VEHICLE CONTROL SYSTEM, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM

Abstract

To cancel a remote support signal transmitted from a remote support device to a vehicle even in a situation where there is delay in communication in a remote support of the vehicle using a wireless communication by the remote support device.SOLUTION: Upon transmission of an instruction from a remote support device 30 to a vehicle 20, a vehicle control system sets a period of validity in which the instruction by the remote support device can be cancelled. The vehicle control system acquires a communication delay time between the vehicle 20 and the remote support device 30. On the condition that a present time point is within the period of validity and the communication delay time is equal to or more than a predetermined value, the vehicle control system adjusts a controlled variable of the vehicle 20 relating to a speed in accordance with the communication delay time.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a system, a method, and a program for controlling a vehicle that receives remote assistance from a remote assistance device using wireless communication. [Background technology]

[0002] Examples of documents showing the state of the art in the technical field related to the present disclosure include JP 2019-087015 A, JP 6940036 A, JP 2020-042643 A, and JP 2016-071585 A. For example, JP 2019-087015 A discloses a system in which an autonomous vehicle automatically stops when it detects an obstacle, communicates with a remote center, and when the remote center determines that the autonomous vehicle can resume traveling, a start signal is transmitted to the autonomous vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-087015 A [Patent Document 2] Patent No. 6940036 [Patent Document 3] JP 2020-042643 A [Patent Document 4] JP 2016-071585 A Summary of the Invention [Problem to be solved by the invention]

[0004] In remote support of a vehicle using wireless communication by a remote support device, it is desirable to be able to cancel a command for a certain period of time after the command is sent from the remote support device to the vehicle. However, if a communication delay occurs between the remote support device and the vehicle, the command cancellation notification is not immediately transmitted to the vehicle, and the vehicle cannot be made to stop executing the command.

[0005] The present disclosure has been made in consideration of the above problems. An object of the present disclosure is to enable a command transmitted from a remote support device to a vehicle to be cancelled even in a situation where a communication delay occurs in remote support of a vehicle using wireless communication by the remote support device. [Means for solving the problem]

[0006] The present disclosure provides a system for achieving the above object. The system of the present disclosure is a system for controlling a vehicle receiving remote assistance from a remote assistance device using wireless communication. The system of the present disclosure includes at least one processor and a program memory coupled to the at least one processor and storing a plurality of instructions. The plurality of instructions are configured to cause the at least one processor to execute the following first to third processes. The first process is to receive a command from the remote assistance device to the vehicle and set a valid period during which the command can be revoked by the remote assistance device. The second process is to obtain a communication delay time between the vehicle and the remote assistance device. And the third process is to adjust a control amount of the vehicle related to the speed according to the communication delay time, on the condition that the current time is within the valid period and the communication delay time is equal to or greater than a predetermined value.

[0007] The present disclosure also provides a program for achieving the above object. The program of the present disclosure is a program that can be stored in a computer-readable storage medium and is configured to cause a computer to execute the above first to third processes.

[0008] Furthermore, the present disclosure provides a method for achieving the above object. The method of the present disclosure is a method for controlling a vehicle receiving remote assistance from a remote assistance device using wireless communication. The method of the present disclosure includes the following first to third steps. The first step is a step of receiving a command from the remote assistance device to the vehicle and setting a valid period during which the command can be revoked by the remote assistance device. The second step is a step of acquiring a communication delay time between the vehicle and the remote assistance device. And the third step is a step of adjusting a control amount of the vehicle related to the speed according to the communication delay time, on the condition that the current time is within the valid period and the communication delay time is equal to or greater than a predetermined value. Effect of the Invention

[0009] According to the technology disclosed herein, when a communication delay occurs that exceeds a predetermined value, if the current time is within a valid period during which a command can be revoked by the remote support device, the vehicle speed-related control amount is adjusted according to the communication delay time. This makes it possible to fully utilize the valid period, and creates a time to revoke a command sent from the remote support device to the vehicle even in a situation where there is a communication delay. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a diagram illustrating a vehicle control method according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a diagram illustrating a vehicle control method according to an embodiment of the present disclosure. [Diagram 3] 4 is a flowchart showing the procedure of a vehicle control method according to an embodiment of the present disclosure. [Figure 4] 4A, 4B, and 4C are graphs showing a method of adjusting acceleration as a control amount of the vehicle. [Diagram 5] 1 is a functional block diagram showing a configuration of a vehicle control system according to an embodiment of the present disclosure. [Figure 6] FIG. 6A is a block diagram showing the configuration of an autonomous driving vehicle, and FIG. 6B is a block diagram showing the configuration of a remote assistance device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 1. Vehicle control method 1 and 2 are diagrams for explaining a vehicle control method according to the present embodiment. The vehicle control method according to the present embodiment is implemented in a remote assistance system 100. The remote assistance system 100 is a system in which an operator 40 in a remote location assists the autonomous driving of an autonomous vehicle 20 having an autonomous driving function by using wireless communication. The autonomous driving level of the autonomous vehicle 20 to be the target of remote assistance is assumed to be, for example, level 4 or level 5. Hereinafter, the autonomous vehicle 20 is simply referred to as the vehicle 20. A remote assistance device 30 is used for remote assistance of the vehicle 20 by the operator 40. The remote assistance device 30 is connected to the vehicle 20 by a wireless network. However, the remote assistance device 30 and the vehicle 20 may be connected via a server.

[0012] An assistance request that triggers remote assistance is transmitted from the vehicle 20. Situations in which the vehicle 20 transmits an assistance request include, for example, passing a pedestrian crossing, turning right at an intersection, and the like. In remote assistance, at least a part of the decisions for autonomous driving by the vehicle 20 is made by the operator 40. Basic calculations related to cognition, judgment, and operation required for driving are performed in the vehicle 20.

[0013] When remote assistance is requested from the vehicle 20, information on the surrounding conditions of the vehicle 20, including an image of the area in front of the vehicle 20 captured by an on-board camera, is transmitted from the vehicle 20 to the remote assistance device 30. The operator 40 determines the action that the vehicle 20 should take while checking the surrounding conditions of the vehicle 20 displayed on the display device 32 of the remote assistance device 30, and transmits commands to the vehicle 20 based on the determination result. The commands transmitted from the remote assistance device 30 to the vehicle 20 include, for example, a command to start the vehicle 20 at an intersection or a crosswalk.

[0014] A command transmitted from the remote support device 30 to the vehicle 20 can be revoked. The operator 40 can revoked a previously transmitted command by transmitting a command revocation signal from the remote support device 30 to the vehicle 20. A command can be revoked not only before the vehicle 20 acts in accordance with the command, but also after the vehicle 20 acts in accordance with the command. An example of a situation in which a command is revoked is a situation in which the surrounding situation of the vehicle 20 has changed more than expected from the situation at the time the command was transmitted.

[0015] However, as long as a wireless network is used, some communication delay always occurs between the vehicle 20 and the remote assistance device 30. The magnitude of the communication delay sometimes affects the success or failure of remote assistance. Below, the effect of communication delay on the success or failure of remote assistance and a vehicle control method that can reduce the effect will be described with reference to Figures 1 and 2.

[0016] Fig. 1 shows the driving assistance result by the remote assistance system 100 when the vehicle control method according to the present embodiment is not used, and Fig. 2 shows the driving assistance result by the remote assistance system 100 when the vehicle control method according to the present embodiment is used. In both Fig. 1 and Fig. 2, a situation is assumed in which a vehicle 20 is about to turn right at an intersection, and another vehicle 50 (herein referred to as the other vehicle) is entering the intersection from the opposite lane.

[0017] The upper part of each of Figs. 1 and 2 shows an image diagram showing the positional relationship between the vehicle 20 and the other vehicle 50 recognized from the image of the camera of the vehicle 20. These image diagrams are equivalent to the camera images converted into plan views. The five image diagrams shown in the upper part are all different in time, and are arranged in chronological order from left to right in the order of times T10, T11, T12, T13, and T14. However, the image captured by the camera of the vehicle 20 is a video, and the positional relationship between the vehicle 20 and the other vehicle 50 is also recognized in the continuous flow of time. Here, the positional relationship at a specific time in the continuous time is merely picked out and shown.

[0018] At the bottom of each of Figs. 1 and 2, there are depicted image diagrams showing the positional relationship between the vehicle 20 and the other vehicle 50 spatially projected on the screen of the display device 32 of the remote support device 30. These image diagrams correspond to 3D images displayed on the display device 32 converted into plan views. The four image diagrams shown at the bottom are all different in time, and are arranged in chronological order from left to right in the order of times T20, T21, T22, and T23. However, the image displayed on the screen of the display device 32 is a moving image, and the positional relationship between the vehicle 20 and the other vehicle 50 on the screen changes continuously over time. Here, the positional relationship at a specific time in a continuous time period is merely picked out and shown.

[0019] First, the driving assistance result when the vehicle control method according to this embodiment is not used will be described with reference to FIG. 1. In the example shown in FIG. 1, the assistance requested by the vehicle 20 is a judgment as to whether or not to execute a right turn at the intersection that the vehicle has entered. The vehicle 20 stops before turning right and waits until a transmission command is transmitted from the remote assistance device 30. At time T10, no other vehicle is approaching the intersection on the opposite lane. The image transmitted from the vehicle 20 at time T10 is displayed on the display device 32 at time T20. Time T10 and time T20 do not coincide, and there is a delay time between time T10 and time T20. This delay time in the uphill direction is called an uphill delay time.

[0020] At time T20, the operator 40 determines from the image displayed on the display device 32 that the vehicle 20 can turn right, and commands the vehicle 20 to start (Go). The command transmitted from the remote support device 30 at time T20 is executed by the vehicle 20 at time T12. Time T20 and time T12 do not coincide, and there is a delay time between time T20 and time T12. This delay time in the downward direction is called a downward delay time.

[0021] Due to the existence of uphill delay times and downhill delay times, the situation around the vehicle 20 when the operator 40 issues a command to start may be significantly different from the situation around the vehicle 20 when the command is executed by the vehicle 20. In the example shown in Fig. 1, another vehicle 50 is about to enter the intersection at time T12 when the command is executed by the vehicle 20. This may occur when the other vehicle 50 approaches the intersection at a speed that was not expected at time T10.

[0022] The operator 40 notices the other vehicle 50 entering the intersection at time T22 when the image transmitted from the vehicle 20 at time T12 is displayed on the display device 32. There is also an upstream delay time between time T12 and time T22.

[0023] When it is determined that it is difficult for the vehicle 20 to execute a right turn based on the positional relationship between the vehicle 20 and the other vehicle 50 displayed on the display device 32, the operator 40 cancels the command to the vehicle 20 to start. However, it is time T14 before the command cancellation signal transmitted from the remote support device 30 at time T22 reaches the vehicle 20. There is also a downstream delay time between time T22 and time T14.

[0024] Due to the existence of the uphill delay time and the downhill delay time, the surrounding situation of the vehicle 20 when the operator 40 cancels the command to start may be significantly different from the surrounding situation of the vehicle 20 when the command cancellation signal arrives to the vehicle 20. In the example shown in FIG. 1, at the time T14 when the command cancellation signal arrives to the vehicle 20, the other vehicle 50 has entered the intersection significantly, and the vehicle 20 has already advanced to the center of the intersection. It takes a certain amount of time for the vehicle 20, which has received the command cancellation, to stop, and also requires a certain braking distance. For this reason, in the example shown in FIG. 1, the command cancellation is not made in time for the change in the relative position between the vehicle 20 and the other vehicle 50, and there is a risk of danger occurring between the vehicle 20 and the other vehicle 50, or the traffic flow being disrupted by the vehicle 20.

[0025] Next, the driving assistance result when the vehicle control method according to this embodiment is not used will be described with reference to Fig. 2. In the example shown in Fig. 2, the vehicle 20 also stops before turning right and waits until a transmission command is transmitted from the remote assistance device 30. At time T10, no other vehicle is approaching the intersection on the opposite lane. The image transmitted from the vehicle 20 at time T10 is displayed on the display device 32 at time T20. As in the example shown in Fig. 1, time T20 is later than time T10 by the uphill delay time.

[0026] At time T20, the operator 40 commands the vehicle 20 to start (Go). The command transmitted from the remote support device 30 at time T20 is executed by the vehicle 20 at time T12. As in the example shown in Fig. 1, time T12 is later than time T20 by the upstream delay time.

[0027] According to the vehicle control method of this embodiment, a predetermined period from time T12 when the vehicle 20 receives a command from the remote assistance device 30 is set as a command revocation effective period for validating the revocation of the command. Details of the setting of the command revocation effective period will be described later. Then, within the command revocation effective period, the speed-related control amount of the vehicle 20 is adjusted according to the magnitude of the delay time that is currently occurring. The delay time may be an uphill delay time, a downhill delay time, or the total time of both. In the example shown in FIG. 2, the acceleration after starting is reduced from the normal time due to the occurrence of the delay time.

[0028] An image transmitted from the vehicle 20 at time T12 is displayed on the display device 32 at time T22. As in the example shown in Fig. 1, time T22 is delayed from time T12 by the upstream delay time. The operator 40 cancels the command to the vehicle 20 to start at time T22. The command cancellation signal transmitted from the remote support device 30 at time T22 reaches the vehicle 20 at time T14. As in the example shown in Fig. 1, time T14 is delayed from time T22 by the downstream delay time.

[0029] As described above, even in the example shown in FIG. 2, a delay time equal to the sum of the uphill delay time and the downhill delay time occurs between time T12 when the command to start is received by the vehicle 20 and time T14 when the command cancellation signal is received by the vehicle 20. During this delay time, the other vehicle 50 enters the intersection, and the vehicle 20 also moves forward. However, in the example shown in FIG. 2, the acceleration of the vehicle 20 during the command cancellation validity period is kept low, so the distance traveled by the vehicle 20 after receiving the command to start is short. Therefore, in the example shown in FIG. 2, the command cancellation is made in time for the change in the relative position between the vehicle 20 and the other vehicle 50, and the occurrence of danger between the vehicle 20 and the other vehicle 50 and the disruption of traffic flow are avoided.

[0030] The procedure of the vehicle control method according to this embodiment applied to the example shown in Fig. 2 can be shown in a flowchart. Fig. 3 is a flowchart showing the procedure of the vehicle control method according to this embodiment. As shown in Fig. 3, the vehicle control method according to this embodiment consists of four steps.

[0031] Step S01 is executed in response to a command transmitted from the remote assistance device 30 to the vehicle 20. In step S01, it is determined whether the current time is within a period during which the command can be revoked, i.e., within a command revocation validity period. The command revocation validity period includes the time of its initiation. If the current time is not within the command revocation validity period, the subsequent steps are skipped and the control amount of the vehicle 20 is not adjusted.

[0032] If the result of the determination in step S01 is positive, the procedure proceeds to step S02. In step S02, a communication delay time is measured. The method of measuring the communication delay time will be described later in detail.

[0033] Next, in step S03, it is determined whether the communication delay time measured in step S02 is equal to or greater than a predetermined value. The predetermined value is a reference value for determining whether a communication delay has occurred to an extent that would affect the revocation of a command. The predetermined value may be a fixed value, or may be changed depending on the situation in which the vehicle 20 is placed. If the communication delay time is not equal to or greater than the predetermined value, the subsequent steps are skipped and no adjustment is made to the control amount of the vehicle 20.

[0034] If the determination result in step S03 is positive, the procedure proceeds to step S04. In step S04, a control amount of the vehicle 20 related to the speed is adjusted according to the communication delay time. An example of the control amount to be adjusted is the above-mentioned acceleration. Figures 4A, 4B, and 4C show examples of a method for adjusting the acceleration as a control amount of the vehicle 20.

[0035] In the example shown in FIG. 4A, the acceleration is adjusted in a step-like manner. T1 in the graph is a predetermined value of the delay time used for the judgment in step S03. No adjustment of the acceleration is performed until the delay time reaches T1. Then, when the delay time becomes equal to or greater than T1, the acceleration is reduced to a certain adjusted acceleration. Note that, although the step is one step in FIG. 4A, the acceleration may be reduced in multiple steps of two or more steps.

[0036] In the example shown in FIG. 4B, the acceleration is adjusted linearly according to the delay time. In this example, the acceleration is not adjusted until the delay time reaches T1. Then, when the delay time is equal to or greater than T1, the amount of acceleration reduction is increased linearly according to the increase in the delay time. When the delay time is equal to or greater than T2, the acceleration is adjusted to a predetermined minimum value. If a minimum value is not set for the acceleration, the vehicle 20 may move at an extremely low acceleration, disrupting the traffic flow. In the example shown in FIG. 4C, the acceleration decreases monotonically with respect to the delay time, and is adjusted nonlinearly according to the delay time. In this example, the acceleration is not adjusted until the delay time reaches T1. When the delay time is T2 or more, the acceleration is adjusted to a predetermined minimum value. Then, the acceleration is smoothly changed from the initial setting value to the minimum value according to the increase in the delay time.

[0037] 2.Vehicle Control System Next, the vehicle control system according to this embodiment will be described.

[0038] 5 is a functional block diagram showing the configuration of a vehicle control system according to this embodiment. The vehicle control system 110 according to this embodiment is a system that implements the above vehicle control method, and is included in the remote assistance system 100. The vehicle control system 110 includes a communication delay measurement unit 111, a communication delay determination unit 112, a command retractability determination unit 113, and a control amount adjustment unit 114. These are functions of the vehicle control system 110 that are realized by one or more processors that physically configure the vehicle control system 110 executing a predetermined number of instructions.

[0039] The communication delay measurement unit 111 measures the communication delay time between the vehicle 20 and the remote assistance device 30. For example, assuming that the remote assistance system 100 is composed of multiple servers (hardware) and the functions of automatic driving, remote assistance, and command cancellation are distributed across multiple servers, the following measurement method can be considered.

[0040] The first method is to measure the end-to-end time for one way from the vehicle 20 to the remote support device 30, and regard it as the communication delay time.

[0041] The second method is to measure the end-to-end time from the vehicle 20 to the remote support device 30 and take the measured time as the communication delay time. In this case, not only the upstream communication delay time required for uploading data from the vehicle 20 but also the downstream communication delay time required for downloading data to the vehicle 20 may be included.

[0042] The third method is to measure the one-way or round-trip time from the vehicle 20 to a server, and use the measured time as the communication delay time. When the remote support system 100 is composed of multiple servers, the server that causes the communication delay is not necessarily the server close to the remote support device 30. It is considered that a very large communication delay occurs between the vehicle 20 and the window server that serves as the window for the vehicle 20 because of wireless communication. On the other hand, if the window server and the remote support device 30 are on the same network, communication is possible with a very small delay time compared to communication between the vehicle 20 and the window server. For this reason, the communication delay time may be measured between the window server and the vehicle 20, instead of the remote support device 30. If the load of the window server is high, the communication delay time may be measured using another server on the same network as the window server.

[0043] The fourth method is to measure the one-way time from the vehicle 20 to a certain server A and the one-way time from a certain server B to the vehicle 20, and to use the total time as the communication delay time. In addition, when the time fluctuation range of the communication delay time is large, that is, when the variance is large, the time average may be calculated and used as the communication delay time for determining the communication delay.

[0044] The communication delay determination unit 112 determines whether or not the currently occurring communication delay is large enough to affect the cancellation of a command, based on the communication delay time measured by the communication delay measurement unit 111. For example, if the shortest communication delay is 0.1 seconds in an ideal environment where high-speed communication is possible, 0.1 seconds may be set as the determination standard, and it may be determined that there is no communication delay up to 0.1 seconds. The communication delay determination unit 112 transmits the communication delay time measured by the communication delay measurement unit 111 together with the determination result to the downstream control amount adjustment unit 114.

[0045] The command revocation determination unit 113 determines whether the current time is within a command revocation validity period during which the command can be revoked. start However, in order to prevent hunting, the command cancellation validity period may start when a certain time has elapsed since the command was input, or when the vehicle 20 has traveled a certain distance.

[0046] The time from the start can be set as the effective period for command revocation. A fixed value can be given to the time that determines the effective period for command revocation. For example, the effective period for command revocation may be 3 seconds from the start. Also, a predetermined percentage of the time required for command execution can be set as the effective period for command revocation. The time required for command execution means the time until the intersection is passed if remote support is provided for passing an intersection, and means the time from the start to joining the main line if remote support is provided for starting from a bus stop. For example, if the effective period for command revocation is set to 5% of the time required for command execution, when it is estimated that it takes 10 seconds to pass the intersection, the effective period for command revocation is 5 seconds from the start.

[0047] Also, the distance from the start can be set as the effective period for canceling the command. A fixed value can be given to the distance that determines the effective period for canceling the command. For example, the effective period for canceling the command may be set to the time when the vehicle 20 travels 10 m from the start point. Also, a predetermined percentage of the travel distance required to execute the command can be set as the effective period for canceling the command. For example, if the effective period for canceling the command is set to 5% of the travel distance required to execute the command, when it is estimated that the vehicle will travel 20 m before passing the intersection, the effective period for canceling the command is set to the time when the vehicle travels 10 m from the start point.

[0048] The command revocation effective period can be changed according to the number of surrounding three-dimensional objects. For example, if the number of three-dimensional objects is equal to or less than a predetermined value, it is estimated that the command is unlikely to be revoked, so the command revocation effective period may be shortened. Conversely, if the number of three-dimensional objects is greater than a predetermined value, the command revocation effective period may be lengthened. However, if the content of the remote support is support for passing through an intersection, the maximum value of the command revocation effective period may be set to the period until the vehicle 20 passes through the intersection, and so on. For example, the maximum value of the command revocation effective period may be set for each content of support.

[0049] The command revocation validity period may also be changed according to the road structure, for example, the complexity of the road structure such as the number of lanes, the presence or absence of traffic lights, the road width, the size of intersections, etc.

[0050] Furthermore, the command revocation validity period can be changed according to the communication state. For example, if it has been confirmed that commands are revoked less frequently when the communication state is good, the command revocation validity period can be made shorter as the communication state becomes better.

[0051] Note that instead of setting only one command cancellation valid period for one remote support, multiple command cancellation valid periods may be set for one remote support in some cases. For example, support for departure from a bus stop includes two types of support: "door close" and "departure OK." Since the decision on the "door close" command and the decision on the "departure OK" command are made independently, the command cancellation valid periods for each may be set independently. Multiple command cancellation valid periods may overlap.

[0052] The command cancellation valid period can also be reset. For example, in support of starting at an intersection, assume that there were no solid objects in the vicinity at the time the command to start was sent, so the command cancellation valid period expired in 3 seconds. If a group of pedestrians subsequently appears at the intersection, the command cancellation valid period may be restarted in preparation for the command cancellation.

[0053] The command revocation valid period may be displayed on the display device 32 of the remote support device 30 so that the operator 40 can confirm it. Specifically, the remaining time of the command revocation valid period may be superimposed on the camera image. The start time of the command revocation valid period may also be displayed on the display device 32. The command revocation feasibility determination unit 113 transmits the result of the determination as to whether the command can be revoked to the control amount adjustment unit 114 at the downstream side.

[0054] The control amount adjustment unit 114 adjusts the control amount of the vehicle 20 related to the speed according to the communication delay time, on the condition that the current time is within the command cancellation valid period and the communication delay time is equal to or greater than a predetermined value. In addition to acceleration, the adjustable control amount can include maximum speed and deceleration. When the control amount is maximum speed, the maximum speed is suppressed lower as the communication delay time increases. When the control amount is deceleration, the deceleration is set higher as the communication delay time increases. In addition, a parameter that reduces the possibility of collision with a moving object such as a pedestrian that has jumped out or damage may be adjusted as the control amount. It is also possible to adjust these multiple control amounts together.

[0055] The control amount adjustment unit 114 outputs information on the adjusted control amount to a subsequent stage. When the control amount adjustment unit 114 is provided in the remote assistance device 30 or a server, the destination of the adjusted control amount is the automatic driving system of the vehicle 20. When the control amount adjustment unit 114 is provided in the vehicle 20, the destination of the adjusted control amount is the actuator of the vehicle 20. Note that it is undesirable that the movement of the vehicle 20 becomes unstable as a result of the adjustment of the control amount. Therefore, the time point at which the adjustment of the control amount starts may be reserved so that smooth driving control of the vehicle 20 can be realized.

[0056] Finally, an example of a hardware configuration of the vehicle control system 110 will be described. The vehicle control system 110 can be configured with the vehicle 20 and the remote support device 30. In detail, a part or all of the functions of the vehicle control system 110 shown in Fig. 5 can be provided in the remote support device 30, and the remaining functions of the vehicle control system 110 can be provided in the vehicle 20.

[0057] 6A is a block diagram showing an example of the configuration of the vehicle 20. The vehicle 20 includes a computer 21. The computer 21 is a collection of a plurality of ECUs (Electronic Control Units) mounted on the vehicle 20. The vehicle 20 also includes an external sensor 22, an internal sensor 23, an actuator 24, and a communication device 25. These are connected to the computer 21 using an in-vehicle network such as a CAN (Controller Area Network).

[0058] The computer 21 includes one or more processors 21a (hereinafter simply referred to as processor 21a) and one or more memories 21b (hereinafter simply referred to as memory 21b) coupled to the processor 21a. The memory 21b stores a plurality of instructions (programs) 21c (hereinafter simply referred to as instructions 21c) executable by the processor 21a and various information related thereto. The memory 21b also stores high-precision three-dimensional map information for automatic driving.

[0059] The processor 21a executes the instructions 21c, thereby realizing various processes by the processor 21a. The instructions 21c include instructions for realizing automatic driving. The processor 21a executes the instructions, thereby causing the computer 21 to function as an automatic driving system that automatically drives the vehicle 20. The instructions 21c also include instructions for receiving remote assistance. The processor 21a executes the instructions, thereby performing a process for executing a command obtained from the remote assistance device 30 on the vehicle 20. The instructions 21c also include instructions for causing the vehicle 20 to function as a part of the vehicle control system 110.

[0060] The external sensor 22 is a sensor that acquires information for recognizing the situation around the vehicle 20. The external sensor 22 includes at least a camera that captures an image in front of the vehicle 20. The internal sensor 23 is a sensor that acquires information related to the movement of the vehicle 20. The actuator 24 includes a steering device that steers the vehicle 20, a driving device that drives the vehicle 20, and a braking device that brakes the vehicle 20. The communication device 25 is a device that controls wireless communication between the vehicle 20 and the outside. The communication device 25 communicates with a server and a remote support device 30 via a communication network.

[0061] 6B is a block diagram showing an example of the configuration of the remote support device 30. The remote support device 30 includes a computer 31, a display device 32, an input device 33, and a communication device 35. The display device 32, the input device 33, and the communication device 35 are connected to the computer 31.

[0062] The computer 31 includes one or more processors 31a (hereinafter simply referred to as processor 31a) and one or more memories 31b (hereinafter simply referred to as memory 21b) coupled to the processor 31a. The memory 31b stores a plurality of instructions (programs) 31c (hereinafter simply referred to as instructions 31c) executable by the processor 31a and various information related thereto.

[0063] The processor 31a executes the instructions 31c to realize various processes. The instructions 31c include instructions for managing a user interface for providing remote support to the vehicle 20. The processor 31a executes the instructions to cause the computer 31 to function as an operator UI management system, and executes a process for displaying information required for remote support on the display device 32, which will be described later. The instructions 31c also include instructions for causing the remote support device 30 to function as a part or the whole of the vehicle control system 110.

[0064] The display device 32 is a device that displays information necessary for the operator 40 to perform remote support. The information displayed by the display device 32 includes an image of the front of the vehicle 20 captured by a camera of the vehicle 20. The input device 33 is a device that inputs operations for the operator 40 to perform remote support. The communication device 35 is a device that controls communication between the remote support device 30 and the outside. The communication device 35 communicates with a server and the vehicle 20 via a communication network. [Explanation of symbols]

[0065] 20 Self-driving vehicles 30 Remote support devices 32 Display device 40 Operator 50 Other vehicles 100 Remote Support System 110 Vehicle Control System

Claims

1. A system for controlling a vehicle that receives remote assistance from a remote assistance device using wireless communication, At least one processor; a program memory coupled to the at least one processor and having a plurality of instructions stored thereon; The instructions may include instructions for causing the at least one processor to: receiving a command from the remote support device to the vehicle, and setting a validity period during which the command can be revoked by the remote support device, the validity period being set to a time when a certain time has elapsed since the command was transmitted or when the vehicle has traveled a certain distance since the command was transmitted; Obtaining a communication delay time between the vehicle and the remote assistance device; and adjusting a speed-related control amount of the vehicle in accordance with the communication delay time, on the condition that the current time is within the valid period and the communication delay time is equal to or greater than a predetermined value. A system characterized by:

2. 2. The system of claim 1, Adjusting the control variable includes at least one of decreasing the acceleration of the vehicle, decreasing a maximum speed of the vehicle, and increasing the deceleration of the vehicle. A system characterized by:

3. 3. The system according to claim 1 or 2, Adjusting the control amount includes changing the control amount according to the communication delay time when the communication delay time is equal to or greater than a first predetermined time and less than a second predetermined time, and fixing the control amount when the communication delay time is equal to or greater than the second predetermined time. A system characterized by:

4. A method for controlling a vehicle receiving remote assistance from a remote assistance device using wireless communication, comprising: receiving a command from the remote support device to the vehicle, and setting a validity period during which the command can be revoked by the remote support device, the validity period being set to a time when a certain time has elapsed since the command was transmitted or when the vehicle has traveled a certain distance since the command was transmitted; Obtaining a communication delay time between the vehicle and the remote assistance device; and adjusting a speed-related control amount of the vehicle in accordance with the communication delay time, on the condition that the current time is within the valid period and the communication delay time is equal to or greater than a predetermined value. A method comprising:

5. A program for causing a computer to control a vehicle receiving remote assistance from a remote assistance device using wireless communication, receiving a command from the remote support device to the vehicle, and setting a validity period during which the command can be revoked by the remote support device, the validity period being set to a time when a certain time has elapsed since the command was transmitted or when the vehicle has traveled a certain distance since the command was transmitted; Obtaining a communication delay time between the vehicle and the remote assistance device; and adjusting a speed-related control amount of the vehicle in accordance with the communication delay time, on the condition that the current time is within the valid period and the communication delay time is equal to or greater than a predetermined value. A program characterized by:

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