Remote operation control method and remote operation system

Abstract

To restrict speed of a mobile object under a remote operation according to a situation.SOLUTION: An image to be photographed by a camera loaded on a mobile object is transmitted to a remote operator terminal on a side of a remote operator who remotely operates the mobile object. A remote operation system sets upper limit speed of the mobile object during a remote operation as low the lower quality of the image to be transmitted from the mobile object to the remote operator terminal becomes, or the longer encoding / decoding time of the video becomes. Then, the remote operation system restricts speed of the mobile object during the remote operation to the upper limit speed or lower irrespective of an operation amount to be input by the remote operator.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to remote operation of a moving body.

Background Art

[0002] Patent Document 1 discloses restricting the speed of a vehicle during remote control to a predetermined value or less.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] During remote operation (remote driving, remote control, remote support) of a moving body, it may be considered to limit the speed of the moving body. However, if the upper limit speed is set uniformly without considering the situation, there is a risk that the speed of the moving body will be restricted more than necessary. This hinders efficient operation of the moving body and smooth remote operation.

[0005] One object of the present disclosure is to provide a technique capable of restricting the speed of a moving body during remote operation according to the situation.

Means for Solving the Problems

[0006] The first aspect relates to a remote operation control method for controlling remote operation of a moving body. An image captured by a camera mounted on the moving body is transmitted to a remote operator terminal on the remote operator side that remotely operates the moving body. The remote operation control method sets the upper limit speed of the moving body during remote operation lower as the quality of the image transmitted from the moving body to the remote operator terminal becomes lower, or as the encoding / decoding time of the image becomes longer, and Regardless of the amount of operation input by the remote operator, limiting the speed of the moving body during remote operation to a speed equal to or lower than the upper limit speed is included.

[0007] The second aspect is related to a remote operation system for remotely operating a moving body. The video captured by a camera mounted on the moving body is transmitted to a remote operator terminal on the remote operator side that remotely operates the moving body. The remote operation system includes one or more processors. The one or more processors set the upper limit speed of the moving body during remote operation to be lower as the quality of the video transmitted from the moving body to the remote operator terminal becomes lower, or as the encoding / decoding time of the video becomes longer. Then, regardless of the amount of operation input by the remote operator, the one or more processors limit the speed of the moving body during remote operation to a speed equal to or lower than the upper limit speed.

[0008] The third aspect is related to the moving body that is the object of remote operation by the remote operator. The moving body includes one or more processors. The one or more processors transmit the video captured by a camera mounted on the moving body to a remote operator terminal on the remote operator side. The one or more processors set the upper limit speed of the moving body during remote operation to be lower as the quality of the video transmitted from the moving body to the remote operator terminal becomes lower, or as the encoding / decoding time of the video becomes longer. Then, regardless of the amount of operation input by the remote operator, the one or more processors limit the speed of the moving body during remote operation to a speed equal to or lower than the upper limit speed.

Advantages of the Invention

[0009] According to the present disclosure, the upper limit speed of a moving body is set according to the quality of video transmitted from the moving body to a remote operator terminal. When the quality of the video is relatively low, the upper limit speed is set relatively low, enabling safer remote operation. On the other hand, when the quality of the video is relatively high, the upper limit speed is set relatively high and no unnecessary speed limit is imposed, enabling efficient operation of the moving body and smooth remote operation.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0011] 1. Overview of the Remote Operation System Consider the remote operation of a moving body. Remote operation is a concept including remote driving, remote control, and remote assistance. Examples of the moving body include vehicles, robots, etc. The vehicle may be an autonomous vehicle or a vehicle driven by a driver. Examples of the robot include a logistics robot, a work robot, etc. As an example, in the following description, the case where the moving body that is the object of remote operation is a vehicle will be considered. In the case of generalization, the "vehicle" in the following description shall be read as "moving body".

[0012] FIG. 1 is a schematic diagram showing a configuration example of a remote operation system 1 according to the present embodiment. The remote operation system 1 includes a vehicle 100, a remote operator terminal 200, and a management device 300. The vehicle 100 is an object of remote operation. The remote operator terminal 200 is a terminal device used when a remote operator O remotely operates the vehicle 100. The remote operator terminal 200 can also be referred to as a remote cockpit. The management device 300 manages the remote operation system 1. Typically, the management device 300 is a management server on the cloud. The management server may be composed of a plurality of servers that perform distributed processing.

[0013] The vehicle 100, the remote operator terminal 200, and the management device 300 can communicate with each other via a communication network. The vehicle 100 and the remote operator terminal 200 can communicate with each other via the management device 300. Also, the vehicle 100 and the remote operator terminal 200 may communicate directly without going through the management device 300.

[0014] The vehicle 100 is equipped with various sensors including a camera C. The camera C images the situation around the vehicle 100 and acquires a video VID showing the situation around the vehicle 100. The vehicle information VCL is information obtained by various sensors and includes the video VID obtained by the camera C. The vehicle 100 transmits the vehicle information VCL to the remote operator terminal 200.

[0015] The remote operator terminal 200 receives the vehicle information VCL transmitted from the vehicle 100. The remote operator terminal 200 presents the vehicle information VCL to the remote operator O. Specifically, the remote operator terminal 200 is provided with a display device and displays the video VID etc. on the display device. The remote operator O recognizes the situation around the vehicle 100 by looking at the displayed information and remotely operates the vehicle 100. The remote operation information OPE is information related to the remote operation by the remote operator O. For example, the remote operation information OPE includes the operation amounts (steering operation amount, accelerator operation amount, brake operation amount) input by the remote operator O. The remote operator terminal 200 transmits the remote operation information OPE to the vehicle 100.

[0016] Vehicle 100 receives remote operation information OPE transmitted from the remote operator terminal 200. Vehicle 100 performs vehicle driving control according to the received remote operation information OPE. In this way, remote operation of Vehicle 100 is realized.

[0017] 2. Speed limit processing During the remote operation of Vehicle 100, it is conceivable to limit the speed of Vehicle 100. However, if the upper speed limit is set uniformly without considering the situation, there is a risk that the speed of Vehicle 100 will be restricted more than necessary. This inhibits efficient vehicle driving and smooth remote operation. Therefore, this embodiment proposes a technique capable of restricting the speed of Vehicle 100 during remote operation according to the situation.

[0018] FIG. 2 is a block diagram showing a functional configuration related to the speed limit processing according to this embodiment. The remote operation system 1 includes, as functional blocks, an upper speed limit setting unit 10, a mediation unit 20, and a vehicle control unit 30.

[0019] The upper speed limit setting unit 10 variably sets the upper speed limit Vlim of Vehicle 100 during remote operation. The reference information REF is information considered when setting the upper speed limit Vlim. For example, the reference information REF indicates the situation of the remote operation of Vehicle 100. By considering such reference information REF, it becomes possible to set the upper speed limit Vlim according to the situation of the remote operation. Various examples of the reference information REF, that is, various examples of the method for setting the upper speed limit Vlim, can be considered. Various examples of the method for setting the upper speed limit Vlim will be described later. Note that the upper speed limit setting unit 10 may be included in any of the Vehicle 100, the remote operator terminal 200, and the management device 300.

[0020] The arbitration unit 20 receives the information of the upper limit speed Vlim set by the upper limit speed setting unit 10. Further, the arbitration unit 20 receives the remote operation information OPE. Then, regardless of the operation amount input by the remote operator O, the arbitration unit 20 limits the speed of the vehicle 100 during the remote operation to be equal to or lower than the upper limit speed Vlim. That is, the arbitration unit 20 selects the lower one of the speed according to the remote operation information OPE and the upper limit speed Vlim as the final required speed.

[0021] For example, the arbitration unit 20 is included in the vehicle 100. In that case, the arbitration unit 20 receives the remote operation information OPE sent from the remote operator terminal 200. For example, the remote operation information OPE includes the accelerator operation amount input by the remote operator O. The arbitration unit 20 calculates the operator required speed based on the accelerator operation amount. Then, the arbitration unit 20 selects the lower one of the operator required speed and the upper limit speed Vlim as the final required speed.

[0022] As another example, the arbitration unit 20 may be included in the remote operator terminal 200. In that case, before transmitting the remote operation information OPE to the vehicle 100, the arbitration unit 20 corrects it in advance so that the speed of the vehicle 100 is limited to be equal to or lower than the upper limit speed Vlim. For example, the arbitration unit 20 calculates the operator required speed based on the accelerator operation amount input by the remote operator O. Further, the arbitration unit 20 selects the lower one of the operator required speed and the upper limit speed Vlim as the final required speed. In this case, the required speed selected by the arbitration unit 20 is included in the remote operation information OPE transmitted from the remote operator terminal 200 to the vehicle 100.

[0023] The arbitration unit 20 may calculate a required acceleration together with the required speed. Specifically, the arbitration unit 20 calculates a first acceleration for making the speed of the vehicle 100 coincide with the upper limit speed Vlim based on the current speed of the vehicle 100 and the upper limit speed Vlim. Further, the arbitration unit 20 calculates an operator required acceleration based on the accelerator operation amount input by the remote operator O. Then, the arbitration unit 20 selects the lower of the operator required acceleration and the first acceleration as the final required acceleration.

[0024] The arbitration unit 20 outputs control information CON including the final required speed and the final required acceleration to the vehicle control unit 30. The vehicle control unit 30 is included in the vehicle 100 and controls the speed and acceleration of the vehicle 100 according to the control information CON.

[0025] Hereinafter, various examples of the method for setting the upper limit speed Vlim will be described.

[0026] 3. Example of setting the upper limit speed 3-1. The first example The vehicle 100 monitors the communication state with the remote operator terminal 200 and detects the occurrence of congestion. The congestion detection method is a well-known technique and is not particularly limited. For example, the occurrence of congestion can be detected based on the packet loss state or the delay state. When congestion occurs and the communication speed decreases, the vehicle 100 executes "congestion control" in order to suppress the communication delay and also to avoid communication interruption. Specifically, the vehicle 100 reduces the data transmission amount by reducing the image quality of the video VID transmitted to the remote operator terminal 200. For example, the vehicle 100 reduces the resolution of the video VID in the encoding process. As another example, the vehicle 100 reduces the frame rate of the video VID in the encoding process. By such congestion control, it is possible to suppress the communication delay and also to avoid communication interruption.

[0027] However, when convergence control is performed in the vehicle 100, the image quality of the video VID displayed on the display device of the remote operator terminal 200 also deteriorates. As a result, the visibility of the video VID decreases, and there is a possibility that it becomes difficult for the remote operator O to grasp the situation around the vehicle 100. In this case, for safety reasons, it is preferable to limit the speed of the vehicle 100.

[0028] Therefore, in the first example, the upper speed setting unit 10 variably sets the upper speed Vlim of the vehicle 100 according to the quality of the video VID transmitted from the vehicle 100 to the remote operator terminal 200. The reference information REF is information regarding the quality of the video VID transmitted from the vehicle 100 to the remote operator terminal 200. The quality of the video VID includes at least one of the resolution and the frame rate of the video VID. The vehicle 100 on the side transmitting the video VID can acquire information regarding the quality of the video VID. The remote operator terminal 200 can also acquire information regarding the quality of the video VID based on the received video VID. When the video VID is transferred to the remote operator terminal 200 via the management device 300, the management device 300 can also acquire information regarding the quality of the video VID. Therefore, the upper speed setting unit 10 may be included in any of the vehicle 100, the remote operator terminal 200, and the management device 300.

[0029] FIG. 3 is a conceptual diagram for explaining an example of setting the upper speed Vlim in the first example. The upper speed setting unit 10 sets the upper speed Vlim lower as the quality of the video VID decreases, and sets the upper speed Vlim higher as the quality of the video VID increases. The upper speed Vlim may change linearly or non-linearly according to the quality of the video VID. The upper speed Vlim may change stepwise.

[0030] As described above, according to the first example, the upper limit speed Vlim of the vehicle 100 is set according to the quality of the video VID transmitted from the vehicle 100 to the remote operator terminal 200. When the quality of the video VID is relatively low, the upper limit speed Vlim is set relatively low, so that safer remote operation is possible. On the other hand, when the quality of the video VID is relatively high, the upper limit speed Vlim is set relatively high and no unnecessary speed limit is imposed, so that efficient vehicle driving and smooth remote operation are possible.

[0031] 3-2. Second Example The delay time of communication between the vehicle 100 and the remote operator terminal 200 varies depending on the line state and the like. When the delay time increases, the deviation between the video VID seen by the remote operator O and the current one becomes larger, and the time until the remote operation by the remote operator O is actually reflected in the behavior of the vehicle 100 also increases. In such a case, it is preferable to limit the speed of the vehicle 100 for safety reasons.

[0032] Therefore, in the second example, the upper limit speed setting unit 10 variably sets the upper limit speed Vlim of the vehicle 100 according to the delay time of communication between the vehicle 100 and the remote operator terminal 200. The reference information REF is information regarding the delay time of communication between the vehicle 100 and the remote operator terminal 200. For example, when the upper limit speed setting unit 10 is included in the vehicle 100, the upper limit speed setting unit 10 can grasp the delay time based on the reception state of the remote operation information OPE from the remote operator terminal 200. As another example, when the upper limit speed setting unit 10 is included in the remote operator terminal 200, the upper limit speed setting unit 10 can grasp the delay time based on the reception state of the vehicle information VCL from the vehicle 100.

[0033] The upper limit speed setting unit 10 sets the upper limit speed Vlim lower as the delay time increases, and sets the upper limit speed Vlim higher as the delay time decreases. For example, the upper limit speed setting unit 10 sets the upper limit speed Vlim so that the coasting distance of the vehicle 100 within the delay time is within a certain distance. Thereby, the same effect as in the case of the first example described above can be obtained.

[0034] 3-3. Third Example The encoding / decoding time of video VID also causes a delay in video VID, that is, a deviation between the video VID seen by remote operator O and the current one. Therefore, in the third example, the upper speed setting unit 10 variably sets the upper speed Vlim of the vehicle 100 according to the encoding / decoding time of video VID. The reference information REF is the encoding / decoding time of video VID, which is obtained at the vehicle 100 or the remote operator terminal 200. The upper speed setting unit 10 sets the upper speed Vlim lower as the encoding / decoding time of video VID becomes longer. Thereby, the same effect as in the case of the second example above can be obtained.

[0035] 3-4. Fourth Example As shown in FIG. 4, the remote operator terminal 200 may superimpose and display the estimated future position (estimated trajectory TR and / or estimated passing range RNG) of the vehicle 100 on the video VID. Such an estimated future position can be estimated based on the operation amounts (steering operation amount, accelerator operation amount, brake operation amount) input by the remote operator O and the speed of the vehicle 100. If the estimated future position corresponding to the operation by the remote operator O frequently deviates from the lane, it is possible that the remote operation skill of the remote operator O is not high. In such a case, it is preferable to limit the speed of the vehicle 100.

[0036] Therefore, in the fourth example, the upper speed setting unit 10 sets the upper speed Vlim based on the number of times the estimated future position of the vehicle 100 has deviated from the lane in which the vehicle 100 is traveling. The reference information REF includes, for example, the estimated future position of the vehicle 100. The estimated future position of the vehicle 100 can be calculated based on the remote operation information OPE, and may be calculated by the vehicle 100 or by the remote operator terminal 200. When the upper speed setting unit 10 is included in the vehicle 100, the upper speed setting unit 10 can grasp the position of the lane in which the vehicle 100 is traveling based on the current position of the vehicle 100 and the lane arrangement information registered in the map information. When the upper speed setting unit 10 is included in the remote operator terminal 200, the upper speed setting unit 10 may extract the lane position from the video VID by using a method such as semantic segmentation.

[0037] The upper speed setting unit 10 counts the number of times the estimated future position of the vehicle 100 has deviated from the lane in which the vehicle 100 is traveling over a certain past period. Then, the upper speed setting unit 10 sets the upper speed Vlim lower as the number of deviations in the past certain period increases. The upper speed Vlim may change linearly or non-linearly according to the number of deviations. In the case of the fourth example as well, the same effect as in the case of the first example described above can be obtained.

[0038] 3-5. Fifth Example In the fifth example, the upper speed setting unit 10 sets the speed limit of the road on which the vehicle 100 is traveling as the upper speed Vlim. The reference information REF is information regarding the speed limit of the road on which the vehicle 100 is traveling. For example, the vehicle 100 analyzes the image obtained by the camera C to recognize the speed limit sign installed on the road and reads the speed limit indicated by the speed limit sign. As another example, the speed limit may be registered in advance in the high-precision map information.

[0039] 3-6. Sixth Example In the fifth example, the reference information REF is information on the upper limit speed Vlim determined by an external institution. For example, the upper limit speed Vlim is arbitrarily determined by a remote operation operator. For example, the reference information REF is provided by the management device 300. The upper limit speed setting unit 10 sets the upper limit speed Vlim based on the reference information REF.

[0040] 3-7. Seventh example As long as there is no contradiction, combinations of two or more of the above first to sixth examples are also possible.

[0041] 4. Example of a vehicle 4-1. Configuration example FIG. 5 is a block diagram showing a configuration example of the vehicle 100. The vehicle 100 includes a communication device 110, a sensor group 120, a traveling device 130, and a control device 150.

[0042] The communication device 110 communicates with the outside of the vehicle 100. For example, the communication device 110 communicates with the remote operator terminal 200 and the management device 300.

[0043] The sensor group 120 includes a recognition sensor, a vehicle state sensor, a position sensor, etc. The recognition sensor recognizes (detects) the situation around the vehicle 100. Examples of the recognition sensor include a camera C, LIDAR (Laser Imaging Detection and Ranging), a radar, etc. The vehicle state sensor detects the state of the vehicle 100. The vehicle state sensor includes a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc. The position sensor detects the position and orientation of the vehicle 100. For example, the position sensor includes GNSS (Global Navigation Satellite System).

[0044] The traveling device 130 includes a steering device, a driving device, and a braking device. The steering device steers the wheels. For example, the steering device includes an Electric Power Steering (EPS) device. The driving device is a power source that generates driving force. Examples of the driving device include an engine, an electric motor, and an in-wheel motor. The braking device generates braking force.

[0045] The control device 150 is a computer that controls the vehicle 100. The control device 150 includes one or more processors 160 (hereinafter simply referred to as the processor 160) and one or more storage devices 170 (hereinafter simply referred to as the storage device 170). The processor 160 executes various processes. For example, the processor 160 includes a Central Processing Unit (CPU). The storage device 170 stores various information necessary for the processes by the processor 160. Examples of the storage device 170 include a volatile memory, a non-volatile memory, a Hard Disk Drive (HDD), and a Solid State Drive (SSD).

[0046] The vehicle control program PROG1 is a computer program executed by the processor 160. By the processor 160 executing the vehicle control program PROG1, the functions of the control device 150 are realized. The vehicle control program PROG1 is stored in the storage device 170. Alternatively, the vehicle control program PROG1 may be recorded on a computer-readable recording medium.

[0047] 4-2. Driving environment information The control device 150 uses the sensor group 120 to acquire driving environment information ENV indicating the driving environment of the vehicle 100. The driving environment information ENV is stored in the storage device 170.

[0048] The driving environment information ENV includes the surrounding situation information indicating the recognition results by the recognition sensors. For example, the surrounding situation information includes the video VID captured by the camera C. The surrounding situation information may include object information regarding the objects around the vehicle 100. Examples of the objects around the vehicle 100 include pedestrians, other vehicles (preceding vehicles, parked vehicles, etc.), white lines, signals, signs, roadside structures, etc. The object information indicates the relative position and relative speed of the object with respect to the vehicle 100.

[0049] Also, the driving environment information ENV includes vehicle state information indicating the vehicle state detected by the vehicle state sensors.

[0050] Furthermore, the driving environment information ENV includes vehicle position information indicating the position and orientation of the vehicle 100. The vehicle position information is obtained by the position sensor. High-precision vehicle position information may be obtained by self-position estimation processing (Localization) using the map information and the surrounding situation information (object information).

[0051] 4-3. Vehicle Driving Control The control device 150 executes vehicle driving control for controlling the driving of the vehicle 100. The vehicle driving control includes steering control, drive control, and braking control. The control device 150 executes vehicle driving control by controlling the driving device 130 (steering device, drive device, and braking device).

[0052] The control device 150 may perform automatic driving control based on the driving environment information ENV. More specifically, the control device 150 generates a driving plan for the vehicle 100 based on the driving environment information ENV. Furthermore, the control device 150 generates a target trajectory necessary for the vehicle 100 to travel according to the driving plan based on the driving environment information ENV. The target trajectory includes a target position and a target speed. Then, the control device 150 performs vehicle driving control so that the vehicle 100 follows the target trajectory.

[0053] 4-4. Processing Related to Remote Operation The following describes the case where the remote operation of the vehicle 100 is performed. The control device 150 communicates with the remote operator terminal 200 via the communication device 110.

[0054] The control device 150 transmits vehicle information VCL to the remote operator terminal 200. The vehicle information VCL is information necessary for the remote operation by the remote operator O and includes at least a part of the above-described driving environment information ENV. For example, the vehicle information VCL includes surrounding situation information (particularly video VID). The vehicle information VCL may further include vehicle state information and vehicle position information.

[0055] Also, the control device 150 receives remote operation information OPE from the remote operator terminal 200. The remote operation information OPE is information regarding the remote operation by the remote operator O. For example, the remote operation information OPE includes the operation amount input by the remote operator O. The control device 150 performs vehicle travel control according to the received remote operation information OPE.

[0056] Also, the control device 150 executes the convergence control described in the above Section 3-1 as necessary. In the convergence control, the control device 150 reduces the image quality (resolution, frame rate) of the video VID transmitted to the remote operator terminal 200.

[0057] The control device 150 may have the function of the upper speed limit setting unit 10 described in the above Sections 2 and 3. The control device 150 may have the function of the mediation unit 20 described above. The control device 150 may have the function of the vehicle control unit 30 described above.

[0058] 5. Configuration Example of Remote Operator Terminal FIG. 6 is a block diagram showing a configuration example of the remote operator terminal 200. The remote operator terminal 200 includes a communication device 210, an output device 220, an input device 230, and a control device 250.

[0059] The communication device 210 communicates with the vehicle 100 and the management device 300.

[0060] The output device 220 outputs various types of information. For example, the output device 220 includes a display device. The display device presents various types of information to the remote operator O by displaying the various types of information. As another example, the output device 220 may include a speaker.

[0061] The input device 230 receives input from the remote operator O. For example, the input device 230 includes a remote operation member that the remote operator O operates when remotely operating the vehicle 100. The remote operation member includes a steering wheel, an accelerator pedal, a brake pedal, a direction indicator, and the like.

[0062] The control device 250 controls the remote operator terminal 200. The control device 250 includes one or more processors 260 (hereinafter simply referred to as the processor 260) and one or more storage devices 270 (hereinafter simply referred to as the storage device 270). The processor 260 executes various processes. For example, the processor 260 includes a CPU. The storage device 270 stores various types of information necessary for the processes by the processor 260. Examples of the storage device 270 include a volatile memory, a non-volatile memory, an HDD, an SSD, and the like.

[0063] The remote operation program PROG2 is a computer program executed by the processor 260. By the processor 260 executing the remote operation program PROG2, the functions of the control device 250 are realized. The remote operation program PROG2 is stored in the storage device 270. Alternatively, the remote operation program PROG2 may be recorded on a computer-readable recording medium. The remote operation program PROG2 may be provided via a network.

[0064] The control device 250 communicates with the vehicle 100 via the communication device 210. The control device 250 receives vehicle information VCL transmitted from the vehicle 100. The control device 250 presents the vehicle information VCL to the remote operator O by displaying the vehicle information VCL including the video VID on the display device. The remote operator O can recognize the state of the vehicle 100 and the surrounding situation based on the vehicle information VCL displayed on the display device.

[0065] The remote operator O operates the remote operation member of the input device 230. The operation amount of the remote operation member is detected by a sensor installed on the remote operation member. The control device 250 generates remote operation information OPE reflecting the operation amount of the remote operation member by the remote operator O. Then, the control device 250 transmits the remote operation information OPE to the vehicle 100 via the communication device 210.

[0066] The control device 250 may have the functions of the upper speed limit setting unit 10 described in Sections 2 and 3 above. The control device 250 may have the functions of the arbitration unit 20 described above.

Description of Reference Numerals

[0067] 1... Remote operation system, 10... Upper speed limit setting unit, 20... Arbitration unit, 30... Vehicle control unit, 100... Vehicle, 200... Remote operator terminal, 300... Management device, OPE... Remote operation information, VCL... Vehicle information, Vlim... Upper speed limit

Claims

1. A remote operation control method for controlling the remote operation of a moving body, wherein the video captured by the camera mounted on the moving body is transmitted to a remote operator terminal on the remote operator side that remotely operates the moving body, the remote operation control method sets the upper limit speed of the moving body during the remote operation lower as the quality of the video transmitted from the moving body to the remote operator terminal becomes lower, or as the encoding / decoding time of the video becomes longer, estimates the future position of the moving body based on the operation amount input by the remote operator, counts the number of times the estimated future position has deviated from the lane in which the moving body is traveling over a certain past period, sets the upper limit speed of the moving body during the remote operation lower as the number of times increases, limits the speed of the moving body during the remote operation to be equal to or lower than the upper limit speed regardless of the operation amount input by the remote operator and includes a remote operation control method.

2. The remote operation control method according to claim 1, wherein the quality of the video includes at least one of the resolution and frame rate of the video a remote operation control method.

3. A remote operation control method for controlling the remote operation of a moving body, wherein the video captured by the camera mounted on the moving body is transmitted to a remote operator terminal on the remote operator side that remotely operates the moving body, the remote operation control method estimates the future position of the moving body based on the operation amount input by the remote operator, counts the number of times the estimated future position has deviated from the lane in which the moving body is traveling over a certain past period, sets the upper limit speed of the moving body during the remote operation lower as the number of times increases, limits the speed of the moving body during the remote operation to be equal to or lower than the upper limit speed regardless of the operation amount input by the remote operator and includes a remote operation control method.

4. A remote operation system for remote operation of a moving body, wherein the video captured by the camera mounted on the moving body is transmitted to a remote operator terminal on the remote operator side that remotely operates the moving body, the remote operation system includes one or more processors, the one or more processors The lower the quality of the video transmitted from the moving body to the remote operator terminal, or the longer the encoding / decoding time of the video, the lower the upper limit speed of the moving body during the remote operation is set. Based on the amount of operation input by the remote operator, estimate the future position of the moving body. Count the number of times the estimated future position has deviated from the lane in which the moving body is traveling during a certain past period. The higher the number of times, the lower the upper limit speed of the moving body during the remote operation is set. Regardless of the amount of operation input by the remote operator, limit the speed of the moving body during the remote operation to be equal to or lower than the upper limit speed. configured as remote operation system. **Claim 5**: A remote operation system for remotely operating a moving body, The video captured by the camera mounted on the moving body is transmitted to a remote operator terminal on the remote operator side that remotely operates the moving body. The remote operation system includes one or more processors. The one or more processors Based on the amount of operation input by the remote operator, estimate the future position of the moving body. Count the number of times the estimated future position has deviated from the lane in which the moving body is traveling during a certain past period. The higher the number of times, the lower the upper limit speed of the moving body during the remote operation is set. Regardless of the amount of operation input by the remote operator, limit the speed of the moving body during the remote operation to be equal to or lower than the upper limit speed. configured as remote operation system.

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