Mobile object control device and mobile object control method

Abstract

To provide a mobile body control device or the like capable of improving safety of an automatic operation of a mobile body while suppressing hindrance to smooth driving of the mobile body.SOLUTION: A mobile body control device 100 includes: a communication section 110 for performing communication with a mobile body 200 which can perform an automatic operation; a communication quality measurement section 120 for measuring communication quality of communication with the mobile body 200 via the communication section 110; a determination section 130 for determining a risk level at a predetermined position on a predetermined travel route on which the mobile body 200 travels; and a control section 150 for generating travel control information to control traveling of the mobile body 200 based on the communication quality and the risk level, and transmitting the travel control information to the mobile body 200 via the communication section 110.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object control device that controls an automatically operable mobile object, and a mobile object control method. [Background technology]

[0002] Conventionally, there are devices that control autonomously driven moving bodies such as autonomous vehicles (see, for example, Patent Document 1). Patent Document 1 discloses a device that is mounted on a vehicle and calculates the delay time of communication with an external terminal. If the calculated delay time is equal to or greater than a predetermined threshold, the device generates an operation plan for autonomous driving of the vehicle by setting a vehicle speed limit value that indicates the upper limit of the vehicle's speed, so that the longer the delay time, the smaller the vehicle speed limit value, and the greater the rate of change at which the vehicle speed limit value decreases as the delay time increases. This allows for highly safe autonomous driving of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-18563 Summary of the Invention [Problem to be solved by the invention]

[0004] For this type of vehicle, improved safety is desired when it is driven automatically. However, if safety is overemphasized, the vehicle may frequently decelerate, stop, or make an emergency stop, which may cause problems in the smooth operation of the vehicle.

[0005] The present disclosure provides a mobile body control device and the like that can improve the safety of automatic driving of a mobile body while suppressing interference with the smooth operation of the mobile body. [Means for solving the problem]

[0006] A mobile body control device according to one aspect of the present disclosure includes a communication unit for communicating with an autonomously driven mobile body, a communication quality measurement unit for measuring the communication quality of communication with the mobile body via the communication unit, a determination unit for determining the risk level of a predetermined position on a predetermined driving route along which the mobile body travels, and a control unit for generating driving control information for controlling the driving of the mobile body based on the communication quality and the risk level, and transmitting the driving control information to the mobile body via the communication unit.

[0007] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be realized as any combination of a system, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0008] According to the mobile body control device and the like according to the present disclosure, it is possible to improve the safety of the automatic driving of the mobile body while suppressing interference with the smooth operation of the mobile body. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram schematically illustrating an overview of a mobile object control system according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the configuration of the mobile object control device according to the embodiment. [Figure 3] FIG. 3 is a diagram for explaining a specific example of the determination process of the determination unit according to the embodiment. [Figure 4] FIG. 4 is a flowchart illustrating a processing procedure of the mobile object control device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] (Summary of the Disclosure) A mobile body control device according to one aspect of the present disclosure includes a communication unit for communicating with an autonomously driven mobile body, a communication quality measurement unit for measuring the communication quality of communication with the mobile body via the communication unit, a determination unit for determining the risk level of a predetermined position on a predetermined driving route along which the mobile body travels, and a control unit for generating driving control information for controlling the driving of the mobile body based on the communication quality and the risk level, and transmitting the driving control information to the mobile body via the communication unit.

[0011] This makes it possible to control the traveling of a mobile body, i.e., the automated driving of a mobile body, using not only the communication quality of the communication between the mobile body control device and the mobile body, but also the risk level (degree of danger) of the location where the mobile body travels (passes). Therefore, compared to conventional devices that control the automated driving of a mobile body by considering only the communication quality of the communication with the mobile body, it is possible to reduce interference with the smooth operation of the mobile body and improve the safety of the automated driving of the mobile body.

[0012] Also, for example, the determination unit further determines the service level of the service provided by the mobile body, and the control unit generates the driving control information based on the communication quality, the risk level, and the service level.

[0013] A mobile object may be required to provide a service such as delivering a user to a destination by a specified time. Such a service may require different service levels, such as when the user must be delivered within a very short period of time or when the user can be delivered with ample time to spare. Therefore, by controlling the travel of the mobile object while taking the service level into consideration, it is possible to prevent unnecessary reductions in the quality of the service provided by the mobile object, such as unnecessary slowing down of the mobile object.

[0014] Also, for example, the determination unit determines at least one of the risk level and the service level based on past information including the past driving control information.

[0015] According to this, when generating driving control information, for example, if the risk level is the same as the conditions when driving control information was generated in the past, by referring to past driving control information, it is possible to improve the accuracy of risk level determination (processing accuracy) and / or service level determination accuracy, and improve the speed of these determinations (processing speed).

[0016] Moreover, for example, the past information further includes information used to generate the driving control information.

[0017] According to this, when generating driving control information, for example, if the risk level is the same as the conditions when driving control information was generated in the past, by referring to the past driving control information and the information used to generate the driving control information, it is possible to improve the accuracy of risk level determination and / or service level determination, and improve the speed of these determinations.

[0018] Also, for example, the determination unit determines at least one of the risk level and the service level based on mobile body information including information on the plurality of mobile bodies with which the mobile body control device communicates.

[0019] According to this, when generating driving control information for one mobile body, for example, when the conditions are the same as when generating driving control information for another mobile body, by referring to the driving control information for the other mobile body, it is possible to improve the accuracy of risk level determination and / or service level determination, and to improve the speed of these determinations.

[0020] Also, for example, the determination unit determines at least one of the risk level and the service level based on map information indicating a map including the predetermined driving route.

[0021] This allows the risk level and / or service level to be determined taking into consideration information that is likely to affect the travel of a mobile object, such as intersections, downhill slopes, narrow roads, sharp curves, and railroad crossings.

[0022] Also, for example, the determination unit determines at least one of the risk level and the service level based on weather information.

[0023] This allows the risk level and / or service level to be determined taking into consideration information that is likely to affect the running of a mobile object, such as rain, snow, or low temperature.

[0024] Also, for example, the control unit selects one of the risk level and the service level based on the risk level and the service level, and generates the driving control information based on the selected one of the risk level and the service level.

[0025] For example, when the risk level is extremely low, the safety of the autonomous driving of the mobile body may be ensured without considering the risk level. Alternatively, when the required service level is extremely low, for example, when there is a considerable amount of time until arrival at the destination, the mobile body may be able to provide appropriate service without considering the service level. Therefore, by generating the driving control information by considering only one of the service level and the risk level, the amount of processing can be reduced and the driving control information can be generated.

[0026] Also, for example, the control unit calculates a new driving route based on at least one of the selected risk level and the selected service level, and generates the driving control information so as to change the driving route of the mobile body from the specified driving route to the new driving route.

[0027] Depending on the travel route, even if one travel route has the shortest distance to the destination, for example, if the mobile body is slowed down in consideration of the risk level, having the mobile body travel another travel route may improve the safety of the automated driving of the mobile body and result in a faster arrival time at the destination. Therefore, by calculating a new travel route based on at least one of the risk level and the service level, it is possible to improve the safety of the automated driving of the mobile body and enable the mobile body to provide services appropriately.

[0028] A mobile body control method according to one aspect of the present disclosure measures the communication quality of communication with an autonomously driven mobile body via a communication unit for communicating with the mobile body, determines the risk level of a predetermined position on a predetermined driving route along which the mobile body is traveling, generates driving control information for controlling the driving of the mobile body based on the communication quality and the risk level, and transmits the driving control information to the mobile body via the communication unit.

[0029] This provides the same effects as the mobile object control device according to one aspect of the present disclosure.

[0030] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or as any combination of a system, a method, an integrated circuit, a computer program, or a recording medium.

[0031] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0032] The embodiments described below are all comprehensive or specific examples, and the numerical values, shapes, materials, components, arrangement and connection of the components, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure.

[0033] Furthermore, among the components in the following embodiments, components that are not recited in independent claims will be described as optional components.

[0034] In addition, each drawing is a schematic diagram and is not necessarily an exact illustration. In addition, the same components are denoted by the same reference numerals in each drawing.

[0035] (Embodiment) [composition] FIG. 1 is a diagram schematically illustrating an overview of a mobile object control system 10 according to an embodiment.

[0036] The mobile body control system 10 is a system that causes a mobile body 200 to automatically drive (autonomously travel) using a mobile body control device 100. Automatic driving means that the mobile body 200 travels automatically, such as moving or parking, without intervention by the driver.

[0037] The mobile object control system 10 includes, for example, a mobile object control device 100, an autonomously driven mobile object 200, a camera 300, modems 400 and 600, and a terminal 900. For example, the mobile object control device 100, the mobile object 200, and the terminal 900 are communicatively connected via a network 700 such as the Internet and / or a base station 800.

[0038] The camera 300 is a surveillance camera that is placed in a place where the mobile object 200 travels, such as a road or a parking lot, and captures images of these places. The images captured by the camera 300 are transmitted to the surveillance server 500 via the modem 400.

[0039] The number of cameras 300 provided in the mobile object control system 10 may be one or more.

[0040] The monitoring server 500 is a server device that performs image analysis on the images captured by the camera 300 to calculate the positions and moving directions of objects such as the moving body 200 and obstacles that appear in the images.

[0041] The mobile body control device 100 is a server device that controls the autonomous driving of the mobile body 200 via the modem 600, the network 700, and / or the base station 800, etc., based on the calculation results of the monitoring server 500. Hereinafter, controlling the autonomous driving of the mobile body 200 may also be simply referred to as controlling the traveling of the mobile body 200.

[0042] For example, the user operates terminal 900, which is a computer such as a smartphone, to transmit information indicating the intention to use mobile body 200, the service content requested by the user, such as a destination and a desired arrival time, and the user's location to mobile body control device 100 via network 700. For example, mobile body control device 100 controls the travel of mobile body 200 by transmitting information indicating a travel route, etc., via network 700 and / or base station 800, etc., so that mobile body 200 can move to the user's location based on the received information and arrive at the destination at the desired arrival time, that is, so that mobile body 200 can provide the service content requested by the user.

[0043] Alternatively, for example, the mobile object control device 100 controls the mobile object 200 based on the analysis results of the monitoring server 500 of an image showing the mobile object 200, thereby realizing so-called automatic valet parking, in which the mobile object 200 is parked in a parking lot. For example, the mobile object control device 100 drives the mobile object 200 from the entrance of the parking lot to a parking space that is the destination, and automatically parks the mobile object 200 in that parking space. Furthermore, the mobile object control device 100 drives the mobile object 200 parked in the parking space to the entrance of the parking lot.

[0044] The number of moving bodies 200 included in the moving body control system 10 may be one or more.

[0045] FIG. 2 is a block diagram showing the configuration of the mobile object control device 100 according to the embodiment.

[0046] The mobile body control device 100 is a device that controls one or more mobile bodies 200 to automatically drive (travel) the one or more mobile bodies 200. The mobile body control device 100 is realized by a computer that includes, for example, a communication interface for communicating with the mobile bodies 200, a non-volatile memory in which a program is stored, a volatile memory that is a temporary storage area for executing the program, and a processor that executes the program.

[0047] The mobile object control device 100 includes a communication unit 110 , a communication quality measurement unit 120 , a determination unit 130 , a control unit 150 , a weather information acquisition unit 140 , and a storage unit 160 .

[0048] The communication unit 110 is a communication interface for communicating with the mobile object 200 .

[0049] The communication channel through which the communication unit 110 communicates with the mobile unit 200 may be wired, wireless, or a combination of these.

[0050] For example, the communication between the communication unit 110 and the base station 800 is wired communication. Also, the communication between the base station 800 and the mobile unit 200 is wireless communication. The wireless communication method may be Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee, or a specific low-power radio, or may be any other communication method. In this case, for example, the communication unit 110 is realized by a connector to which a communication cable is connected. Of course, the communication unit 110 may also be realized to be capable of wireless communication. In this case, the communication unit 110 is realized by, for example, an antenna and a wireless communication circuit.

[0051] Furthermore, the communication unit 110 may be configured to be able to communicate with, for example, the terminal 900 and external devices described later.

[0052] The communication quality measurement unit 120 is a processing unit that measures the quality of communication with the mobile object 200 via the communication unit 110 (communication quality).

[0053] The communication quality measurement unit 120 measures (calculates), for example, a delay time of communication between the mobile object 200 and the communication unit 110 as the communication quality. Specifically, the communication quality measurement unit 120 first extracts a transmission time included in information received by the communication unit 110. Next, the communication quality measurement unit 120 calculates the difference between the current time and the extracted transmission time, and sets the calculated difference as the delay time. The communication quality measurement unit 120 calculates, for example, this difference as the communication quality. For example, the communication quality measurement unit 120 determines that the shorter the delay time, the better the communication quality, and that the longer the delay time, the worse the communication quality. Alternatively, for example, the communication quality measurement unit 120 determines that the communication quality is good if the delay time is less than a predetermined threshold, and determines that the communication quality is bad if the delay time is equal to or greater than the predetermined threshold.

[0054] The mobile object control device 100 may include a timekeeping unit such as an RTC (Real Time Clock) that measures the current time, or may acquire time information indicating the current time from an external device via the communication unit 110.

[0055] The predetermined threshold value may be determined arbitrarily and is not particularly limited. Information indicating the predetermined threshold value is stored in advance in the storage unit 160, for example.

[0056] Furthermore, the communication quality measurement unit 120 determines the communication quality based on, for example, whether or not there is an abnormality in the information acquired from the mobile object 200 via the communication unit 110. For example, if there is no abnormality in the information acquired from the mobile object 200 via the communication unit 110, the communication quality measurement unit 120 determines that the communication quality is good, and if there is an abnormality in the information acquired from the mobile object 200 via the communication unit 110, the communication quality measurement unit 120 determines that the communication quality is poor.

[0057] The determining unit 130 is a processing unit that determines the risk level and the service level, and includes a risk level determining unit 131 and a service level determining unit 132.

[0058] The risk level determination unit 131 determines the risk level of a predetermined position on a predetermined travel route along which the mobile object 200 travels. In this embodiment, the risk level is determined according to the communication quality measured by the communication quality measurement unit 120.

[0059] The risk level indicates the degree of risk of an accident or the like occurring when the moving body 200 is traveling. For example, the higher the risk level, the higher the risk, in other words, the lower the safety. On the other hand, for example, the lower the risk level, the lower the risk, in other words, the higher the safety.

[0060] FIG. 3 is a diagram for explaining a specific example of the determination process by the determination unit 130 according to the embodiment (more specifically, the risk level determination process by the risk level determination unit 131).

[0061] For example, the risk level determination unit 131 first determines, as the predetermined position, an area from the current position of the mobile object 200 up to 100 meters ahead in the direction of travel of the mobile object 200, based on information indicating the position of the mobile object 200, route information indicating a predetermined travel route, and map information 161. Next, as shown in FIG. 3, if the predetermined position includes an area with a high risk level such as an intersection (i.e., an area determined to have a high risk level), the risk level determination unit 131 determines that the risk level of the predetermined position is high. For example, risk level determination information for intersections, such as risk level 8 out of 10, is stored in advance in the storage unit 160. Based on such information, the risk level determination unit 131 determines that the predetermined position has a risk level of 8, for example.

[0062] In this way, the risk level determination unit 131 determines the risk level based on, for example, predetermined first information. Specifically, for example, the risk level determination unit 131 determines the risk level of a predetermined position based on predetermined first information such as route information indicating a predetermined driving route, driving information such as the driving speed and steering angle of the mobile body 200, information indicating the quality of communication with the mobile body 200 via the communication unit 110, past information 163 which is driving control information previously generated by the control unit 150 and described below, mobile body information 162 including information on each of one or more mobile bodies 200 controlled by the mobile body control device 100, map information 161 indicating a map including the predetermined driving route, and weather information along the driving route traveled by the mobile body 200.

[0063] In addition, the information contained in the mobile body information 162 regarding each of the one or more mobile bodies 200 controlled by the mobile body control device 100 may include information regarding attributes such as the width, height, depth, and acceleration / deceleration performance of the mobile body 200, as well as information regarding the status of the mobile body 200, such as the usage status of the mobile body 200, the distance it can travel, its current location, and its destination location.

[0064] Furthermore, the predetermined first information may be, for example, one of the above-mentioned pieces of information, or two or more of them.

[0065] Furthermore, the predetermined travel route is calculated, for example, as described above, based on the user's position and destination acquired from the terminal 900, etc. Information indicating the predetermined travel route may be calculated by the mobile body control device 100, or may be calculated by the mobile body 200 and transmitted to the mobile body control device 100.

[0066] Furthermore, the predetermined position may be determined arbitrarily and is not particularly limited. Furthermore, one predetermined position may be set for a predetermined travel route, or multiple predetermined positions may be set. For example, multiple predetermined positions may be set at predetermined intervals on the predetermined travel route. Alternatively, for example, the predetermined travel route may be divided into multiple routes, and the risk level may be determined for each of the multiple routes as a predetermined position.

[0067] The service level determination unit 132 determines the service level of a service provided by the mobile body 200. As described above, for example, the mobile body control device 100 acquires information indicating the service content requested by the user from the terminal 900 or the like, and calculates a driving route and the like based on the acquired information. Here, the service content may require the mobile body 200 to provide a difficult service, such as when the desired arrival time is close to the current time, or when the mobile body 200 must travel through complicated roads to reach the destination. The service level determination unit 132 determines, for example, a service level indicating the difficulty of such a service. For example, the higher the service level, the more difficult it is to realize the requested service content. On the other hand, for example, the lower the service level, the easier it is to realize the requested service content.

[0068] The service level determination unit 132 determines the service level based on, for example, predetermined second information. Specifically, for example, the service level determination unit 132 determines the service level based on predetermined second information such as information indicating the above-mentioned service content, route information indicating a predetermined travel route, travel information such as the travel speed and steering angle of the mobile body 200, information indicating communication quality, past information 163 which is later-described travel control information previously generated by the control unit 150, mobile body information 162 which is information related to each of the one or more mobile bodies 200 controlled by the mobile body control device 100, map information 161 which indicates a map including the predetermined travel route, and weather information for the travel route along which the mobile body 200 travels.

[0069] In addition, the information about each of the one or more mobile bodies 200 controlled by the mobile body control device 100, which is included in the mobile body information 162 used by the service level determination unit 132 for determination, may also include information about attributes such as the width, height, depth, and acceleration / deceleration performance of the mobile body 200, as well as information about the status of the mobile body 200, such as the usage status of the mobile body 200, the distance it can travel, its current location, and its destination location.

[0070] Furthermore, the predetermined second information may be, for example, one of the above-mentioned pieces of information, or two or more of them.

[0071] Furthermore, the predetermined first information and the predetermined second information may be the same information or different information. The determination unit 130 acquires the predetermined first information and the predetermined second information and determines (calculates) the risk level and the service level using the acquired predetermined first information and predetermined second information. For example, travel information of the mobile object 200 and information indicating the service content are acquired from the mobile object 200 or the terminal 900 via the communication unit 110. For example, the map information 161, the mobile object information 162, and the past information 163 are stored in the storage unit 160 and are acquired from the storage unit 160. For example, weather information is acquired by the weather information acquisition unit 140.

[0072] For example, the determination unit 130 determines at least one of the risk level and the service level based on past information 163 including driving control information generated by the control unit 150 in the past.

[0073] According to this, when the control unit 150 generates driving control information, for example, when the risk level and / or service level are the same as the conditions when the driving control information was generated in the past, the judgment unit 130 can refer to past driving control information to improve the accuracy of risk level judgment (processing accuracy) and / or service level judgment accuracy, and improve the judgment speed (processing speed) of these.

[0074] The past information 163 may further include information used to generate the driving control information (specifically, driving control information previously generated by the control unit 150). This information includes, for example, information indicating communication quality, information indicating a risk level, and information indicating a service level.

[0075] According to this, when the control unit 150 generates driving control information, for example, when the risk level and / or service level are the same as the conditions when the driving control information was generated in the past, the judgment unit 130 can improve the accuracy of risk level judgment and / or service level judgment, or the speed of these judgments, by referring to past driving control information and the information used to generate the driving control information.

[0076] Furthermore, for example, the determination unit 130 determines at least one of the risk level and the service level based on the mobile body information 162 including information on the multiple mobile bodies 200 with which the mobile body control device 100 communicates.

[0077] As described above, the information regarding each of the one or more mobile bodies 200 controlled by the mobile body control device 100, which is included in the mobile body information 162 used by the judgment unit 130 for judgment, may include information regarding attributes such as the width, height, depth, and acceleration / deceleration performance of the mobile body 200, as well as information regarding the status of the mobile body 200, such as the usage status of the mobile body 200, the distance it can travel, its current position, and its destination position.

[0078] Furthermore, the information relating to the plurality of moving bodies 200 is, for example, information such as the above-mentioned predetermined first information and predetermined second information for each of the plurality of moving bodies 200.

[0079] According to this, when the control unit 150 generates driving control information for one moving body 200, for example, under the same conditions as when the control unit 150 generated driving control information for another moving body 200, the determination unit 130 can improve the accuracy of risk level determination and / or service level determination, or the speed of these determinations.

[0080] Furthermore, for example, the determining unit 130 determines at least one of the risk level and the service level based on map information 161 that indicates a map including a predetermined driving route.

[0081] This allows the determination unit 130 to determine the risk level and / or service level taking into consideration information that is likely to affect the travel of the moving body 200, such as intersections, downhill slopes, narrow roads, sharp curves, and railroad crossings.

[0082] Furthermore, for example, the determination unit 130 determines at least one of the risk level and the service level based on weather information. The weather information is, for example, information on the weather, such as sunny or rainy, and the temperature along a predetermined driving route.

[0083] This allows the determination unit 130 to determine the risk level and / or service level taking into consideration information that is likely to affect the travel of the moving object 200, such as rain, snow, or low temperature.

[0084] It is sufficient that multiple levels can be set for each of the risk level and the service level, and there may be two levels, or three or more levels. The number of levels set for each of the risk level and the service level may be the same, for example, 10 levels from level 1 to 10, or they may be different.

[0085] The weather information acquisition unit 140 is a processing unit that acquires weather information. The weather information acquisition unit 140 acquires weather information indicating the current weather and temperature along a predetermined driving route from an external device via the communication unit 110, for example.

[0086] The judgment unit 130 (risk level judgment unit 131) judges, for example, that the risk level should be lowered if the weather information indicates sunny weather, and judges that the risk level should be higher if the weather information indicates rain or snow.

[0087] The control unit 150 is a processing unit that generates information (driving control information) for driving the mobile object 200 based on the communication quality measured by the communication quality measurement unit 120 and the determination result of the determination unit 130. Specifically, the control unit 150 generates driving control information for controlling the driving of the mobile object 200 based on the communication quality and the risk level, and transmits the driving control information to the mobile object 200 via the communication unit 110. As a result, the mobile object 200 drives based on the driving control information.

[0088] According to this, the mobile body control device 100 can control the traveling of the mobile body 200 using not only the communication quality of the communication between the mobile body control device 100 and the mobile body 200 but also the risk level (degree of danger) of the location where the mobile body 200 travels (passes) through. Therefore, compared to a conventional device that controls the traveling of the mobile body 200 by considering only the communication quality of the communication with the mobile body 200, the safety of the automatic driving of the mobile body 200 can be improved.

[0089] The driving control information is data for causing the mobile object 200 to travel along a predetermined driving route. The driving control information includes, for example, information indicating the current position of the mobile object 200, the position of the destination, the desired arrival time at the destination, the predetermined driving route, and the driving speed. In this embodiment, the control unit 150 generates the driving control information based on the communication quality, the risk level, and the service level.

[0090] For example, the mobile body 200 may be required to provide a service such as delivering a user to a destination by a specified time. The required service level for such a service may differ, for example, when the user must be delivered within a very short period of time, or when the user can be delivered with ample time to spare. Therefore, by controlling the travel of the mobile body 200 while taking the service level into consideration, it is possible to prevent unnecessary degradation of the quality of the service provided by the mobile body 200, such as unnecessary deceleration of the mobile body 200.

[0091] Here, for example, when the service level is extremely high and the risk level is extremely low, generating driving control information that can provide the requested service content without considering the risk may ensure the safety of the autonomous driving of the mobile object 200 and reduce the amount of processing required. In such a case, the control unit 150 may generate driving control information by considering only one of the service level and the risk level. That is, for example, the control unit 150 selects either the risk level or the service level based on the risk level and the service level, and generates driving control information based on the selected risk level or service level. For example, the control unit 150 selects either the risk level or the service level by comparing the risk level and the service level.

[0092] This allows the control unit 150 to generate driving control information with a reduced amount of processing.

[0093] In this embodiment, the control unit 150 includes an arbitration unit 151 and a travel control unit 152.

[0094] The arbitration unit 151 compares the risk level with the service level to select either the risk level or the service level. Specifically, the arbitration unit 151 selects either the risk level or the service level and generates driving restriction information indicating the selection result.

[0095] The driving control unit 152 generates driving control information based on the driving restriction information generated by the arbitration unit 151. Specifically, the driving control unit 152 generates driving control information based on the driving restriction information, taking into account one of the risk level and the service level.

[0096] Furthermore, depending on the risk level and service level, changing the driving route of the mobile body 200 may reduce the risk of autonomous driving of the mobile body 200 or make it easier for the mobile body 200 to provide services. For example, depending on the driving route, even if one driving route has the shortest distance to the destination, for example, by slowing down the mobile body 200 in consideration of the risk level, having the mobile body 200 travel on another driving route may improve the safety of the autonomous driving of the mobile body 200 and speed up the arrival time at the destination. Therefore, the control unit 150, for example, calculates a new driving route based on at least one of the selected risk level and service level, and generates driving control information to change the driving route of the mobile body 200 from the predetermined driving route to the new driving route.

[0097] According to this, the control unit 150 can improve the safety of the autonomous driving of the mobile body 200 and enable the mobile body 200 to provide services appropriately by calculating a new driving route based on the risk level and / or service level.

[0098] Processing units such as the communication quality measurement unit 120, the judgment unit 130, the weather information acquisition unit 140, and the control unit 150 are realized, for example, by one or more memories in which control programs are stored and one or more processors that execute the control programs.

[0099] The storage unit 160 is a recording medium for storing driving control information and the like generated by the control unit 150. For example, the storage unit 160 is a hard disk drive, a RAM (Random Access Memory), a ROM (Read Only Memory), or a semiconductor memory.

[0100] Furthermore, for example, the storage unit 160 stores map information 161, mobile object information 162, and past information 163.

[0101] The map information 161 is information showing a map of the location where the moving object 200 travels.

[0102] The moving body information 162 is information including driving control information for controlling the moving body 200 .

[0103] The moving body information 162 includes travel control information for controlling each of the one or more moving bodies 200 controlled by the moving body control device 100.

[0104] The past information 163 is information including past driving control information. The past information 163 may be driving control information generated by the control unit 150 in the past or information generated from the driving control information, and may be, for example, statistical information calculated from multiple pieces of driving control information generated by the control unit 150 in the past.

[0105] The storage unit 160 may be volatile or non-volatile.

[0106] Mobile body 200 is a mobile body capable of autonomous driving. In this embodiment, mobile body 200 is a vehicle such as an automobile equipped with a TCU (Telematics Control Unit). Mobile body 200 includes sensors such as a camera or an ultrasonic sensor that detect obstacles and the like around mobile body 200, actuators such as a motor and an engine, a control device such as a processor that controls the driving of mobile body 200 by controlling these actuators, and a communication unit 210 for communicating with mobile body control device 100. The control device acquires driving control information from mobile body control device 100 via communication unit 210 and also acquires detection results of the sensors, and causes mobile body 200 to drive autonomously based on the driving control information and detection results.

[0107] The number of moving bodies 200 controlled by the moving body control device 100 may be one or more, and is not particularly limited.

[0108] When the number of moving bodies 200 controlled by the moving body control device 100 is multiple, the moving body control device 100 executes the above-described process for each moving body 200. As a result, for example, the moving body information 162 includes information on the multiple moving bodies 200 controlled by the moving body control device 100. Furthermore, the past information 163 includes travel control information that was previously generated for the multiple moving bodies 200 controlled by the moving body control device 100.

[0109] [Processing Procedure] Next, the processing procedure of the mobile object control device 100 will be described.

[0110] FIG. 4 is a flowchart showing the processing procedure of the mobile object control device 100 according to the embodiment.

[0111] The mobile body control device 100 and the mobile body 200 confirm whether they are communicating properly by transmitting predetermined signals to each other at a predetermined cycle. As described above, for example, the mobile body control device 100 acquires information indicating the service content requested by the user from the terminal 900 or the like, calculates a driving route and the like based on the acquired information, and transmits the calculation results to the mobile body 200. Furthermore, the mobile body 200 determines the driving speed, steering angle, and the like based on the detection results of a camera and a ranging sensor (not shown) equipped in the mobile body 200, and starts autonomous driving based on the received calculation results.

[0112] First, the communication quality measurement unit 120 determines whether or not the signal has been received within a predetermined period (S110). In other words, the communication quality measurement unit 120 determines whether or not a signal has been received from the moving object 200 at a predetermined interval.

[0113] If the communication quality measurement unit 120 determines that the signal has not been received within a predetermined period of time (No in S110), that is, if the communication quality measurement unit 120 determines that the communication quality of communication with the mobile object 200 is very poor, the control unit 150 generates driving control information including an instruction to bring the mobile object 200 to an emergency stop, and transmits the generated driving control information to the mobile object 200 (S220). As a result, the control unit 150 brings the mobile object 200 to an emergency stop, for example, to an immediate stop on the spot.

[0114] Note that communication quality may also be determined in the mobile body 200. For example, the mobile body 200 may perform an emergency stop when a communication failure, a communication error, or a state in which communication delay is equal to or greater than a threshold occurs in communication with the mobile body control device 100. Furthermore, for example, when a communication failure, a communication error, or a state in which communication delay is equal to or greater than a threshold occurs in communication with the mobile body 200, the mobile body control device 100 transmits to the mobile body 200 travel control information including an instruction to make an emergency stop of the mobile body 200. In this case, the mobile body control device 100 may consider that the mobile body 200 has made an emergency stop even if there is no response from the mobile body 200 to the transmission of the travel control information to the mobile body 200.

[0115] On the other hand, if it is determined that the signal has been received within the predetermined period (Yes in S110), the communication quality measurement unit 120 determines whether or not a communication error has occurred in the communication with the mobile object 200 (S120). For example, the communication quality measurement unit 120 determines whether or not there is an abnormality in the signal received from the mobile object 200.

[0116] When the communication quality measurement unit 120 determines that a communication error has occurred in communication with the moving body 200 (Yes in S120), that is, when the communication quality measurement unit 120 determines that the communication quality of communication with the moving body 200 is very poor, the control unit 150 generates driving control information including an instruction to bring the moving body 200 to an emergency stop, and transmits the generated driving control information to the moving body 200 (S220). As a result, the control unit 150 brings the moving body 200 to an emergency stop.

[0117] On the other hand, if it is determined that no communication error has occurred in the communication with the mobile object 200 (No in S120), the communication quality measurement unit 120 measures the delay time in the communication with the mobile object 200 (S130). For example, the communication quality measurement unit 120 extracts the transmission time included in the information received by the communication unit 110, calculates the difference between the current time and the extracted transmission time, and measures the calculated difference as the delay time.

[0118] Next, the communication quality measurement unit 120 determines whether or not there is a delay in communication with the mobile object 200 based on the calculated delay time (S140). The communication quality measurement unit 120 determines, for example, whether or not the calculated delay time is equal to or greater than a predetermined time. The predetermined time may be determined arbitrarily in advance and is not particularly limited. Information indicating the predetermined time is stored in the storage unit 160, for example.

[0119] If the communication quality measurement unit 120 determines that there is no delay in communication with the mobile object 200 (No in S140), that is, if it determines that the communication quality of communication with the mobile object 200 is good, the control unit 150 generates driving control information including an instruction to cause the mobile object 200 to drive normally, and transmits the generated driving control information to the mobile object 200 (S230). As a result, the control unit 150 causes the mobile object 200 to drive without unnecessary stopping or deceleration.

[0120] For example, if the moving object 200 is configured to continue traveling normally when it does not receive an emergency stop instruction or the like executed in step S220, step S230 may not be executed.

[0121] On the other hand, when the communication quality measurement unit 120 determines that there is a delay in communication with the mobile object 200 (Yes in S140), that is, when it determines that the communication quality of communication with the mobile object 200 is not good enough to cause the mobile object 200 to make an emergency stop, various information for calculating the risk level is acquired. For example, the determination unit 130 acquires map information 161 from the storage unit 160 (S150). Also, for example, the determination unit 130 acquires mobile object information 162 from the storage unit 160 (S160). Also, for example, the determination unit 130 acquires past information 163 from the storage unit 160 (S170). Also, for example, the determination unit 130 acquires weather information acquired by the weather information acquisition unit 140 (S180).

[0122] Next, the determining unit 130 determines the risk level of a predetermined position on the travel route of the moving object 200 based on the acquired information (S190).

[0123] Next, the determination unit 130 determines whether the calculated risk level is greater than a specified value (S200). The specified value may be determined arbitrarily in advance and is not particularly limited. Information indicating the specified value is stored in advance in the storage unit 160, for example.

[0124] If the determination unit 130 determines that the calculated risk level is greater than the specified value (Yes in S200), that is, if it determines that it is too dangerous for the moving object 200 to travel, the control unit 150 generates driving control information including an instruction to stop the moving object 200 and transmits the generated driving control information to the moving object 200 (S210). For example, the control unit 150 acquires map information 161 and information indicating the current position of the moving object 200, and identifies a location where the moving object 200 can be safely stopped based on the acquired information. Furthermore, for example, the control unit 150 generates driving control information to stop the moving object 200 at the identified location and transmits the generated driving control information to the moving object 200 via the communication unit 110. As a result, the control unit 150 stops the moving object 200 at a location where the moving object 200 can be safely stopped, for example.

[0125] On the other hand, for example, when the determination unit 130 determines that the calculated risk level is equal to or lower than the specified value (No in S200), that is, when it determines that there is no need to stop the moving object 200, it determines the service level of the service requested of the moving object 200 (S240). For example, the determination unit 130 determines the service level based on the various information acquired in steps S150 to S180.

[0126] If one or more pieces of information used to calculate the risk level and the service level differ, the determining unit 130 may further acquire information used to calculate the service level before determining the service level.

[0127] Next, the determining unit 130 determines whether the risk level is higher than the service level (S250).

[0128] If the determination unit 130 determines that the risk level is higher than the service level (Yes in S250), that is, if it determines that it is better to control the traveling of the mobile body 200 taking into consideration the risk of the mobile body 200 automatically driving rather than the service requested of the mobile body 200, the control unit 150 generates traveling control information including an instruction to decelerate the mobile body 200 relative to its normal traveling speed, and transmits the generated traveling control information to the mobile body 200 (S260). As a result, for example, the control unit 150 causes the mobile body 200 to travel at a speed slower than the traveling speed instructed to the mobile body 200 in step S230.

[0129] The speed of the moving body 200 after deceleration may be set arbitrarily. For example, the control unit 150 may determine the speed at which the moving body 200 is decelerated depending on the risk level. For example, the control unit 150 may determine the speed so that the moving body 200 is decelerated more as the risk level increases.

[0130] On the other hand, if the determination unit 130 determines that the risk level is equal to or lower than the service level (No in S250), that is, if it determines that it is better to control the traveling of the mobile body 200 by taking into consideration the service requested of the mobile body 200 rather than the risk of the mobile body 200 automatically driving, the control unit 150 generates traveling control information including an instruction to accelerate the mobile body 200, and transmits the generated traveling control information to the mobile body 200 (S270). As a result, for example, the control unit 150 causes the mobile body 200 to travel at a speed faster than the traveling speed instructed to the mobile body 200 in step S230 or step S260.

[0131] In step S270, for example, the control unit 150 may generate driving control information to make the moving object 200 travel at a speed faster than the normal driving speed instructed to the moving object 200 in step S230.

[0132] The speed of the moving object 200 instructed in step S270 may be set arbitrarily. For example, the control unit 150 may determine the speed to accelerate or decelerate depending on the service level. For example, the control unit 150 may determine the speed so that the moving object 200 travels faster as the service level increases.

[0133] [summary] As described above, the mobile body control device 100 according to the embodiment includes a communication unit 110 for communicating with an autonomously driving mobile body, a communication quality measurement unit 120 for measuring the communication quality of communication with the mobile body 200 via the communication unit 110, a determination unit 130 for determining the risk level of a predetermined position on a predetermined driving route along which the mobile body 200 travels, and a control unit 150 for generating driving control information for controlling the driving of the mobile body 200 based on the communication quality and risk level, and transmitting the generated driving control information to the mobile body 200 via the communication unit 110.

[0134] In this way, the mobile body control device 100 controls the traveling of the mobile body 200 using not only the communication quality with the mobile body 200 but also the risk level of the location where the mobile body 200 is traveling. This allows the mobile body control device 100 to improve the safety of the automated driving of the mobile body 200 while minimizing disruptions to the smooth operation of the mobile body 200. Furthermore, for example, in the aforementioned Patent Document 1, only the current communication quality measurement value of the vehicle is used to control the vehicle. Therefore, it is possible that the same deceleration instruction and / or stop instruction is issued every time on a certain route during a certain time period. Meanwhile, the mobile body control device 100 generates traveling control information to improve safety if the risk level is high, even with the same communication quality, and to improve operation efficiency, such as by quickly arriving at a destination if the risk level is low. For example, the mobile body control device 100 generates traveling control information to reduce the speed of the mobile body 200 at an intersection even if the communication quality is not particularly poor. As a result, the mobile body control device 100 controls the traveling of the mobile body 200 so as to make the traveling as smooth and efficient as possible while maintaining the safety of the automatic driving of the mobile body 200.

[0135] Furthermore, the mobile body control device 100 uses a risk level when generating the driving control information. For example, the risk level is determined using the current position of the mobile body 200 and the map information 161. Specifically, for example, the mobile body control device 100 uses the risk level at locations on the driving route of the mobile body 200 where there is a high risk in driving the mobile body 200, such as intersections, downhill slopes, narrow roads, sharp curves, and railroad crossings, as well as the possibility that the risk may occur, when generating the driving control information.

[0136] This allows the mobile body control device 100 to determine the risk level by taking into consideration information that is likely to affect the traveling of the mobile body 200.

[0137] Furthermore, when generating the travel control information, a service level that must be satisfied for each mobile object 200 in a managed area (for example, an area in which the travel of the mobile object 200 is controlled) may also be used. The service level is determined, for example, using the mobile object information 162 stored in the storage unit 160. Furthermore, for example, the mobile object information 162 is also used to determine the risk level.

[0138] Furthermore, the risk level and / or service level may be determined using the distance to obstacles, including other moving bodies 200, located around the moving body 200, the moving speed of the obstacles, and the like.

[0139] Furthermore, the mobile body control device 100 may store past information 163, which is travel control information previously transmitted to the mobile body 200, i.e., travel control information previously generated, as statistical information for each mobile body 200, for each time, and for each location. The past information 163 may be used to determine a risk level and / or a service level.

[0140] According to these, the mobile object control device 100 can improve the accuracy of risk level determination and / or service level determination, and can improve the speed of these determinations.

[0141] Furthermore, for example, the risk level and / or service level may be determined by taking into consideration (i) the weather information acquired by the weather information acquisition unit 140 (more specifically, the weather conditions indicated by the weather information), and / or (ii) the braking distance calculated using estimated results such as road surface conditions on the driving route based on the weather information, which is the braking distance from when the mobile body 200 receives driving control information to when it completes driving control.

[0142] Furthermore, for example, when the mobile body control device 100 determines based on the risk level (and service level) described above that the moving mobile body 200 needs to be stopped by a certain point, it generates driving control information for stopping the moving body 200 by that point and transmits it to the mobile body 200. Furthermore, for example, when the mobile body control device 100 further determines that the moving body 200 needs to be stopped immediately, for example, when an obstacle is detected near the moving body 200, it generates driving control information for bringing the moving body 200 to an emergency stop based on the risk level (and service level) described above and transmits it to the moving body 200.

[0143] In addition, the mobile body control device 100 may search for a driving route with a good risk level and / or service level, generate driving control information that reroutes the driving route of the mobile body from a predetermined driving route to a new driving route, and transmit the information to the mobile body 200.

[0144] Furthermore, the comprehensive or specific aspects of the present disclosure may be realized as a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be realized as any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

[0145] For example, the present disclosure may be realized as a mobile body control method that measures the communication quality of communication with a mobile body 200 via a communication unit 110 for communicating with an autonomously driving mobile body 200 (e.g., S110 to S140), determines the risk level of a predetermined position on a predetermined driving route along which the mobile body 200 is traveling (S190), generates driving control information for controlling the driving of the mobile body 200 based on the communication quality and the risk level, and transmits the driving control information to the mobile body 200 via the communication unit 110 (e.g., S210 to 230, 260, 270).

[0146] For example, if the communication quality is equal to or lower than the first communication quality (i.e., poor communication quality), as in the case of No in step S110 or Yes in step S120, driving control information is generated to bring the moving object 200 to an emergency stop. Also, for example, if the communication quality is higher than the first communication quality but equal to or lower than the second communication quality, that is, for example, Yes in step S140, driving control information is generated based on the risk level. Also, for example, if the communication quality is higher than the second communication quality (i.e., good communication quality), as in the case of No in step S140, driving control information is generated to bring the moving object 200 to a normal driving state.

[0147] Furthermore, for example, if the risk level is greater than a specified value (Yes in S200), mobile object control information for stopping the traveling of the mobile object 200 is generated. On the other hand, if the risk level is equal to or less than the specified value (No in S200), the service level is determined (S240), and mobile object control information is generated based on the service level as well. Specifically, for example, the risk level and the service level are compared (S250), and traveling control information is generated based on only the higher of the risk level and the service level (step S260 or S270). Note that if the risk level and the service level are the same level, step S250 may be determined as Yes or No.

[0148] (Other embodiments) While the mobile object control device according to one or more aspects has been described above based on the above embodiment, the present disclosure is not limited to the above embodiment. As long as it does not deviate from the spirit of the present disclosure, various modifications that a person skilled in the art can conceive of to the above embodiment may also be included within the scope of the present disclosure.

[0149] For example, the determination unit 130 does not need to use weather information in the above-described determination process. In this case, the mobile object control device 100 does not need to include the weather information acquisition unit 140.

[0150] Furthermore, for example, the determining unit 130 may not determine the service level. In this case, the determining unit 130 may not include the service level determining unit 132.

[0151] Also, for example, if step S140 is No, that is, if there is no delay in the communication between the mobile body control device 100 and the mobile body 200 and the communication quality is good, the mobile body control device 100 may execute steps S150 to S190 and S240, and determine the traveling speed of the mobile body 200 according to the risk level and the service level. For example, if the service level is higher than the risk level by a predetermined level or more, the mobile body control device 100 may transmit to the mobile body 200 traveling control information indicating an instruction to cause the mobile body 200 to travel at a speed faster than normal.

[0152] Furthermore, for example, even if the answer to step S140 is No, that is, even if there is no delay in communication between the mobile body control device 100 and the mobile body 200 and the communication quality is good, if the risk level is higher than a predetermined risk level, the mobile body control device 100 may generate mobile body control information such as slowing down or stopping the mobile body 200, or generating a new driving route and changing the predetermined driving route to the new driving route.

[0153] Furthermore, for example, in the above-described embodiment, the processing performed by a specific processing unit may be performed by another processing unit, the order of multiple processing operations may be changed, or multiple processing operations may be performed in parallel.

[0154] Also, for example, in the above-described embodiments, each component of the processing unit, such as the determination unit 130 and the control unit 150, may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit, such as a CPU (Central Processing Unit) or a processor, reading and executing a software program recorded on a recording medium, such as a hard disk or semiconductor memory. Here, the program realizing each device, etc., of the above-described embodiments causes a computer to execute, for example, each step of the flowchart shown in FIG. 4.

[0155] The following cases are also included in this disclosure:

[0156] (1) The at least one device is specifically a computer system comprising a microprocessor, ROM, RAM, hard disk unit, display unit, keyboard, mouse, etc. A computer program is stored in the RAM or hard disk unit. The at least one device achieves its function when the microprocessor operates in accordance with the computer program. Here, the computer program is composed of a combination of multiple instruction codes that indicate instructions to the computer to achieve a predetermined function.

[0157] (2) Some or all of the components constituting at least one of the above devices may be configured as a single system LSI (Large Scale Integration). A system LSI is an ultra-multifunctional LSI manufactured by integrating multiple components on a single chip, and specifically, is a computer system configured including a microprocessor, ROM, RAM, etc. A computer program is stored in the RAM. The system LSI achieves its functions when the microprocessor operates in accordance with the computer program.

[0158] (3) Some or all of the components constituting at least one of the above devices may be configured as an IC card or a standalone module that can be attached to the device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or module may include the above-mentioned ultra-multifunctional LSI. The IC card or module achieves its functions when the microprocessor operates according to a computer program. This IC card or module may be tamper-resistant.

[0159] (4) The present disclosure may be embodied as the methods described above, a computer program for implementing these methods on a computer, or a digital signal comprising the computer program.

[0160] The present disclosure may also be a computer program or a digital signal recorded on a computer-readable recording medium, such as a flexible disk, a hard disk, a CD (Compact Disc)-ROM, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark) Disc), a semiconductor memory, etc. Alternatively, the present disclosure may be a digital signal recorded on such a recording medium.

[0161] The present disclosure may also be applied to transmitting a computer program or digital signal via a telecommunications line, a wireless or wired communication line, a network such as the Internet, data broadcasting, or the like.

[0162] Furthermore, the program or digital signal may be recorded on a recording medium and transferred, or the program or digital signal may be transferred via a network or the like, so that the program or digital signal may be implemented by another independent computer system. [Industrial Applicability]

[0163] The present disclosure can be used, for example, in a device that controls the driving of an autonomously driven vehicle. [Explanation of symbols]

[0164] 10. Mobile Control Systems 100 Mobile control device 110, 210 Communications Department 120 Communication Quality Measurement Unit 130 Judgment section 131 Risk Level Assessment Department 132 Service Level Judgment Unit 140 Weather Information Acquisition Department 150 control section 151 Mediation Department 152 Travel control unit 160 Storage section 161 Map Information 162 Mobile Information 163 Past information 200 Mobile 300 cameras 400, 600 modems 500 Monitoring Server 700 Network 800 base stations 900 terminals

Claims

1. a communication unit for communicating with an autonomously driven mobile body; a communication quality measurement unit that measures the communication quality of communication with the mobile object via the communication unit; a determination unit that determines a risk level of a predetermined position on a predetermined travel route along which the mobile object travels and a service level of a service provided by the mobile object; a control unit that generates driving control information for controlling driving of the mobile body based on the communication quality, the risk level, and the service level, and transmits the driving control information to the mobile body via the communication unit; The control unit selecting at least one of the risk level and the service level based on the risk level and the service level; calculating a new driving route based on at least one of the selected risk level and the selected service level; generating the travel control information so as to change the travel route of the mobile object from the predetermined travel route to the new travel route; Mobile control device.

2. The determination unit determines at least one of the risk level and the service level based on past information including the past driving control information. The mobile object control device according to claim 1 .

3. The past information further includes information used to generate the driving control information. The mobile object control device according to claim 2 .

4. The determination unit determines at least one of the risk level and the service level based on mobile body information including information about the plurality of mobile bodies with which the mobile body control device communicates. The mobile object control device according to any one of claims 1 to 3.

5. The determination unit determines at least one of the risk level and the service level based on map information indicating a map including the predetermined travel route. The mobile object control device according to any one of claims 1 to 4.

6. The determination unit determines at least one of the risk level and the service level based on weather information. The mobile object control device according to any one of claims 1 to 5.

7. measuring communication quality of communication with a mobile object capable of automatic driving via a communication unit for communicating with the mobile object; determining a risk level of a predetermined location on a predetermined travel route traveled by the mobile object and a service level of a service provided by the mobile object; generating driving control information for controlling driving of the mobile body based on the communication quality, the risk level, and the service level, and transmitting the driving control information to the mobile body via the communication unit; In generating the driving control information, selecting at least one of the risk level and the service level based on the risk level and the service level; calculating a new driving route based on at least one of the selected risk level and the selected service level; generating the travel control information so as to change the travel route of the mobile object from the predetermined travel route to the new travel route; A mobile object control method.

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