least one of the traffic congestion rate and risk event outside the allowable range occurs. In S504a, this determination process is executed for the vehicle 2 to which the control authority has not been granted. That is, in the present embodiment, the occurrence of a traffic congestion rate outside the allowable range and a risk event each corresponds to the establishment of a support condition.

[0105] Also, in this flow, after grouping is executed in S505, the flow proceeds to S505a. In S505a, the output block 530 outputs a request for granting control authority for the grouped vehicle group. Then, in S505b, a notification of granting control authority from the integrated management system 41 is acquired. When the control authority is acquired, this flow proceeds to S506, and support in the traffic management system 51 for the vehicle 2 that has obtained the control authority is to be executed.

[0106] According to the above second embodiment, the support conditions include conditions that are established by the occurrence of a risk event in the support area A. Therefore, when a risk event occurs, the management authority is granted to the traffic management center 5. Thus, the management of the vehicle 2 corresponding to the risk event can be surely carried out.

[0107] Also, according to the second embodiment, the support conditions include conditions that are established by the occurrence of a traffic congestion rate outside the allowable range in the support area A. Therefore, when the traffic in the support area A is relatively congested, the management authority can be granted to the traffic management center 5. Thus, the management of the vehicle 2 corresponding to the traffic congestion can be surely carried out.

[0108] (Third Embodiment) As shown in FIGS. 21 and 22, the third embodiment is a modification of the first embodiment. The difference from the first embodiment is that the management system 1 of the third embodiment is configured without including the integrated management center 4.

[0109] That is, the management system 1 is configured to include the vehicle management center 3 and the traffic management center 5. In this case, the vehicle management system 31 is configured to include an information management block 300, a position management block 301, an authority management block 302, and an instruction block 310.

[0110] Here, the position management block 301 manages the correspondence between the support area A of each traffic management center 5 and the vehicle 2 to be managed, similar to the position management block 410 in the first embodiment. Also, the authority management block 302 manages the management authority of each vehicle 2 in the traffic management center 5, similar to the authority management block 420 in the first embodiment. That is, the vehicle management system 31 in this embodiment has the functions of the position management block 410 and the authority management block 420 in the first embodiment, replacing the integrated management system 41.

[0111] Therefore, in this embodiment, the flows shown in FIGS. 11 and 12 will all be executed by the vehicle management system 31.

[0112] (Fourth Embodiment) As shown in FIG. 23, the fourth embodiment is a modification of the first embodiment. The difference from the first embodiment is that the management system 1 in the fourth embodiment does not include the vehicle management center 3.

[0113] That is, the management system 1 includes the integrated management center 4 and the traffic management center 5. In this case, the integrated management system 41 will directly send the management authority grant information, revocation information, support request, and support completion notice to the vehicle 2.

[0114] (Fifth Embodiment) As shown in FIGS. 24 to 27, the fifth embodiment is a modification of the first embodiment. The difference from the first embodiment is that the management system 1 in the fifth embodiment does not include the vehicle management center 3 and the integrated management center 4 as shown in FIG. 24.

[0115] In this embodiment, the management system 1 includes an in-vehicle control unit 27 and a plurality of traffic management centers 5. As shown in FIG. 25, the in-vehicle control unit 27 of this embodiment includes, as functional blocks, in addition to those of the first embodiment, a position management block 274 and an authority management block 275. The function of the position management block 274 is substantially the same as that of the position management block 410 of the first embodiment. Also, the function of the authority management block 275 is substantially the same as that of the authority management block 420 of the first embodiment. That is, the in-vehicle control unit 27 has the functions of the position management block 410 and the authority management block 420 in the first embodiment instead of the integrated management system 41. The in-vehicle control unit 27 of this embodiment corresponds to a "vehicle management system" that individually manages the mounted vehicles 2 as management targets.

[0116] As shown in FIG. 26, the in-vehicle control unit 27 executes a process corresponding to FIG. 11 of the first embodiment in relation to the granting and revocation of management authority for the traffic management center 5. Since the in-vehicle control unit 27 is mounted on each vehicle 2, after S401, it skips S402 and proceeds to S403.

[0117] Also, as shown in FIG. 27, the in-vehicle control unit 27 executes a process corresponding to FIG. 12 of the first embodiment as a process in response to a support request from the traffic management center 5. The flow of FIG. 27 proceeds to S411a after S410. In S411a, the travel control block 273 executes travel control of the vehicle 2 in response to a support request from the traffic management center 5. Also, when a support completion notification is acquired in S412, this flow proceeds to S413a. In S413a, the travel control block 273 performs normal travel control. That is, the travel control block 273 executes travel control for traveling to the original destination.

[0118] (Sixth Embodiment) As shown in Fig. 28, the sixth embodiment is a modification of the first embodiment. The management system 1 of the sixth embodiment differs from the first embodiment in that when authorized by the integrated management system 41, it directly sends a support request to the vehicle management system 31 without going through the integrated management system 41 from the traffic management center 5, etc.

[0119] Specifically, in the sixth embodiment, in the grant of the management authority in S404, the authority management block 420 turns on a flag that allows the traffic management center 5 to manage the vehicle 2, and generates an authentication key for managing the vehicle 2. Also, in S405, the output block 430 outputs, as notification information to the traffic management center 5, in addition to the information indicating that the management authority has been granted and the information regarding the target vehicle 2, the authentication key generated by the authority management block 420.

[0120] Also, when the output block 430 revokes the management authority for a specific vehicle 2, as notification information, in addition to the information indicating that the management authority has been revoked and the information regarding the target vehicle 2, it outputs information requesting the deletion of the transmitted authentication key.

[0121] In this case, the output block 530 of the traffic management system 51 outputs a support request including the authentication key in S507. Correspondingly, the communication control block 320 of the vehicle management system 31 directly obtains the support request from the traffic management system 51 in S306. Then, in S307, the communication control block 320 transmits an instruction based on the support request for which the authentication key included in the support request has been authenticated to the corresponding vehicle 2.

[0122] (Seventh Embodiment) As shown in Figs. 29 and 30, the seventh embodiment is a modification of the first embodiment.

[0123] As shown in FIG. 29, in the integrated management system 41 of the seventh embodiment, when it is determined in S406 that there is a vehicle 2 that has newly exited from the support area A, this flow shifts to S406a. In S406a, the location management block 410 determines whether the exit from the support area A is temporary based on the vehicle information. Specifically, the location management block 410 determines whether the vehicle 2 will enter the same support area A again from the destination and planned driving route of the vehicle 2 and the like.

[0124] For example, as shown in FIG. 30, assume that the planned driving route of the vehicle group G detours from the support area A1 of a specific traffic management center 5 to the support area A2 of another traffic management center 5 and then enters the support area A1 again. In this case, the location management block 410 determines that the exit is temporary.

[0125] If it is determined that the exit is not temporary, this flow shifts to S407. On the other hand, if it is determined that the exit is temporary, the processes of S407 and S408 are skipped. That is, when the exit from the support area A is temporary, the deprivation of management authority is not performed, and when it is determined that the extended exit is temporary, the processes of S407 and S408 are skipped. That is, when the exit from the support area A is temporary, the deprivation of management authority is not performed and it will be extended.

[0126] (Other embodiments) Although the above has described a plurality of embodiments, the present disclosure is not construed as being limited to those embodiments, and can be applied to various embodiments and combinations without departing from the gist of the present disclosure.

[0127] In a modified example, the dedicated computers constituting the respective systems 31, 41, and 51 may each have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is, for example, at least one type among ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Such a digital circuit may also have a memory storing a program.

[0128] In a modified example, the vehicle 2 may be, for example, an autonomous driving robot capable of transporting luggage or collecting information by autonomous driving or remote driving, in addition to a vehicle for transporting passengers.

[0129] In addition to the above-described exemplary embodiments, the management system 1 in the above-described embodiments and modified examples may be implemented as a control device having at least one processor and one memory each. Specifically, the management system 1 may be implemented in the form of a processing circuit (e.g., a processing ECU or the like) or a semiconductor device (e.g., a semiconductor chip or the like).

[0130] (Disclosure of Technical Ideas) This specification discloses a plurality of technical ideas described in a plurality of claims listed below. Some claims may be described in a multiple dependent form in which a preceding claim is alternatively cited in a subsequent claim. Further, some claims may be described in a multiple dependent form that cites another multiple dependent form claim. The claims described in these multiple dependent forms define a plurality of technical ideas.

[0131] (Technical Idea 1) A management system that has at least one processor (33, 43, 53) and manages an autonomous vehicle (2), wherein the processor assists, at a traffic management center (5) that manages traffic in an assigned support area (A), the vehicle managed by an individual vehicle management system (31; 27); groups a plurality of the vehicles traveling in the support area by the traffic management center; receives, from the vehicle management system for each of the grouped vehicles, authorization of management authority regarding management at the traffic management center for the corresponding vehicle in response to the establishment of support conditions; and is configured to execute.

[0132] (Technical idea 2) Receiving the authorization of the management authority includes receiving authorization of control authority for managing the driving control of the vehicle, and the management system according to Technical idea 1.

[0133] (Technical idea 3) Assisting the vehicle includes, among the plurality of grouped vehicles, subgrouping the vehicles that have received authorization of the control authority by different vehicle management systems and performing common driving control management in the support area, and the management system according to Technical idea 2.

[0134] (Technical idea 4) Assisting the vehicle includes, among the plurality of grouped vehicles, subgrouping the vehicles that have received authorization of the control authority for each driving lane in the support area and performing common driving control management in the support area, and the management system according to Technical idea 2 or Technical idea 3.

[0135] (Technical idea 5) The support conditions include the conditions established by the occurrence of risk events in the support area, and the management system according to any one of Technical Ideas 1 to 4.

[0136] (Technical Idea 6) The support conditions include the conditions established by the occurrence of a traffic congestion rate outside the allowable range in the support area, and the management system according to any one of Technical Ideas 1 to 5.

[0137] (Technical Idea 7) The support conditions include the conditions established by the entry of the vehicle into the support area, and the management system according to any one of Technical Ideas 1 to 4.

[0138] (Technical Idea 8) Receiving the grant of the management authority includes receiving the grant of the management authority regarding the information management at the traffic management center related to the driving information of the vehicle, and the management system according to any one of Technical Ideas 1 to 7.

[0139] In addition, the above Technical Ideas 1 to 8 may be implemented in the form of a management method and a management program.

Explanation of Reference Signs

[0140] 1: Management system, 2: Vehicle, 32, 42, 52: Memory (storage medium), 33, 43, 53: Processor, 5: Traffic management center, 27: In-vehicle control unit (vehicle management system), 31: Vehicle management system, A: Support area

Claims

1. A management system having at least one processor (33, 43, 53) for managing a vehicle (2) capable of autonomous driving, comprising: The processor: Supporting the vehicles managed by individual vehicle management systems (31; 27) at a traffic management center (5) that manages traffic in an assigned support area (A); Grouping a plurality of the vehicles traveling in the support area by the traffic management center; Receiving, from the vehicle management systems for the grouped vehicles, authorization for management regarding management at the traffic management center for the corresponding vehicles in response to the fulfillment of support conditions; A management system configured to execute the above.

2. Receiving the authorization for management includes: Receiving authorization for control authority for managing the driving control of the vehicle, according to the management system of Claim 1.

3. Supporting the vehicle includes: Among the plurality of grouped vehicles, subgrouping the vehicles that have received authorization for the control authority by different vehicle management systems and performing common driving control management in the support area, according to the management system of Claim 2.

4. Supporting the vehicle includes: Among the plurality of grouped vehicles, subgrouping the vehicles that have received authorization for the control authority by driving lane in the support area and performing common driving control management in the support area, according to the management system of Claim 2.

5. The support conditions include conditions that are established due to the occurrence of risk events in the support area, according to the management system of Claim 1.

6. The support conditions include conditions that are established due to the occurrence of a traffic congestion rate outside the allowable range in the support area, according to the management system of Claim 1.

7. The support conditions include conditions that are established due to the entry of the vehicle into the support area, according to the management system of Claim 1.

8. Receiving the authorization for management includes: Receiving authorization for information management at the traffic management center regarding the driving information of the vehicle, according to the management system of Claim 1.

9. A management method executed by at least one processor (33, 43, 53) for managing a vehicle (2) capable of autonomous driving, comprising: supporting, at a traffic management center (5) that manages traffic in an assigned support area (A), the vehicle managed by an individual vehicle management system (31; 27); grouping a plurality of the vehicles traveling in the support area by the traffic management center; receiving, from the vehicle management system for each of the grouped vehicles, in response to the satisfaction of a support condition, authorization for management at the traffic management center for the corresponding vehicle; A management method comprising the above.

10. A management program stored in a storage medium (32, 42, 52) and including instructions to be executed by a processor (33, 43, 53) for managing a vehicle (2) capable of autonomous driving, The instructions are as follows: causing the vehicle managed by an individual vehicle management system (31; 27) to be supported at a traffic management center (5) that manages traffic in an assigned support area (A); causing a plurality of the vehicles traveling in the support area by the traffic management center to be grouped; causing, from the vehicle management system for each of the grouped vehicles, in response to the satisfaction of a support condition, authorization for management at the traffic management center for the corresponding vehicle to be received; A management program comprising the above.

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