Remote Control System

Abstract

To provide a remote operation system that inhibits an abnormal value from being output as a remote operation amount.SOLUTION: A remote controller 20 comprises: a remote operation amount calculation unit 22 for finding a remote operation amount; and an operation device selection unit 24 for selecting, as selection remote operation devices, three randomly selected remote operation devices. A remote operation device 30a comprises: a display unit 33a for displaying vehicle information; and an operation amount detection unit 32a for detecting an operation amount and outputting it as an individual remote operation amount. The remote operation amount calculation unit 22 acquires individual remote operation amounts from the respective selection remote operation devices, selects two selection remote operation devices whose individual remote operation amounts have highest similarity, as final remote operation devices, and takes, as a remote operation amount, a value of any of the two individual remote operation amounts acquired from the two final remote operation devices or the average value of the two individual remote operation amounts acquired from the two final remote operation devices.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to a remote control system. [Background technology]

[0002] A service that moves a moving object such as a vehicle on behalf of its user is being considered. A remote control device for a vehicle has been proposed that, when either a first operator or a second operator is operating the vehicle by remote control, transfers the operating right of the vehicle to the other of the first operator and the second operator if it is determined to be necessary (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-26398 Summary of the Invention [Problem to be solved by the invention]

[0004] In the remote control device shown in Patent Document 1, the completion or abandonment of the operation is monitored on the assumption that the operation by the remote operator is correct, so there was a problem that if an operation error occurs, an abnormal value may be output as the remote operation amount by the remote operator.

[0005] The present application has been made to solve the above-mentioned problems, and aims to provide a remote control system that suppresses the output of abnormal values ​​as remote control variables. [Means for solving the problem]

[0006] The remote control system disclosed in the present application is a remote control system that includes a remote control device and a remote control device, acquires vehicle information including an image of the vehicle's surroundings, and outputs remote control amounts to the vehicle, wherein the remote control device includes a first control communication unit that communicates with the vehicle, a second control communication unit that communicates with a plurality of remote control devices, a remote control amount calculation unit that calculates remote control amounts, and an operation device selection unit that selects three randomly selected remote control devices as selected remote control devices, and the remote control devices include an operation communication unit that communicates with the remote control device, a display unit that displays vehicle information, and an operation amount detection unit that detects the operation amounts and outputs them as individual remote control amounts, and the remote control amount calculation unit acquires individual remote control amounts from each selected remote control device, selects two selected remote control devices with the highest similarity in individual remote control amounts as final remote control devices, and sets the remote control amount to either the value of the two individual remote control amounts acquired from the two final remote control devices, or the average value of the two individual remote control amounts acquired from the two final remote control devices. [Effects of the Invention]

[0007] The remote control system disclosed in the present application is a remote control system that includes a remote control device and a remote control device, acquires vehicle information including video of the vehicle's surroundings, and outputs remote control amounts to the vehicle, wherein the remote control device includes a first control communication unit that communicates with the vehicle, a second control communication unit that communicates with a plurality of remote control devices, a remote control amount calculation unit that calculates remote control amounts, and an operation device selection unit that selects three randomly selected remote control devices as selected remote control devices, and the remote control devices include an operation communication unit that communicates with the remote control device, a display unit that displays vehicle information, and an operation amount detection unit that detects the operation amounts and outputs them as individual remote control amounts, and the remote control amount calculation unit acquires individual remote control amounts from each selected remote control device, selects two selected remote control devices with the highest similarity in individual remote control amounts as final remote control devices, and sets the remote control amount to one of the two individual remote control amounts acquired from the two final remote control devices, or the average of the two individual remote control amounts acquired from the two final remote control devices, thereby preventing abnormal values ​​from being output as the remote control amount. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a configuration of a remote control system according to a first embodiment. [Figure 2] FIG. 10 is a block diagram showing the configuration of a remote control system according to a second embodiment. [Figure 3] FIG. 10 is a block diagram showing the configuration of a remote control system according to a third embodiment. [Figure 4] FIG. 1 is a schematic diagram illustrating an example of a hardware configuration of a vehicle according to an embodiment. [Figure 5] FIG. 10 is a schematic diagram illustrating another example of a hardware configuration of a vehicle according to an embodiment. [Figure 6] FIG. 2 is a schematic diagram illustrating an example of a hardware configuration of a remote control device according to an embodiment. [Figure 7] FIG. 10 is a schematic diagram illustrating another example of a hardware configuration of the remote control device according to the embodiment. [Figure 8] FIG. 2 is a schematic diagram illustrating an example of a hardware configuration of a remote control device according to an embodiment. [Figure 9] FIG. 2 is a schematic diagram illustrating an example of a hardware configuration of a remote monitoring device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a remote control system according to an embodiment of the present invention will be described in detail with reference to the drawings. In the drawings, the same reference numerals indicate the same or corresponding parts.

[0010] Embodiment 1 FIG. 1 is a block diagram showing the configuration of a remote control system 100 according to a first embodiment. The remote control system 100 includes a remote control device 20 and remote control devices 30a, 30b, 30c, and 30d. The remote control device 30a is operated by, for example, a first remote operator, the remote control device 30b is operated by, for example, a second remote operator, the remote control device 30c is operated by, for example, a third remote operator, and the remote control device 30d is operated by, for example, a fourth remote operator. In FIG. 1, the remote control system 100 includes four remote control devices, but any number of remote control devices may be included as long as it is four or more. The remote control system 100 communicates with a vehicle 10 through a communication network 1, acquires vehicle information, including video of the vehicle's surroundings, from the vehicle 10, and outputs the remote control amount of the vehicle 10 to the vehicle 10. The communication network 1 is, for example, the Internet.

[0011] The vehicle 10 includes a vehicle control unit 11, a vehicle communication unit 12, and a vehicle information acquisition unit 13. The vehicle information acquisition unit 13 acquires vehicle information including at least an image of the surroundings of the vehicle 10 and outputs the information to the vehicle communication unit 12. The vehicle information may include, for example, information such as the speed of the vehicle 10, the engine speed of the vehicle 10, and the remaining amount of fuel or electricity stored in the vehicle 10. The vehicle communication unit 12 transmits the vehicle information acquired from the vehicle information acquisition unit 13 to a first control communication unit 21 of the remote control device 20 and outputs information on the remote control amount received from the first control communication unit 21 of the remote control device 20 to the vehicle control unit 11. The vehicle control unit 11 controls the traveling of the vehicle 10 based on the information on the remote control amount acquired from the vehicle communication unit 12, for example, controlling the speed of the vehicle 10 and the direction of travel of the vehicle 10.

[0012] The remote control device 20 includes a first control communication unit 21, a remote operation amount calculation unit 22, a second control communication unit 23, and an operation device selection unit 24. The first control communication unit 21 acquires vehicle information from the vehicle communication unit 12 of the vehicle 10 and outputs it to the remote operation amount calculation unit 22. The operation device selection unit 24 selects three remote operation devices randomly as selected remote operation devices and transmits information about the selected remote operation devices to the remote operation amount calculation unit 22. By the operation device selection unit 24 randomly selecting three remote operation devices, the operation device selection unit 24 selects three remote operators from four or more remote operator candidates. By randomly selecting the three remote operators, independence between the remote operators is maintained, reducing the possibility that each remote operator will make the same operation error. Furthermore, since the possibility of the same operation error occurring may increase when remote operators have a close relationship with each other, randomly selecting three remote operators reduces the possibility of the same operation error occurring.

[0013] Alternatively, the operation device selection unit 24 may randomly select three remote operation devices located at different locations as the selected remote operation devices. Here, a location refers to a location where remote operator candidates are waiting and where each remote operation device is installed. For example, if remote operation devices 30c and 30d are located at the same location and the operation device selection unit 24 selects remote operation devices 30c and 30d as the selected remote operation devices, a communication failure between the remote control device 20 and the remote operation device 30c will also simultaneously cause a communication failure between the remote control device 20 and the remote operation device 30d, preventing the remote control device 20 from communicating with both remote control devices at the same time. This situation can be avoided by the operation device selection unit 24 selecting remote operation devices located at different locations as the selected remote operation devices. By selecting remote operation devices located at different locations as the selected remote operation devices, the remote operators are not located at the same location, which reduces the risk of two or more remote operators simultaneously contracting food poisoning and reduces the possibility of two or more remote operators simultaneously making operational errors.

[0014] The remote operation amount calculation unit 22 transmits vehicle information of the vehicle 10 to the selected remote operation device through the second control communication unit 23. In the following explanation, the operation when three remote operation devices, remote operation device 30a, remote operation device 30b, and remote operation device 30c, are selected as the selected remote operation devices will be explained. At this time, the vehicle information of the vehicle 10 is transmitted from the second control communication unit 23 to the operation communication units 31a, 31b, and 31c.

[0015] Each remote control device is operated by a different remote operator, and has the same configuration and operation. The following describes the remote control devices using remote control device 30a as an example. Remote control device 30a includes an operation communication unit 31a, an operation amount detection unit 32a, and a display unit 33a. Display unit 33a displays vehicle information about vehicle 10 acquired from operation communication unit 31a. Display unit 33a displays, for example, an image of the surroundings of vehicle 10 acquired by vehicle information acquisition unit 13 of vehicle 10. If the vehicle information includes information such as the speed of vehicle 10, the engine speed of vehicle 10, and the remaining amount of fuel or power storage of vehicle 10, display unit 33a may display this information. Operation amount detection unit 32a detects the operation amount for operating vehicle 10 and outputs it as an individual remote operation amount. The operation amount detection unit 32a detects operation amounts including, for example, the speed and steering direction of the vehicle 10, and may be a combination of a keyboard and a mouse, a touch panel, or a combination of a steering wheel and pedals. For example, the first remote operator operating the remote control device 30a operates the operation amount detection unit 32a while viewing the vehicle information displayed on the display unit 33a, and the result is output from the remote control device 30a as an individual remote operation amount. The individual remote operation amount output from the remote control device 30a is sent to the remote operation amount calculation unit 22 via the operation communication unit 31a and the second control communication unit 23.

[0016] The remote control amount calculation unit 22 acquires individual remote control amounts from each of the three selected remote control devices and selects the two selected remote control devices with the highest similarity in the individual remote control amounts as the final remote control devices. For example, the unit 22 acquires individual remote control amounts from each of the three selected remote control devices, remote control device 30a, remote control device 30b, and remote control device 30c, calculates the similarity between two individual remote control amounts selected from the three individual remote control amounts, and selects the remote control devices 30a and 30b as the final remote control devices if the similarity between the individual remote control amount of the remote control device 30a and the individual remote control amount of the remote control device 30b is highest. The similarity between the two individual remote control amounts is determined, for example, by calculating the difference between the two individual remote control amounts over a predetermined period, and the two individual remote control amounts with the smallest difference are considered to have the highest similarity. Alternatively, the remote control amount calculation unit 22 may store data on correct remote control amounts previously acquired as reference remote control amounts, acquire individual remote control amounts from each of the three selected remote control devices, and select two selected remote control devices as final remote control devices: one that outputs an individual remote control amount closest to the reference remote control amount, and the other that outputs an individual remote control amount second closest to the reference remote control amount. Furthermore, the remote control amount calculation unit 22 outputs, as the remote control amount, one of the two individual remote control amounts acquired from the two final remote control devices or the average value of the two individual remote control amounts acquired from the two final remote control devices. Information on the remote control amount output from the remote control amount calculation unit 22 is sent to the vehicle communication unit 12 of the vehicle 10 via the first control communication unit 21. The vehicle communication unit 12 outputs the acquired information on the remote control amount to the vehicle control unit 11. The vehicle control unit 11 controls the running of the vehicle 10 based on the remote control amount acquired from the vehicle communication unit 12, for example, controls the speed of the vehicle 10, and controls the traveling direction of the vehicle 10.

[0017] The remote control amount calculation unit 22 selects the two selected remote control devices with the highest similarity in individual remote control amounts as the final remote control devices, and outputs either the value of the two individual remote control amounts obtained from the two final remote control devices, or the average value of the two individual remote control amounts obtained from the two final remote control devices, as the remote control amount.Therefore, when one of the three remote operators makes an operation error and an abnormal individual remote control amount is output from one of the three selected remote control devices, this can be eliminated, and an abnormal value can be prevented from being output as the remote control amount.

[0018] The remote control amount calculation unit 22 may output information on the three individual remote control amounts acquired from each of the three selected remote control devices to each selected remote control device via the second control communication unit 23. The display unit of the selected remote control device may display the information on the three individual remote control amounts acquired through the operation communication unit. Alternatively, the remote control amount calculation unit 22 may transmit the information on the three individual remote control amounts acquired from each of the three selected remote control devices to the second control communication unit 23, and the second control communication unit 23 may transmit information on the individual remote control amounts from the other two selected remote control devices to each selected remote control device. The display unit of the selected remote control device may display information on the individual remote control amounts from the other two selected remote control devices acquired from the second control communication unit 23 through the operation communication unit. For example, when three remote control devices, remote control device 30a, remote control device 30b, and remote control device 30c, are selected as selected remote control devices, the display unit 33a of remote control device 30a may display information on the individual remote control amount of remote control device 30b and information on the individual remote control amount of remote control device 30c, and may also display the individual remote control amount of remote control device 30a. By displaying the individual remote control amounts of the selected remote control devices on the display unit, the remote operator can check the operation amounts of the other two remote operators and compare his or her own operation amount with the operation amounts of the other two remote operators.

[0019] The remote operation amount calculation unit 22 may detect an operation error in the selected remote control device by verifying each of the three pieces of information on individual remote operation amounts acquired from each of the three selected remote control devices according to a predetermined rule. The remote operation amount calculation unit 22 may extract the selected remote control device in which an operation error has been detected as an operation error detection device and output the extracted information to each selected remote control device via the second control communication unit 23. The display unit of the selected remote control device may display that an operation error has occurred in the operation error detection device based on the information on the operation error acquired through the operation communication unit. The remote operation amount calculation unit 22 detects an operation error from the individual remote operation amounts of the selected remote control device, extracts the selected remote control device in which the operation error has been detected as an operation error detection device, and the display unit displays that an operation error has occurred in the operation error detection device, thereby allowing the remote operator to confirm that an operation error by another remote operator, including his or her own, has occurred.

[0020] As described above, the remote operation system 100 according to the first embodiment is a remote operation system that includes the remote control device 20 and the remote operation devices 30a, 30b, 30c, and 30d, acquires vehicle information including an image of the surroundings of the vehicle 10, and outputs a remote operation amount to the vehicle 10. The remote control device 20 includes a first control communication unit 21 that communicates with the vehicle 10, a second control communication unit 23 that communicates with the plurality of remote operation devices 30a, 30b, 30c, and 30d, a remote operation amount calculation unit 22 that calculates a remote operation amount, and an operation device selection unit 24 that selects three remote operation devices selected at random as selected remote operation devices. The remote operation devices 30a, 30b, 30c, and 30d are operation devices that communicate with the remote control device 20. The control system is provided with communication units 31a, 31b, 31c, 31d, display units 33a, 33b, 33c, 33d that display vehicle information, and operation amount detection units 32a, 32b, 32c, 32d that detect operation amounts and output them as individual remote control amounts, and the remote control amount calculation unit 22 acquires individual remote control amounts from each selected remote control device, selects two selected remote control devices with the most similar individual remote control amounts as final remote control devices, and sets the remote control amount to either the value of the two individual remote control amounts acquired from the two final remote control devices or the average value of the two individual remote control amounts acquired from the two final remote control devices, thereby preventing abnormal values ​​from being output as the remote control amount.

[0021] Embodiment 2 FIG. 2 is a block diagram showing the configuration of a remote control system 100a according to the second embodiment. Comparing the remote control system 100a according to the second embodiment shown in FIG. 2 with the remote control system 100 according to the first embodiment shown in FIG. 1, the remote control device 20 has become a remote control device 20a, the remote operation amount calculation unit 22 has become a remote operation amount calculation unit 22a, the second control communication unit 23 has become a second control communication unit 23a, and a remote monitoring device 40 has been added. The other configuration of the remote control system 100a according to the second embodiment is the same as that of the remote control system 100 according to the first embodiment. The remote monitoring device 40 includes a monitoring communication unit 41 and a monitoring display unit 42. The remote monitoring device 40 is used by, for example, a monitor to perform monitoring.

[0022] The remote operation amount calculation unit 22a performs the same operation as the remote operation amount calculation unit 22, and outputs information on the two individual remote operation amounts acquired from the two final remote operation devices to the second control communication unit 23a. The second control communication unit 23a performs the same operation as the second control communication unit 23, and outputs information on the individual remote operation amounts of the two final remote operation devices acquired from the remote operation amount calculation unit 22a to the monitoring communication unit 41. The monitoring display unit 42 displays the information on the individual remote operation amounts of the two final remote operation devices acquired from the monitoring communication unit 41. A monitor can check the information on the individual remote operation amounts of the two final remote operation devices displayed on the monitoring display unit 42, and can, for example, stop remote operation of the remote operation system 100a based on the checked information on the individual remote operation amounts of the two final remote operation devices.

[0023] As described above, the remote control system 100a according to the second embodiment further includes the remote monitoring device 40, and the second control communication unit 23a communicates with the remote monitoring device 40. The remote monitoring device 40 includes the monitoring communication unit 41 that communicates with the remote control device 20a and the monitoring display unit 42 that displays the two individual remote control amounts acquired from the two final remote control devices, so that the monitor can check the information on the individual remote control amounts of the two final remote control devices.

[0024] Embodiment 3 FIG. 3 is a block diagram showing the configuration of a remote control system 100b according to a third embodiment. Comparing the remote control system 100b according to the third embodiment shown in FIG. 3 with the remote control system 100 according to the first embodiment shown in FIG. 1, the remote control device 20 has been replaced with a remote control device 20b, the remote operation amount calculation unit 22 has been replaced with a remote operation amount calculation unit 22b, the second control communication unit 23 has been replaced with a second control communication unit 23b, a monitoring device selection unit 25 has been added, and remote monitoring devices 40a, 40b, and 40c have been added. The other configuration of the remote control system 100b according to the third embodiment is the same as that of the remote control system 100 according to the first embodiment. Although three remote monitoring devices are shown in FIG. 3, any number of remote monitoring devices may be used. The remote monitoring device 40a includes a monitoring communication unit 41a and a monitoring display unit 42a, the remote monitoring device 40b includes a monitoring communication unit 41b and a monitoring display unit 42b, and the remote monitoring device 40c includes a monitoring communication unit 41c and a monitoring display unit 42c. The remote monitoring device 40a is for example used by a first monitor to perform monitoring, the remote monitoring device 40b is for example used by a second monitor to perform monitoring, and the remote monitoring device 40c is for example used by a third monitor to perform monitoring.

[0025] The monitoring device selection unit 25 randomly selects one remote monitoring device from the multiple remote monitoring devices as the selected remote monitoring device and transmits information about the selected remote monitoring device to the remote operation amount calculation unit 22b. By the monitoring device selection unit 25 randomly selecting one remote monitoring device, one monitor is selected from multiple monitor candidates. By randomly selecting one monitor, the monitor can monitor the remote operator's operations while increasing the independence between the monitor and the remote operator, and the accuracy of the monitor's monitoring work can be improved. The following describes the operation when the remote monitoring device 40a is selected as the selected remote monitoring device.

[0026] The remote operation amount calculation unit 22b performs the same operation as the remote operation amount calculation unit 22 and outputs information on the two individual remote operation amounts acquired from the two final remote operation devices to the second control communication unit 23b. The second control communication unit 23b performs the same operation as the second control communication unit 23 and outputs information on the individual remote operation amounts of the two final remote operation devices acquired from the remote operation amount calculation unit 22b to the monitoring communication unit 41a of the remote monitoring device 40a, which is the selected remote monitoring device. The monitoring display unit 42a displays the information on the individual remote operation amounts of the two final remote operation devices acquired from the monitoring communication unit 41a. The first monitor, who is the monitor of the remote monitoring device 40a, can confirm the information on the individual remote operation amounts of the two final remote operation devices displayed on the monitoring display unit 42a and, for example, can stop remote operation of the remote operation system 100b based on the confirmed information on the individual remote operation amounts of the two final remote operation devices.

[0027] As described above, the remote control system 100b according to the third embodiment includes a plurality of remote monitoring devices, and the remote control device 20b includes a monitoring device selection unit 25 that randomly selects one remote monitoring device from the plurality of remote monitoring devices, and the monitoring display unit of the remote monitoring device selected by the monitoring device selection unit 25 displays the two individual remote operation amounts obtained from the two final remote control devices. This allows the monitor to monitor the operation of the remote operator with increased independence between the monitor and the remote operator, thereby improving the accuracy of the monitoring work by the monitor.

[0028] FIG. 4 is a schematic diagram showing an example of a hardware configuration of a vehicle 10 according to an embodiment. The vehicle control unit 11 is realized by a processor 201, such as a CPU (Central Processing Unit), that executes programs stored in a memory 202. The memory 202 is also used as a temporary storage device for each process executed by the processor 201. The memory 202 is, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, or an EPROM, a magnetic disk, an optical disk, or a combination thereof. The vehicle communication unit 12 is realized by a vehicle communication device 204. The vehicle information acquisition unit 13 is realized by a camera 205. The processor 201, the memory 202, the vehicle communication device 204, and the camera 205 are connected to a bus 203.

[0029] 5 is a schematic diagram showing another example of the hardware configuration of the vehicle 10 according to the embodiment. The vehicle control unit 11 is realized by a processing circuit 206. When the processing circuit 206 is dedicated hardware, it may be, for example, a single circuit, a composite circuit, a programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit 206, the vehicle communication device 204, and the camera 205 are connected to a bus 203.

[0030] FIG. 6 is a schematic diagram showing an example of the hardware configuration of the remote control devices 20, 20a, and 20b according to the embodiment. The remote operation amount calculation units 22, 22a, and 22b, the operation device selection unit 24, and the monitoring device selection unit 25 are implemented by a processor 211, such as a CPU, that executes programs stored in a memory 212. The memory 212 is also used as a temporary storage device for each process executed by the processor 211. The memory 212 is, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, or EPROM, a magnetic disk, an optical disk, or a combination thereof. The first control communication unit 21 is implemented by a first control communication device 214. The second control communication units 23, 23a, and 23b are implemented by a second control communication device 215. The processor 211, the memory 212, the first control communication device 214, and the second control communication device 215 are connected to a bus 213.

[0031] FIG. 7 is a schematic diagram showing another example of the hardware configuration of the remote control devices 20, 20a, and 20b according to the embodiment. In FIG. 7, the processing circuit 216, the first control communication device 214, and the second control communication device 215 are connected to one another via a bus 213. When the processing circuit 216 is dedicated hardware, it may be, for example, a single circuit, a composite circuit, a programmed processor, an ASIC, an FPGA, or a combination thereof. The remote control amount calculation units 22, 22a, and 22b, the operation device selection unit 24, and the monitoring device selection unit 25 may each be implemented by the processing circuit 216, or the remote control amount calculation units 22, 22a, and 22b, the operation device selection unit 24, and the monitoring device selection unit 25 may be implemented collectively by the processing circuit 216. Alternatively, the remote control amount calculation units 22, 22a, and 22b, the operation device selection unit 24, and the monitoring device selection unit 25 may be implemented in part by dedicated hardware and in part by software or firmware.

[0032] 8 is a schematic diagram showing an example of the hardware configuration of remote control devices 30a, 30b, 30c, and 30d according to the embodiment. Operation communication units 31a, 31b, 31c, and 31d are realized by an operation communication device 221. Operation amount detection units 32a, 32b, 32c, and 32d are realized by an operation amount detector 222. Display units 33a, 33b, 33c, and 33d are realized by a display 223. The operation amount detector 222 and the display 223 are connected to the operation communication device 221.

[0033] 9 is a schematic diagram showing an example of the hardware configuration of remote monitoring devices 40, 40a, 40b, and 40c according to the embodiment. Monitoring communication units 41, 41a, 41b, and 41c are realized by a monitoring communication device 231. Monitoring display units 42, 42a, 42b, and 42c are realized by a monitoring display 232. The monitoring display 232 is connected to the monitoring communication device 231.

[0034] Although the present application describes various exemplary embodiments, the various features, aspects, and functions described in one or more embodiments are not limited to application to a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are conceivable within the scope of the technology disclosed in this application, including, for example, cases where at least one component is modified, added, or omitted, and cases where at least one component is extracted and combined with a component of another embodiment.

[0035] Although the preferred embodiments have been described above in detail, the present invention is not limited to the above-described embodiments. The above-described embodiments may be modified without departing from the scope of the claims. Various modifications and substitutions can be made to the above.

[0036] Various aspects of the present disclosure are summarized below as appendices.

[0037] (Appendix 1) A remote operation system comprising a remote control device and a remote operation device, which acquires vehicle information including an image of the surroundings of the vehicle, and outputs a remote operation amount to the vehicle, The remote control device includes: a first control communication unit that communicates with the vehicle; a second control communication unit that communicates with the plurality of remote control devices; a remote control operation amount calculation unit for calculating the remote control operation amount; an operation device selection unit that selects three of the remote operation devices randomly selected as selected remote operation devices; The remote control device is an operation communication unit that communicates with the remote control device; a display unit that displays the vehicle information; an operation amount detection unit that detects an operation amount and outputs it as an individual remote operation amount; The remote control operation amount calculation unit acquiring the individual remote control amounts from the selected remote control devices; Selecting the two selected remote control devices having the highest similarity in the individual remote control amounts as final remote control devices; A remote control system characterized in that the remote control amount is either the value of the two individual remote control amounts obtained from the two final remote control devices, or the average value of the two individual remote control amounts obtained from the two final remote control devices. (Appendix 2) The remote control system according to claim 1, wherein the operation device selection unit selects the remote control devices located at different bases as the selected remote control devices. (Appendix 3) The remote control system according to claim 1 or 2, wherein the display unit displays the individual remote control amount of the selected remote control device. (Appendix 4) the remote operation amount calculation unit detects an operation error from the individual remote operation amount of the selected remote operation device, and extracts the selected remote operation device in which the operation error has been detected as an operation error detection device; The remote control system according to any one of claims 1 to 3, wherein the display unit displays that an operation error has occurred in the operation error detection device. (Appendix 5) Further comprising a remote monitoring device; the second control communication unit communicates with the remote monitoring device; The remote monitoring device a monitoring communication unit that communicates with the remote control device; The remote control system according to any one of claims 1 to 4, further comprising a monitoring display unit that displays the two individual remote control amounts obtained from the two final remote control devices. (Appendix 6) a plurality of the remote monitoring devices; the remote control device includes a monitoring device selection unit that randomly selects one remote monitoring device from the plurality of remote monitoring devices; The remote control system described in Appendix 5, characterized in that the monitoring display unit of the remote monitoring device selected in the monitoring device selection unit displays the two individual remote control amounts obtained from the two final remote control devices. [Explanation of symbols]

[0038] 1 Communication network, 10 Vehicle, 11 Vehicle control unit, 12 Vehicle communication unit, 13 Vehicle information acquisition unit, 20, 20a, 20b Remote control device, 21 First control communication unit, 22, 22a, 22b Remote operation amount calculation unit, 23, 23a, 23b Second control communication unit, 24 Operation device selection unit, 30a, 30b, 30c, 30d Remote operation device, 31a, 31b, 31c, 31d Operation communication unit, 32a, 32b, 32c, 32d Operation amount detection unit, 33a, 33b, 33c, 33d Display unit, 40, 40a, 40b, 40c Remote monitoring device, 41, 41a, 41b, 41c Monitoring communication unit, 42, 42a, 42b, 42c Monitoring display unit, 100, 100a, 100b Remote operation system, 201 processor, 202 memory, 203 bus, 204 vehicle communication device, 205 camera, 206 processing circuit, 211 processor, 212 memory, 213 bus, 214 first control communication device, 215 second control communication device, 216 processing circuit, 221 operation communication device, 222 operation amount detector, 223 display, 231 monitoring communication device, 232 monitoring display.

Claims

1. A remote operation system comprising a remote control device and a remote operation device, which acquires vehicle information including an image of the surroundings of the vehicle, and outputs a remote operation amount to the vehicle, The remote control device includes: a first control communication unit that communicates with the vehicle; a second control communication unit that communicates with the plurality of remote control devices; a remote control operation amount calculation unit for calculating the remote control operation amount; an operation device selection unit that selects three of the remote operation devices randomly selected as selected remote operation devices; The remote control device is an operation communication unit that communicates with the remote control device; a display unit that displays the vehicle information; an operation amount detection unit that detects an operation amount and outputs it as an individual remote operation amount; The remote control operation amount calculation unit acquiring the individual remote control amounts from the selected remote control devices; selecting the two selected remote control devices having the highest similarity in the individual remote control amount as final remote control devices; A remote control system characterized in that the remote control amount is either the value of the two individual remote control amounts obtained from the two final remote control devices, or the average value of the two individual remote control amounts obtained from the two final remote control devices.

2. 2. The remote operation system according to claim 1, wherein the operation device selection unit selects the remote operation devices located at different bases as the selected remote operation devices.

3. 3. The remote control system according to claim 1, wherein the display unit displays the individual remote control amount of the selected remote control device.

4. the remote operation amount calculation unit detects an operation error from the individual remote operation amount of the selected remote operation device, and extracts the selected remote operation device in which the operation error has been detected as an operation error detection device; 3. The remote control system according to claim 1, wherein the display unit displays that an operation error has occurred in the operation error detection device.

5. Further comprising a remote monitoring device; the second control communication unit communicates with the remote monitoring device; The remote monitoring device a monitoring communication unit that communicates with the remote control device; 3. The remote control system according to claim 1, further comprising a monitor display unit that displays the two individual remote control amounts acquired from the two final remote control devices.

6. 6. The remote control system according to claim 5, wherein the display unit displays the individual remote control amount of the selected remote control device.

7. the remote operation amount calculation unit detects an operation error from the individual remote operation amount of the selected remote operation device, and extracts the selected remote operation device in which the operation error has been detected as an operation error detection device; 6. The remote control system according to claim 5, wherein the display unit displays that an operation error has occurred in the operation error detection device.

8. a plurality of the remote monitoring devices; the remote control device includes a monitoring device selection unit that randomly selects one remote monitoring device from the plurality of remote monitoring devices; The remote control system according to claim 5, characterized in that the monitoring display unit of the remote monitoring device selected in the monitoring device selection unit displays the two individual remote control amounts obtained from the two final remote control devices.

9. 9. The remote control system according to claim 8, wherein the display unit displays the individual remote control amount of the selected remote control device.

10. the remote operation amount calculation unit detects an operation error from the individual remote operation amount of the selected remote operation device, and extracts the selected remote operation device in which the operation error has been detected as an operation error detection device; 9. The remote control system according to claim 8, wherein the display unit displays that an operation error has occurred in the operation error detection device.

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