Evasion path calculation device and method, mobile object monitoring system, mobile object, and program

Abstract

The present invention is configured so that if there is a vehicle stopped in front of a mobile object, it is possible to provide the mobile object with a route for avoiding the vehicle. An information acquisition unit (31) acquires stopped vehicle information pertaining to the stopped status of a stopped vehicle that has stopped in front of a mobile object (50). The stopped vehicle information includes information pertaining to the width and length of the stopped vehicle, the location of the stopped vehicle in a traveling lane in which the mobile object (50) is traveling, and the stopped state of the stopped vehicle. An avoidance route computation unit (32) generates an avoidance route for the mobile object (50) to avoid the stopped vehicle when traveling, on the basis of the stopped vehicle information. An avoidance route setting unit (33) sets the avoidance route for the mobile object (50).

Description

Evasive path calculation device and method, mobile object monitoring system, mobile object, and computer-readable medium

[0001] The present disclosure relates to an avoidance path calculation device and method, a mobile object monitoring system, a mobile object, and a computer-readable medium.

[0002] As a related technique, Patent Document 1 discloses a remote monitoring system for remotely monitoring an autonomous vehicle. In the remote monitoring system described in Patent Document 1, the autonomous vehicle has an autonomous sensor including a camera. The autonomous vehicle detects obstacles based on information obtained from the autonomous sensor. When an obstacle that poses a risk of collision is detected, the autonomous vehicle slows down. In addition, the autonomous vehicle transmits a vehicle slowdown signal and camera images of the vehicle's surroundings captured using the camera to a remote monitoring center.

[0003] At the remote monitoring center, a monitor monitors camera footage of the area around the autonomous vehicle received from the autonomous vehicle. The monitor checks the situation around the autonomous vehicle from the camera footage. If the monitor determines that it is necessary to stop the autonomous vehicle, the monitor stops the autonomous vehicle. If the monitor determines that it is safe to resume driving, the monitor operates the HMI (Human Machine Interface) to send a start signal from the monitoring center computer to the autonomous vehicle. The autonomous vehicle continues to drive slowly until it receives the start signal or is instructed to stop. If it receives the start signal, the autonomous vehicle resumes driving.

[0004] Japanese Patent Application Laid-Open No. 2019-87015

[0005] Generally, an autonomous vehicle needs to overtake another vehicle parked or stopped in its driving lane. However, it is difficult for an autonomous vehicle to overtake a stopped vehicle completely automatically. Currently, the decision to overtake is made by a remote monitor, who often temporarily drives or operates the autonomous vehicle remotely. In such cases, the remote monitor can check the situation around the vehicle via video and then issue instructions to the autonomous vehicle to stop or start. However, related technologies, including Patent Document 1, have a problem in that they are unable to instruct the vehicle on an appropriate route to avoid the stopped vehicle.

[0006] In view of the above circumstances, the present disclosure aims to provide an avoidance path calculation device and method, a mobile body monitoring system, a mobile body, and a computer-readable medium that can present a mobile body with a path to avoid a vehicle that is stopped in front of the mobile body when the vehicle is stopped in front of the mobile body.

[0007] To achieve the above object, the present disclosure provides, as a first aspect, an avoidance path calculation device, which includes: an information acquisition unit that acquires stopped vehicle information, which is information regarding the stopping status of a stopped vehicle stopped in front of an autonomously driven moving body, the stopped vehicle information including information regarding the width and length of the stopped vehicle, the position of the stopped vehicle in a driving lane in which the moving body is traveling, and the stopped state of the stopped vehicle; an avoidance path calculation unit that generates, based on the stopped vehicle information, an avoidance path for the moving body to travel while avoiding the stopped vehicle; and an avoidance path setting unit that sets the avoidance path for the moving body.

[0008] In a second aspect, the present disclosure provides a mobile body including: an autonomous driving control unit that causes the mobile body to operate autonomously; and an avoidance path calculation device that generates an avoidance path for avoiding a stopped vehicle stopped in front of the mobile body. The avoidance path calculation device includes: an information acquisition unit that acquires stopped vehicle information related to the stopped state of the stopped vehicle, the stopped vehicle information including information related to the width and length of the stopped vehicle, the position of the stopped vehicle in a driving lane in which the mobile body is traveling, and the stopped state of the stopped vehicle; an avoidance path calculation unit that generates an avoidance path for the mobile body to travel while avoiding the stopped vehicle based on the stopped vehicle information; and an avoidance path setting unit that sets the avoidance path in the autonomous driving control unit.

[0009] The present disclosure provides, as a third aspect, a mobile body including an autonomous driving control unit that drives the mobile body in an autonomous driving mode. When an avoidance route is set for avoiding a stopped vehicle stopped in front of the mobile body, the avoidance route being generated based on stopped vehicle information that is information regarding the stopped state of the stopped vehicle, the information including information regarding the width and length of the stopped vehicle, the position of the stopped vehicle in a driving lane in which the mobile body is traveling, and the stopped state of the stopped vehicle, the autonomous driving control unit causes the mobile body to travel according to the set avoidance route.

[0010] The present disclosure provides, as a fourth aspect, a mobile object monitoring system. The mobile object monitoring system includes a mobile object having an autonomous driving control unit that drives the mobile object autonomously, a monitoring device that monitors the mobile object, and an avoidance path calculation device that generates an avoidance path for avoiding a stopped vehicle stopped in front of the mobile object. The avoidance path calculation device includes an information acquisition unit that acquires stopped vehicle information related to the stopped state of the stopped vehicle, the stopped vehicle information including information related to the width and length of the stopped vehicle, the position of the stopped vehicle in a driving lane in which the mobile object is traveling, and the stopped state of the stopped vehicle, an avoidance path calculation unit that generates an avoidance path for the mobile object to travel while avoiding the stopped vehicle based on the stopped vehicle information, and an avoidance path setting unit that sets the avoidance path for the mobile object.

[0011] The present disclosure provides, as a fifth aspect, an avoidance path calculation method, which includes acquiring stopped vehicle information relating to the stopping status of a stopped vehicle stopped in front of an autonomously driven moving body, the stopped vehicle information including information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in a lane in which the moving body is traveling, and the stopped state of the stopped vehicle, generating an avoidance path for the moving body to travel while avoiding the stopped vehicle based on the stopped vehicle information, and setting the avoidance path for the moving body.

[0012] In a sixth aspect, the present disclosure provides a computer-readable medium storing a program for causing a computer to execute processing including acquiring stopped vehicle information relating to the stopping status of a stopped vehicle stopped in front of an autonomously driven moving body, the stopped vehicle information including information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in a lane in which the moving body is traveling, and the stopped state of the stopped vehicle, generating an avoidance path for the moving body to travel while avoiding the stopped vehicle based on the stopped vehicle information, and setting the avoidance path for the moving body.

[0013] The avoidance path calculation device and method, mobile body monitoring system, mobile body, and computer-readable medium according to the present disclosure can present a mobile body with a path to avoid a vehicle that is stopped in front of the mobile body.

[0014] 1 is a block diagram schematically illustrating a mobile object monitoring system according to the present disclosure. FIG. 1 is a block diagram illustrating a mobile object monitoring system according to a first embodiment of the present disclosure. FIG. 2 is a block diagram illustrating an example configuration of a mobile object. FIG. 3 is a block diagram illustrating an example configuration of a monitoring device. FIG. 4 is a block diagram illustrating an avoidance path calculation device. FIG. 5 is a diagram illustrating an example input of stopped vehicle information. FIG. 6 is a schematic diagram illustrating a first specific example of avoidance path generation. FIG. 7 is a schematic diagram illustrating a second specific example of avoidance path generation. FIG. 8 is a schematic diagram illustrating a third specific example of avoidance path generation. FIG. 9 is a schematic diagram illustrating a fourth specific example of avoidance path generation. FIG. 10 is a schematic diagram illustrating a fifth specific example of avoidance path generation. FIG. 11 is a schematic diagram illustrating a sixth specific example of avoidance path generation. FIG. 12 is a diagram illustrating an example of presenting an avoidance path to a remote monitor. FIG. 13 is a flowchart illustrating an operation procedure in the first embodiment. FIG. 14 is a block diagram illustrating an example configuration of an avoidance path calculation device used in a mobile object monitoring system according to a second embodiment of the present disclosure.

[0015] Prior to describing embodiments of the present disclosure, an overview of the present disclosure will be described. FIG. 1 schematically illustrates a mobile object monitoring system according to the present disclosure. The mobile object monitoring system 10 includes a monitoring device 11, an avoidance path calculation device 30, and a mobile object 50. The mobile object 50 is configured to be capable of autonomous driving. The mobile object 50 includes an autonomous driving control unit 51 that drives the mobile object autonomously. The monitoring device 11 is a device for monitoring the mobile object. The avoidance path calculation device 30 is a device for generating an avoidance path for avoiding a stopped vehicle ahead of the mobile object 50.

[0016] The avoidance path calculation device 30 has an information acquisition unit 31, an avoidance path calculation unit 32, and an avoidance path setting unit 33. The information acquisition unit 31 acquires stopped vehicle information relating to the stopped status of a stopped vehicle. The stopped vehicle information includes information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in the driving lane in which the moving object 50 is traveling, and the stopped state of the stopped vehicle. The avoidance path calculation unit 32 generates an avoidance path for the moving object 50 to travel while avoiding the stopped vehicle, based on the stopped vehicle information. The avoidance path setting unit 33 sets the avoidance path for the moving object 50.

[0017] In the present disclosure, the avoidance path calculation unit 32 generates an avoidance path for avoiding a stopped vehicle based on stopped vehicle information regarding the stopped status of the stopped vehicle. The stopped vehicle information includes information such as the length, width, and position of the stopped vehicle, and the avoidance path calculation unit 32 can use this information to generate a path for the moving body 50 to travel while avoiding the stopped vehicle. In this way, when there is a stopped vehicle ahead of the moving body 50, the present disclosure can present the moving body 50 with a path for avoiding the vehicle. The moving body 50 can perform autonomous driving along the generated avoidance path and overtake the stopped vehicle.

[0018] Hereinafter, embodiments of the present disclosure will be described in detail. Note that the following description and drawings have been omitted and simplified as appropriate for clarity of explanation. In addition, the same or similar elements in each drawing are given the same reference numerals, and duplicate explanations are omitted as necessary. Below, an example will be described in which a mobile object is used in a country where traffic drives on the left side of the road. In the case of traffic on the right side of the road, the relationship between left and right can be appropriately reversed.

[0019] FIG. 2 shows a mobile object monitoring system according to a first embodiment of the present disclosure. In this embodiment, the mobile object monitoring system is configured as a remote monitoring system that remotely monitors a mobile object. The remote monitoring system 100 includes a monitoring device 110, an avoidance path calculation device 130, and a mobile object 200. The monitoring device 110 and the mobile object 200 are connected to each other via a network 150. The network 150 includes, for example, a wireless communication network using a communication line standard such as LTE (Long Term Evolution). Alternatively, the network 150 may include a wireless communication network such as Wi-Fi (registered trademark) or a fifth-generation mobile communication system. The remote monitoring system 100 corresponds to the mobile object monitoring system 10 shown in FIG. 1.

[0020] The mobile body 200 is configured as a vehicle that travels on a road, such as an automobile, a bus, or a taxi. The mobile body 200 is configured to be capable of automatic driving (autonomous driving) based on information from sensors mounted on the mobile body. The monitoring device 110 is a monitoring device used by a monitor who monitors the mobile body 200. The monitoring device 110 is located, for example, in a remote monitoring center. The monitoring device 110 receives various data from the mobile body 200 via a network 150. The monitoring device 110 also transmits various data to the mobile body 200 via the network 150. The avoidance path calculation device 130 calculates an avoidance path for avoiding a stopped vehicle in front of the mobile body 200 when the mobile body 200 travels while avoiding the stopped vehicle.

[0021] 2 shows an example in which the remote monitoring system 100 includes only one mobile object 200, but the present embodiment is not limited to this. In the present embodiment, the remote monitoring system 100 may be connected to a plurality of mobile objects 200 via a network 150. In this case, the monitoring device 110 monitors the plurality of mobile objects 200. In the present embodiment, the monitoring device 110 and the avoidance path calculation device 130 do not necessarily have to be separate, physically separated devices. For example, the avoidance path calculation device 130 may be included in the monitoring device 110.

[0022] 3 shows an example of the configuration of a mobile body 200. The mobile body 200 has a periphery monitoring sensor 201, a vehicle sensor 202, a vehicle control ECU (Electronic Control Unit) 203, an autonomous driving ECU 204, and a communication device 205. In the mobile body 200, these components are configured to be able to communicate with each other via an in-vehicle LAN (Local Area Network), a CAN (Controller Area Network), or the like. The mobile body 200 corresponds to the mobile body 50 shown in FIG. 1.

[0023] The perimeter monitoring sensor 201 is a sensor that monitors the situation around the moving body 200. The perimeter monitoring sensor 201 includes, for example, a camera, a radar, and a LiDAR (Light Detection and Ranging). The perimeter monitoring sensor 201 may include, for example, a plurality of cameras that capture images of the areas in front, behind, to the right, and to the left of the vehicle. The perimeter monitoring sensor 201 may also include a camera that captures images of the interior of the moving body 200.

[0024] The vehicle sensor 202 is a sensor for detecting various states of the mobile body 200. The vehicle sensor 202 includes, for example, a vehicle speed sensor for detecting the vehicle speed, a steering sensor for detecting the steering angle, an accelerator pedal position sensor for detecting the accelerator pedal position, and a brake pedal force sensor for detecting the amount of depression of the brake pedal.

[0025] The vehicle control ECU 203 is an electronic control device that performs driving control of the mobile object 200. Generally, an electronic control device has a processor, a memory, an I / O (Input / Output), and a bus connecting these. The vehicle control ECU 203 performs various controls, such as control of the fuel injection amount, control of the engine ignition timing, and control of the power steering assist amount, based on sensor information output by the vehicle sensor 202. If the mobile object 200 is a hybrid vehicle or an electric vehicle, the vehicle control ECU 203 may also perform motor output control.

[0026] The autonomous driving ECU 204 is an electronic control device that controls the autonomous driving of the mobile object 200. The autonomous driving ECU 204 acquires sensor information from the periphery monitoring sensor 201 and the vehicle sensor 202, and controls the autonomous driving of the mobile object 200 based on the acquired sensor information. The autonomous driving ECU 204 causes the mobile object 200 to travel autonomously, for example, along a predetermined route. The mobile object 200 may be, for example, an autonomous bus. The autonomous driving ECU 204 corresponds to the autonomous driving control unit 51 shown in FIG. 1 .

[0027] The communication device 205 is configured as a device that performs wireless communication between the mobile object 200 and the network 150 (see FIG. 2 ). The communication device 205 includes, as its hardware configuration, a wireless communication antenna, a transmitter, and a receiver. The communication device 205 also has a processor, memory, I / O, and a bus connecting these. The functions of each unit in the communication device 205 are realized, for example, by the processor executing a control program stored in the memory.

[0028] The communication device 205 transmits various types of information acquired by the mobile object 200 to the monitoring device 110 via the network 150. For example, the communication device 205 acquires video data acquired by a camera included in the perimeter monitoring sensor 201 and transmits the acquired video data to the monitoring device 110 via the network 150. The communication device 205 may also acquire sensor information acquired by the vehicle sensor 202 and transmit the acquired sensor information to the monitoring device 110 via the network 150. The communication device 205 may also transmit to the monitoring device 110 location information of the mobile object 200 measured using, for example, a Global Navigation Satellite System (GNSS).

[0029] The communication device 205 receives, for example, information related to the control of the mobile object 200 from the monitoring device 110 via the network 150. The communication device 205 receives, for example, remote control information, which is information for remotely controlling the mobile object 200, from the monitoring device 110. When the communication device 205 receives the remote control information, it transmits the received remote control information to the vehicle control ECU 203 via an in-vehicle LAN or the like. The vehicle control ECU 203 controls the mobile object 200 based on the received remote control information.

[0030] Furthermore, communication device 205 may receive, from monitoring device 110, autonomous driving control information, which is information for controlling autonomous driving performed in mobile body 200. The autonomous driving control information includes, for example, information such as parameters set in autonomous driving ECU 204. When communication device 205 receives the autonomous driving control information, it transmits the received autonomous driving control information to autonomous driving ECU 204 via an in-vehicle LAN or the like. Autonomous driving ECU 204 performs autonomous driving of mobile body 200 using the received parameters and the like.

[0031] 4 shows an example configuration of the monitoring device 110. The monitoring device 110 has an information receiving unit 111, a monitoring screen display unit 112, and a remote control unit 113. The monitoring device 110 may be configured as a device having, for example, one or more memories and one or more processors. At least a portion of the functions of each unit in the monitoring device 110 may be realized by one or more processors executing processing in accordance with instructions read from one or more memories. The monitoring device 110 corresponds to the monitoring device 11 shown in FIG. 1.

[0032] The information receiving unit 111 receives information transmitted from the mobile object 200 via the network 150 (see FIG. 2 ). For example, the information receiving unit 111 receives video data acquired by a camera included in the perimeter monitoring sensor 201 from the mobile object 200. The information receiving unit 111 also receives sensor information acquired by the vehicle sensor 202 from the mobile object 200.

[0033] The monitoring screen display unit 112 displays the information received by the information receiving unit 111 on the screen of the display device. The monitoring screen display unit 112 displays, for example, video data of the area ahead of the mobile object 200 on the screen. The monitoring screen display unit 112 may also display various information such as the vehicle speed of the mobile object 200 on the display screen. A monitor can monitor the operation of the mobile object 200 by looking at the display screen.

[0034] The remote control unit 113 transmits information for remotely controlling the mobile object 200 to the mobile object 200 via the network 150. The remote control unit 113 may allow the monitor to select a remote control command, such as a right turn start, an emergency stop, or a start. When the monitor selects a remote control command, the remote control unit 113 transmits the remote control command to the mobile object 200.

[0035] The remote control unit 113 may include equipment for remotely operating the vehicle, such as a steering wheel, an accelerator pedal, and a brake pedal. The monitor can operate the steering wheel and other devices while viewing the screen displayed by the monitoring screen display unit 112. The remote control unit 113 transmits information indicating the accelerator opening, the amount of steering wheel operation, the amount of brake pedal depression, and the like to the mobile object 200. Furthermore, the remote control unit 113 may transmit information indicating autonomous driving parameters to the mobile object 200.

[0036] In this embodiment, when the moving body 200 is driving autonomously and avoiding a stopped vehicle ahead, the moving body 200 requests a monitor to check the surrounding conditions. For example, when the moving body 200 needs to stray from the lane it is driving in into another lane to overtake the stopped vehicle, the autonomous driving ECU 204 (see FIG. 3 ) of the moving body 200 stops the moving body 200 behind the stopped vehicle. The moving body driving ECU 204 also notifies the monitoring device 110 that the moving body 200 has stopped. When the moving body 200 stops behind the stopped vehicle, the monitoring device 110 requests the avoidance path calculation device 130 to calculate an avoidance path to avoid the stopped vehicle.

[0037] 5 shows an example of the configuration of the avoidance path calculation device 130. The avoidance path calculation device 130 has an information acquisition unit 131, an avoidance path calculation unit 132, and an avoidance path setting unit 133. The avoidance path calculation device 130 can be configured as a device having, for example, one or more memories and one or more processors. At least a part of the function of each unit in the avoidance path calculation device 130 can be realized by one or more processors executing processing in accordance with instructions read from one or more memories. The avoidance path calculation device 130 corresponds to the avoidance path calculation device 30 shown in FIG. 1.

[0038] The information acquisition unit 131 acquires stopped vehicle information relating to the stopping status of a stopped vehicle. The stopped vehicle information includes information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in the lane in which the mobile object 200 is traveling, and the stopped state of the stopped vehicle. The information acquisition unit 131 requests input of the stopped vehicle information from, for example, a monitor. The monitor identifies the stopped vehicle using video data displayed on the monitoring screen display unit 112 of the monitoring device 110 and inputs information about the stopped vehicle into the information acquisition unit 131. The monitor can input the stopped vehicle information into the information acquisition unit 131 using an input device such as a keyboard, a pointing device, or a touch panel. The information acquisition unit 131 corresponds to the information acquisition unit 31 shown in FIG. 1 .

[0039] 6 shows an example of input of stopped vehicle information. The monitoring screen display unit 112 displays video data of the area ahead of the mobile object 200 on the screen. In the displayed video data, the monitor recognizes the stopped vehicle 300 that the mobile object 200 is trying to avoid. The traveling lane of the mobile object is defined by a left line 401 and a right line 402 that define a vehicle lane. In FIG. 6, the left line 401 is a line that defines the boundary between the traveling lane and the shoulder strip. The right line 402 is a center line that indicates the boundary between the traveling lane and the oncoming lane.

[0040] The information acquisition unit 131 displays an information input area 450 on the display screen of the monitoring screen display unit 112. The information input area 450 includes items of stopped vehicle information and their options. In FIG. 6 , the stopped vehicle information includes location, distance, status, vehicle type, and number of vehicles. "Location" indicates the location of the stopped vehicle 300 in the driving lane of the mobile object 200. "Distance" indicates the amount of protrusion of the stopped vehicle 300 into the driving lane of the mobile object 200. "Status" indicates the stopped state of the stopped vehicle 300. "Vehicle type" indicates the vehicle type of the stopped vehicle 300. "Vehicle type" is related to the width and length of the stopped vehicle 300. "Number of vehicles" indicates the number of stopped vehicles 300. The information input area 450 and the video data of the mobile object 200 may be displayed on different screens. The items of stopped vehicle information shown in FIG. 6 are merely examples, and the stopped vehicle information may include information on items other than those described above.

[0041] The monitor inputs or selects information on the "position" of the stopped vehicle based on the video data and in accordance with the overlap state between the stopped vehicle 300 and the road markings that define the driving lane. If the stopped vehicle 300 is close to the left line 401 or straddling the left line 401, the monitor selects "left side" as the "position" information. If the stopped vehicle 300 is close to the right line 402 or straddling the right line 402, the monitor selects "right side" as the "position" information. If the stopped vehicle 300 is not close to either line, that is, if the stopped vehicle 300 is stopped in a position intermediate between the left line 401 and the right line 402, the monitor selects "both sides" as the "position" information. In FIG. 6 , the stopped vehicle 300 straddles the left line 401, so "left side" is selected as the "position" information.

[0042] The monitor also determines the positional relationship between the stopped vehicle 300 and the road markings that define the driving lane of the mobile object 200 based on the video data. The monitor determines the amount by which the stopped vehicle 300 protrudes into the driving lane based on the positional relationship. In other words, the monitor determines how far the stopped vehicle 300 protrudes into the driving lane from the road markings that indicate the dividing line. The monitor inputs or selects information on the "distance" of the stopped vehicle based on the amount by which the stopped vehicle 300 protrudes into the driving lane.

[0043] For example, if the stopped vehicle 300 extends into the driving lane by half a vehicle width from the left line 401, the monitor selects "0.5 vehicle width" as the "distance" information. If the stopped vehicle 300 is in contact with the left line 401, the monitor selects "1 vehicle width" as the "distance" information. If the stopped vehicle 300 is separated from the left line 401 and the right line 402, the monitor selects "separate" as the "distance" information. In FIG. 6, the stopped vehicle 300 extends into the driving lane by half a vehicle width from the left line 401, so "0.5 vehicle width" is selected as the "distance" information.

[0044] The monitor determines the stopped status or stopped state of the stopped vehicle 300 based on the video data. The monitor determines, for example, whether the stopped vehicle 300 is parked or whether the stopped vehicle is temporarily stopped. The monitor also determines the on / off status of the brake lights and turn signals of the stopped vehicle based on the video data. For example, if the brake lights of the stopped vehicle 300 are not on and the turn signals are not activated, the monitor determines that the stopped vehicle 300 is parked. In this case, the monitor selects "parked" as the "status" information. For example, if the brake lights of the stopped vehicle 300 are on or the turn signals are activated, the monitor determines that the stopped vehicle 300 is stopped. In this case, the monitor selects "stopped" as the "status" information. In FIG. 6 , the stopped vehicle 300 is determined to be parked, and "parked" is selected as the "status" information.

[0045] The monitor determines the vehicle type of the stopped vehicle 300 based on the video data. Here, for example, vehicle types are considered to be "small," "medium," and "large." A "small" vehicle is assumed to be a vehicle with a width of approximately 1.5 m and a length of approximately 3.5 m. A "medium" vehicle is assumed to be a vehicle with a width of approximately 2 m and a length of approximately 5 m. A "large" vehicle is assumed to be a vehicle with a width of approximately 2.5 m and a length of approximately 12 m. The monitor selects "small," "medium," or "large" as the "vehicle type" information depending on the vehicle type determination result. In FIG. 6 , the stopped vehicle 300 is a regular passenger car, and "medium" is selected as the "vehicle type" information. Instead of inputting the vehicle type of the stopped vehicle, the monitor may estimate the width and length of the stopped vehicle from the video data and input the estimated width and length.

[0046] The monitor determines the number of stopped vehicles 300 based on the video data. The monitor selects "1" or "2" as the "number" information depending on the number of stopped vehicles 300. If there are multiple stopped vehicles, the monitor may select the largest protrusion amount among the protrusion amounts of each stopped vehicle for the "distance" information. Also, if there are multiple stopped vehicles, the monitor may select the largest protrusion amount among the protrusion amounts of each stopped vehicle for the "vehicle type" information. Alternatively, the monitor may input stopped vehicle information for each of the multiple stopped vehicles.

[0047] Returning to FIG. 5 , the avoidance path calculation unit 132 generates an avoidance path for the mobile object 200 to travel while avoiding stopped vehicles, based on the stopped vehicle information acquired by the information acquisition unit 131. The avoidance path calculation unit 132 generates the avoidance path based on, for example, information on "position," "distance," "status," "vehicle type," and "number of vehicles" acquired as the stopped vehicle information. In generating the avoidance path, the avoidance path calculation unit 132 may determine the overtaking direction and the distance from the original traveling path based on the stopped vehicle information. Note that the avoidance path calculation unit 132 does not necessarily need to generate the avoidance path using all of the information on "position," "distance," "status," "vehicle type," and "number of vehicles." The avoidance path calculation unit 132 may generate the avoidance path using only some of the information on "position," "distance," "status," "vehicle type," and "number of vehicles." Furthermore, the avoidance path calculation unit 132 may generate the avoidance path using other information in addition to the stopped vehicle information.

[0048] For example, the avoidance path calculation unit 132 determines whether to overtake the stopped vehicle from the right or from the left, depending on the "position" and "state" in the stopped vehicle information. When the "position" is "left side," the avoidance path calculation unit 132 generates an avoidance path for the moving body 200 to overtake the stopped vehicle from the right. On the other hand, when the "position" is "right side," the avoidance path calculation unit 132 generates an avoidance path for the moving body 200 to overtake the stopped vehicle from the left. The avoidance path calculation unit 132 may determine from which side to overtake the stopped vehicle, depending on whether the hazard lights are on or the right turn indicator or left turn indicator is activated.

[0049] The avoidance path calculation unit 132 determines how far away from the original traveling route the moving object 200 will travel, i.e., the amount of avoidance required to avoid the stopped vehicle, based on the "distance" and "vehicle type" in the stopped vehicle information. The avoidance path calculation unit 132 generates an avoidance path in which the moving object 200 travels a distance away from the original traveling route that corresponds to the vehicle width corresponding to the "vehicle type." For example, the avoidance path calculation unit 132 generates an avoidance path in which the moving object 200 travels to the right or left of the original traveling route, a distance that is the vehicle width corresponding to the vehicle type plus a predetermined margin. The predetermined margin may be set to, for example, 50 cm.

[0050] When there are multiple stopped vehicles, the avoidance path calculation unit 132 may generate an avoidance path according to a combination of the stopped vehicle information of each stopped vehicle. For example, when two stopped vehicles have the same "position," the avoidance path calculation unit 132 may generate an avoidance path that allows the moving body 200 to overtake both stopped vehicles together from the right or left side. When there are two stopped vehicles, and the "position" of the first stopped vehicle is on the "left side" and the "position" of the second stopped vehicle is on the "right side," the avoidance path calculation unit 132 may determine that overtaking is not possible.

[0051] The avoidance path calculation unit 132 may display the avoidance path on the monitoring screen display unit 112 of the monitoring device 110. In this case, the monitor can know which part of the road the moving object 200 will travel on when overtaking the stopped vehicle 300.

[0052] The avoidance path calculation unit 132 may use information about the lane width of the driving lane to determine whether the moving body 200 will deviate from the road if it travels along the avoidance path. The avoidance path calculation unit 132 may acquire the lane width of the driving lane from the position information of the moving body 200, for example, using a database that stores lane width information associated with road position information. Alternatively, the avoidance path calculation unit 132 may estimate the lane width from video data of the area ahead of the moving body 200 acquired from the moving body 200. The avoidance path calculation unit 132 may also acquire information from the database, such as whether the road on which the moving body 200 is traveling is one-way or two-way, and whether there is a median strip. If the road width is narrow and therefore there is insufficient space for the moving body 200 to overtake the stopped vehicle, the avoidance path calculation unit 132 determines that there is no avoidance path. In this case, the avoidance path calculation unit 132 may cause the monitoring screen display unit 112 to display a message indicating that there is no avoidance path.

[0053] The avoidance path setting unit 133 sets the generated avoidance path in the moving object 200. The avoidance path setting unit 133 may transmit the avoidance path to the moving object 200, for example, via the remote control unit 113 (see FIG. 4 ) of the monitoring device 110. Alternatively, the avoidance path setting unit 133 may transmit the avoidance path to the moving object 200 via the network 150. The moving object 200 receives the avoidance path and sets the received circuit path in the automatic driving ECU 204 (see FIG. 4 ). The monitor can instruct the moving object 200 to start moving, i.e., to begin overtaking, depending on the situation around the moving object 200. When the start command is received, the automatic driving ECU 204 causes the moving object 200 to travel along the set avoidance path.

[0054] Several specific examples of avoidance path generation will be described below. Fig. 7 shows a first specific example of avoidance path generation. In this example, the stopped vehicle 300 is parked in the travel lane of the moving object 200, protruding from the left line 401 by about half the vehicle width. The stopped vehicle information indicates that the "position" is "left side," the "distance" is "0.5 vehicle width," the "status" is "parked," the "vehicle type" is "medium size," and the "number" is "1." It should be noted that if there is no stopped vehicle 300, the moving object 200 will travel in a straight line in the center of the travel lane.

[0055] In a first specific example, the avoidance path calculation unit 132 generates an avoidance path 350 in which the moving body 200 overtakes the stopped vehicle 300 from the right. The avoidance path calculation unit 132 generates the avoidance path 350 in which the moving body 200 travels to the right of the travel path of the moving body 200 in the absence of the stopped vehicle 300 by a distance equal to half the vehicle width of a "medium-sized" vehicle plus a predetermined margin. The predetermined margin may be set to, for example, 50 cm. In the avoidance path 350, the moving body 200 moves ahead of the stopped vehicle 300 and then returns to the original travel path.

[0056] FIG. 8 shows a second specific example of avoidance path generation. In this example, the stopped vehicle 300 is parked along line 401 on the left side of the travel lane of the moving object 200. The stopped vehicle information indicates that the "position" is "left side," the "distance" is "one vehicle width," the "status" is "parked," the "vehicle type" is "medium-sized," and the "number" is "one." In the second specific example, the avoidance path calculation unit 132 generates an avoidance path 350 that travels to the right of the travel path of the moving object 200 in the absence of the stopped vehicle 300 by a distance equal to the vehicle width of a "medium-sized" vehicle plus a predetermined margin. In the avoidance path 350, the moving object 200 moves ahead of the stopped vehicle 300 and then returns to the original travel path.

[0057] FIG. 9 shows a third specific example of avoidance path generation. In this example, a stopped vehicle 300 is stopped along a right-hand line 402 in the travel lane of the moving object 200 to wait for a right turn. The stopped vehicle 300 has its right turn signal activated. The stopped vehicle information indicates the following: "position" is "right side," "distance" is "one vehicle width," "status" is "stopped" and "right turn signal on," "vehicle type" is "medium-sized," and "number" is "one." Note that, in FIG. 9, the stopped vehicle 300 is stopped substantially parallel to the right-hand line 402; however, even if the stopped vehicle 300 straddles the right-hand line 402 and is stopped diagonally, the stopped vehicle information may be similar to that described above.

[0058] In the third specific example, the avoidance path calculation unit 132 generates an avoidance path 350 in which the moving body 200 overtakes the stopped vehicle 300 from the left side. The avoidance path calculation unit 132 generates the avoidance path 350 in which the moving body 200 travels to the left of the travel path of the moving body 200 in the absence of the stopped vehicle 300 by a distance equal to the vehicle width of a "medium-sized" vehicle plus a predetermined margin. In the avoidance path 350, the moving body 200 moves ahead of the stopped vehicle 300 and then returns to the original travel path. If, when the moving body 200 travels along the avoidance path 350, the moving body 200 deviates from the travel lane and there is no space outside the left line 401 for the moving body 200 to travel, it is determined that overtaking is not possible.

[0059] 10 shows a fourth specific example of avoidance path generation. In this example, the stopped vehicle 300 has its hazard lights on and is stopped in a position away from the left line 401 and the right line 402 in the travel lane of the moving object 200. The stopped vehicle information indicates that the "position" is "separate," the "distance" is "one vehicle width," the "status" is "stopped," the "vehicle type" is "medium-sized," and the "number" is "one." In the fourth specific example, the avoidance path calculation unit 132 generates an avoidance path 350 that travels a distance equivalent to the width of one lane to the right of the travel path of the moving object 200 in the absence of the stopped vehicle 300. In the avoidance path 350, the moving object 200 moves ahead of the stopped vehicle 300 and then returns to the original travel path.

[0060] 11 shows a fifth specific example of avoidance path generation. In this example, two stopped vehicles are parked on the left side of the driving lane ahead of the moving object 200. In the fifth specific example, the first stopped vehicle 300 is parked or stopped in the driving lane of the moving object 200, protruding from the left line 401 by about half the vehicle width. In addition, the second stopped vehicle 310 is parked or stopped along the left line 401 in the driving lane of the moving object 200.

[0061] In the fifth specific example, the avoidance path calculation unit 132 generates an avoidance path 350 in which the moving body 200 overtakes the stopped vehicles 300 and 310 from the right. For example, the avoidance path calculation unit 132 generates an avoidance path 350 in which the moving body 200 travels to the right of the travel path of the moving body 200 in the absence of the stopped vehicle 300 by a distance equal to the vehicle width of a "medium-sized" vehicle plus a predetermined margin. The avoidance path calculation unit 132 may generate an avoidance path in which the first stopped vehicle 300 overtakes the stopped vehicle 300 along an avoidance path similar to the avoidance path in the first specific example, and the second stopped vehicle 310 overtakes the stopped vehicle 310 along an avoidance path similar to the avoidance path in the second specific example.

[0062] 12 shows a sixth specific example of avoidance path generation. In this example, two stopped vehicles are parked on the left side of the driving lane ahead of the moving object 200. In the sixth specific example, the first stopped vehicle 300 is parked or stopped in the driving lane of the moving object 200, protruding from the left line 401 by about half the vehicle width. Furthermore, the second stopped vehicle 310 is parked in the driving lane of the moving object 200, along the right line 402, with its right turn signal activated. In this example, since there are stopped vehicles on both the right and left sides of the driving lane, the avoidance path calculation unit 132 does not generate an avoidance path. When the second stopped vehicle 310 completes its right turn and there is only one stopped vehicle left, the avoidance path calculation unit 132 may generate an avoidance path.

[0063] FIG. 13 shows an example of presenting an avoidance path to an observer. The monitoring screen display unit 112 of the monitoring device 110 displays, on the display screen, video data of the area ahead of the vehicle transmitted from the moving object 200. The monitoring screen display unit 112 also displays, on the display screen, an avoidance path 350 generated by the avoidance path calculation unit 132 of the avoidance path calculation device 130. In this example, the avoidance path 350 indicates a trajectory along which the central portion of the moving object 200 passes in the vehicle width direction. As shown in FIG. 13 , the monitoring screen display unit 112 can display the avoidance path 350 superimposed on the video data. In this case, the observer can easily grasp the status of the stopped vehicle, the status of another moving object traveling in the oncoming lane, and which part of the road the moving object will travel when overtaking the stopped vehicle.

[0064] 14 shows another example of presentation of an avoidance path to the observer. In this example, the avoidance path 360 is displayed in an area corresponding to the width of the moving object 200. In this case, compared to the presentation of the avoidance path 350 shown in FIG. 13, the observer can easily grasp which area of ​​the road the moving object 200 will travel through if traveling along the avoidance path.

[0065] Next, the operation procedure will be described. Figure 15 shows the operation procedure of the remote monitoring system 100. The communication device 205 of the mobile object 200 transmits sensor data acquired by the perimeter monitoring sensor 201 to the monitoring device 110. In the monitoring device 110, the monitoring screen display unit 112 displays, for example, video data of the area ahead of the mobile object 200. When a stopped vehicle is detected ahead of the mobile object 200 and it is necessary to avoid the stopped vehicle, the autonomous driving ECU 204 of the mobile object 200 stops the mobile object 200 (step A1). In addition, the autonomous driving ECU 204 notifies the monitoring device 110 and the avoidance path calculation device 130 that the cause of the stop is a stopped vehicle.

[0066] The information acquisition unit 131 of the avoidance path calculation device 130 requests the monitor to input stopped vehicle information. The information acquisition unit 131, for example, causes the monitoring screen display unit 112 to display an information input area 450 (see FIG. 6 ) for inputting the stopped vehicle information. The monitor inputs the stopped vehicle information (step A2). The information acquisition unit 131 transmits the stopped vehicle information input by the monitor to the avoidance path calculation unit 132. The avoidance path calculation unit 132 generates an avoidance path for the moving object 200 to avoid the stopped vehicle based on the stopped vehicle information (step A3). The avoidance path setting unit 133 sets the avoidance path generated in step A3 for the moving object 200 (step A4). Steps A2 to A4 correspond to the avoidance path calculation method implemented by the avoidance path calculation device 130.

[0067] The monitor checks the situation around the mobile object 200 and the situation in the oncoming lane using the video data displayed on the monitoring screen display unit 112. The monitor instructs the mobile object 200 to start moving at a timing when the mobile object 200 can safely overtake the stopped vehicle (step A5). When the monitor is instructed to start moving, the autonomous driving ECU 204 in the mobile object 200 causes the mobile object 200 to travel along the avoidance route set in step A4 and overtake the stopped vehicle.

[0068] In this embodiment, the information acquisition unit 131 requests the monitor to input stopped vehicle information regarding the stopping status of the stopped vehicle. The monitor inputs the stopped vehicle information to be used to generate an avoidance path. The avoidance path calculation unit 132 can generate an avoidance path that avoids the stopped vehicle based on the stopped vehicle information input by the monitor. The avoidance path calculation device 130 sets the generated avoidance path to the moving body 200. By causing the moving body 200 to travel along the set avoidance path, the moving body 200 can overtake the stopped vehicle using an appropriate avoidance path.

[0069] Next, a second embodiment of the present disclosure will be described. Fig. 16 shows an example of the configuration of an avoidance path calculation device used in a mobile object monitoring system according to the second embodiment of the present disclosure. The configuration of the mobile object monitoring system in this embodiment may be similar to that of the remote monitoring system 100 in the first embodiment shown in Fig. 2. Furthermore, the configurations of the mobile object 200 and the monitoring device 110 may be similar to those in the first embodiment shown in Figs. 3 and 4, respectively. The avoidance path calculation device 130a used in this embodiment has a video analysis unit 134 in addition to the components of the avoidance path calculation device 130 used in the first embodiment shown in Fig. 5.

[0070] In this embodiment, the video analysis unit 134 acquires stopped vehicle information by analyzing video data of the area ahead of the mobile object 200. The video analysis unit 134, for example, performs lane detection and object detection on the video data. The video analysis unit 134 may determine the overlap state between the lane and the stopped vehicle based on the results of the lane detection and object detection, and acquire the position of the stopped vehicle and the amount of protrusion into the driving lane. The video analysis unit 134 may also acquire the type, number, width, and length of the stopped vehicles from the results of the object detection. The video analysis unit 134 may also analyze the illumination status of the brake lights and the activation status of the turn signals to acquire the stopped state of the stopped vehicle. For example, the video analysis unit 134 may determine that the stopped vehicle is parked if the brake lights and turn signals are not illuminated, and may otherwise determine that the stopped vehicle is stopped.

[0071] Next, the operation procedure will be described. Figure 17 shows the operation procedure of the remote monitoring system 100 in this embodiment. The communication device 205 of the mobile object 200 transmits sensor data acquired by the perimeter monitoring sensor 201 to the monitoring device 110. In the monitoring device 110, the monitoring screen display unit 112 displays, for example, video data of the area ahead of the mobile object 200. When a stopped vehicle is detected ahead of the mobile object 200 and it is necessary to avoid the stopped vehicle, the autonomous driving ECU 204 of the mobile object 200 stops the mobile object 200 (step B1). Furthermore, the autonomous driving ECU 204 notifies the monitoring device 110 and the avoidance path calculation device 130 that the cause of the stop is the stopped vehicle. Step B1 may be the same as step A1 of Figure 15.

[0072] The video analysis unit 134 of the avoidance path calculation device 130 analyzes the video data of the area ahead of the moving object 200 and generates stopped vehicle information (step B2). Note that in this embodiment, the stopped vehicle information generated in step B2 may be editable by a monitor. For example, the monitoring screen display unit 112 displays the stopped vehicle information generated in step B2 on a display screen. The monitor can view the video data of the area ahead of the moving object 200 and manually edit at least a portion of the information in each item included in the stopped vehicle information.

[0073] The information acquisition unit 131 acquires stopped vehicle information (step B3). In step B3, the information acquisition unit 131 acquires the stopped vehicle information generated in step B2 or the stopped vehicle information modified by the monitor. The information acquisition unit 131 transmits the acquired stopped vehicle information to the avoidance path calculation unit 132.

[0074] The avoidance path calculation unit 132 generates an avoidance path for the moving object 200 to avoid the stopped vehicle based on the stopped vehicle information (step B4). The avoidance path setting unit 133 sets the avoidance path generated in step B4 for the moving object 200 (step B5). The monitor checks the situation around the moving object 200 using the video data displayed on the monitoring screen display unit 112. The monitor instructs the moving object 200 to start moving when the moving object 200 can safely overtake the stopped vehicle (step B6). Steps B4 to B6 may be similar to steps A3 to A5 in FIG. 15 .

[0075] In this embodiment, the video analysis unit 134 analyzes video data of the area ahead of the moving object 200 and generates stopped vehicle information. In this embodiment, stopped vehicle information can be obtained by analyzing the video data, which reduces the burden on the monitor compared to the first embodiment. Other effects are similar to those of the first embodiment.

[0076] In the above embodiment, an example has been described in which the monitoring device 110 and the mobile body 200 are connected via the network 150, and a monitor remotely monitors the mobile body 200. However, the present disclosure is not limited to this. For example, the mobile body 200 may have the monitoring device 110, and a passenger aboard the mobile body 200 may monitor the operation of the mobile body 200. In this case, the passenger acting as the monitor only needs to be able to give necessary instructions to the mobile body 200, and does not need to have the ability to drive the mobile body 200. In other words, the passenger does not need to have a qualification or license to drive the mobile body 200.

[0077] In the above embodiment, an example has been described in which the avoidance path calculation device 130 sets an avoidance path for the moving body 200 via the network 150. However, the present disclosure is not limited to this. The avoidance path calculation device 130 may be mounted on the moving body 200. In this case, the information acquisition unit 131 of the avoidance path calculation device 130 may acquire stopped vehicle information input by a monitor via the network 150. In addition, it is not necessary for all functions of the avoidance path calculation device 130 to be mounted on the moving body 200; some functions may be mounted on the moving body 200 and the remaining functions may be located in a remote monitoring center.

[0078] In the above embodiment, an example has been described in which, when a stopped vehicle is detected during automated driving, the moving body 200 stops behind the stopped vehicle and an avoidance path is generated. However, the present disclosure is not limited to this. When the moving body 200 detects a stopped vehicle, it does not necessarily have to stop behind the stopped vehicle. Also, in the present disclosure, when the moving body 200 overtakes a stopped vehicle, it does not have to wait for instructions from a monitor, and the moving body 200 may check the surrounding conditions and automatically overtake the stopped vehicle. For example, the moving body 200 may set the generated avoidance path while traveling, and if the surrounding conditions allow overtaking, it may automatically overtake the stopped vehicle without stopping.

[0079] In the present disclosure, the monitoring device 110 and the avoidance path calculation device 130 may each be configured as a computer device. Fig. 18 shows an example configuration of a computer device that may be used as the monitoring device 110 and the avoidance path calculation device 130. The computer device 500 includes a control unit (CPU: Central Processing Unit) 510, a storage unit 520, a ROM (Read Only Memory) 530, a RAM (Random Access Memory) 540, a communication interface (IF: Interface) 550, and a user interface 560.

[0080] The communication interface 550 is an interface for connecting the computer device 500 to a communication network via wired communication means, wireless communication means, etc. The user interface 560 includes a display unit such as a display, and an input unit such as a keyboard, a mouse, and a touch panel.

[0081] The storage unit 520 is an auxiliary storage device that can store various types of data. The storage unit 520 does not necessarily have to be a part of the computer device 500, but may be an external storage device or cloud storage connected to the computer device 500 via a network.

[0082] The ROM 530 is a non-volatile storage device. For example, a semiconductor storage device with a relatively small capacity, such as a flash memory, is used for the ROM 530. The programs executed by the CPU 510 can be stored in the storage unit 520 or the ROM 530. The storage unit 520 or the ROM 530 stores various programs for realizing the functions of each unit in the monitoring device 110 or the avoidance path calculation device 130, for example.

[0083] The above program can be stored and supplied to the computer device 500 using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media such as flexible disks, magnetic tapes, or hard disks; magneto-optical recording media such as magneto-optical disks; optical disk media such as compact discs (CDs) or digital versatile disks (DVDs); and semiconductor memories such as mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash ROMs, or RAMs. The program may also be supplied to the computer using various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can be supplied to the computer via wired communication paths such as electric wires and optical fibers, or via wireless communication paths.

[0084] The RAM 540 is a volatile storage device. Various semiconductor memory devices such as a dynamic random access memory (DRAM) or a static random access memory (SRAM) are used for the RAM 540. The RAM 540 can be used as an internal buffer for temporarily storing data and the like. The CPU 510 loads a program stored in the storage unit 520 or the ROM 530 into the RAM 540 and executes the program. The CPU 510 executes the program, thereby realizing the functions of each unit in the monitoring device 110 or the avoidance path calculation device 130. The CPU 510 may have an internal buffer for temporarily storing data and the like.

[0085] The above describes the embodiments of the present disclosure in detail, but the present disclosure is not limited to the above-described embodiments, and changes and modifications to the above-described embodiments that do not deviate from the spirit of the present disclosure are also included in the present disclosure.

[0086] For example, some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes.

[0087] [Supplementary Note 1] An avoidance path calculation device comprising: an information acquisition unit that acquires stopped vehicle information that is information regarding the stopping status of a stopped vehicle that is stopped in front of an autonomously driven moving body, the stopped vehicle information including information regarding the width and length of the stopped vehicle, the position of the stopped vehicle in a driving lane in which the moving body is traveling, and the stopped state of the stopped vehicle; an avoidance path calculation unit that generates an avoidance path for the moving body to travel while avoiding the stopped vehicle based on the stopped vehicle information; and an avoidance path setting unit that sets the avoidance path on the moving body.

[0088] [Supplementary Note 2] The avoidance path calculation device according to Supplementary Note 1, wherein the information acquisition unit acquires, as the position of the stopped vehicle, information indicating whether the stopped vehicle is close to a line on the left side that defines the driving lane, and information indicating whether the stopped vehicle is close to a line on the right side that defines the driving lane.

[0089] [Supplementary Note 3] The avoidance path calculation device according to Supplementary Note 2, wherein, when information indicating that the stopped vehicle is close to the line on the left has been acquired as the position of the stopped vehicle, the avoidance path calculation unit generates an avoidance path for the moving body to avoid the stopped vehicle from the right side of the stopped vehicle, and when information indicating that the stopped vehicle is close to the line on the right has been acquired as the position of the stopped vehicle, the avoidance path calculation unit generates an avoidance path for the moving body to avoid the stopped vehicle from the left side of the stopped vehicle.

[0090] [Supplementary Note 4] The avoidance path calculation device according to Supplementary Note 2 or 3, wherein the stopped vehicle information further includes a distance indicating how far the stopped vehicle protrudes into the driving lane from the left line or the right line, and the avoidance path calculation unit determines an amount of avoidance for avoiding the stopped vehicle according to the distance included in the stopped vehicle information.

[0091] [Supplementary Note 5] The avoidance path calculation device according to any one of Supplementary Notes 1 to 4, wherein the information acquisition unit acquires the vehicle type of the stopped vehicle as information relating to a width and a length of the stopped vehicle.

[0092] [Supplementary Note 6] The avoidance path calculation device according to any one of Supplementary Notes 1 to 5, wherein the information acquisition unit displays items of the stopped vehicle information and options for each item on a display screen of a display device, and requests a monitor monitoring the moving object to input the stopped vehicle information.

[0093] [Supplementary Note 7] The avoidance path calculation device according to any one of Supplementary Notes 1 to 5, further comprising an image analysis unit that analyzes image data of an area ahead of the moving object and generates the stopped vehicle information.

[0094] [Supplementary Note 8] A mobile body comprising: an autonomous driving control unit that drives the mobile body autonomously; and an avoidance path calculation device that generates an avoidance path to avoid a stopped vehicle that is stopped in front of the mobile body, wherein the avoidance path calculation device comprises: an information acquisition unit that acquires stopped vehicle information that is information about the stopped status of the stopped vehicle, the stopped vehicle information including information about the width and length of the stopped vehicle, the position of the stopped vehicle in the driving lane in which the mobile body is traveling, and the stopped state of the stopped vehicle; an avoidance path calculation unit that generates an avoidance path for the mobile body to travel while avoiding the stopped vehicle based on the stopped vehicle information; and an avoidance path setting unit that sets the avoidance path in the autonomous driving control unit.

[0095] [Supplementary Note 9] The mobile body according to Supplementary Note 8, wherein the information acquisition unit acquires, as the position of the stopped vehicle, information indicating whether the stopped vehicle is close to a line on the left side that defines the driving lane, and information indicating whether the stopped vehicle is close to a line on the right side that defines the driving lane.

[0096] [Supplementary Note 10] The moving body according to Supplementary Note 9, wherein the stopped vehicle information further includes a distance indicating how far the stopped vehicle protrudes into the driving lane from the left line or the right line, and the avoidance path calculation unit determines an avoidance amount for avoiding the stopped vehicle according to the distance included in the stopped vehicle information.

[0097] [Supplementary Note 11] A mobile body comprising an automatic driving control unit that drives the mobile body in an automatic driving mode, wherein when an avoidance route is set for avoiding a stopped vehicle that is stopped in front of the mobile body, the avoidance route being generated based on stopped vehicle information that is information on the stopped status of the stopped vehicle, the information including information on the width and length of the stopped vehicle, the position of the stopped vehicle in the driving lane in which the mobile body is traveling, and the stopped state of the stopped vehicle, the automatic driving control unit causes the mobile body to travel according to the set avoidance route.

[0098] [Supplementary Note 12] The mobile body according to Supplementary Note 11, wherein the position of the stopped vehicle includes information indicating whether the stopped vehicle is close to a line on the left side that defines the driving lane, and information indicating whether the stopped vehicle is close to a line on the right side that defines the driving lane.

[0099] [Supplementary Note 13] The moving body according to Supplementary Note 12, wherein the stopped vehicle information further includes a distance indicating how far the stopped vehicle protrudes into the driving lane from the left line or the right line, and in generating the avoidance path, an amount of avoidance for avoiding the stopped vehicle is determined according to the distance included in the stopped vehicle information.

[0100] [Supplementary Note 14] A mobile body monitoring system comprising: a mobile body having an automatic driving control unit that causes the mobile body to drive automatically; a monitoring device for monitoring the mobile body; and an avoidance path calculation device that generates an avoidance path to avoid a stopped vehicle that is stopped in front of the mobile body, wherein the avoidance path calculation device comprises: an information acquisition unit that acquires stopped vehicle information that is information about the stopped status of the stopped vehicle, the stopped vehicle information including information about the width and length of the stopped vehicle, the position of the stopped vehicle in a driving lane in which the mobile body is traveling, and the stopped state of the stopped vehicle; an avoidance path calculation unit that generates an avoidance path for the mobile body to travel while avoiding the stopped vehicle based on the stopped vehicle information; and an avoidance path setting unit that sets the avoidance path on the mobile body.

[0101] [Supplementary Note 15] The moving object monitoring system according to Supplementary Note 14, wherein the monitoring device displays the avoidance path on a display screen of a display device.

[0102] [Supplementary Note 16] The mobile object monitoring system according to Supplementary Note 15, wherein the monitoring device displays the avoidance path superimposed on the video data acquired from the mobile object.

[0103] [Supplementary Note 17] The moving object monitoring system according to Supplementary Note 15 or 16, wherein the monitoring device displays the avoidance path in an area corresponding to a width of the moving object.

[0104] [Supplementary Note 18] The mobile object monitoring system according to any one of Supplementary Notes 14 to 17, wherein the information acquisition unit acquires, as the position of the stopped vehicle, information indicating whether the stopped vehicle is close to a line on the left side that defines the driving lane, and information indicating whether the stopped vehicle is close to a line on the right side that defines the driving lane.

[0105] [Supplementary Note 19] The mobile object monitoring system described in Supplementary Note 18, wherein the stopped vehicle information further includes a distance indicating how far the stopped vehicle protrudes into the driving lane from the left line or the right line, and the avoidance path calculation unit determines an avoidance amount for avoiding the stopped vehicle according to the distance included in the stopped vehicle information.

[0106] [Supplementary Note 20] An avoidance path calculation method comprising: acquiring stopped vehicle information relating to the stopping status of a stopped vehicle stopped in front of an autonomously driven moving body, the stopped vehicle information including information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in a lane in which the moving body is traveling, and the stopped state of the stopped vehicle; generating an avoidance path for the moving body to travel while avoiding the stopped vehicle based on the stopped vehicle information; and setting the avoidance path for the moving body.

[0107] [Supplementary Note 21] A non-transitory computer-readable medium storing a program for causing a computer to execute a process including acquiring stopped vehicle information relating to the stopping status of a stopped vehicle stopped in front of an autonomously driven moving body, the stopped vehicle information including information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in the lane in which the moving body is traveling, and the stopped state of the stopped vehicle; generating an avoidance path for the moving body to travel in a manner to avoid the stopped vehicle based on the stopped vehicle information; and setting the avoidance path for the moving body.

[0108] 10: Mobile object monitoring system 11: Monitoring device 30: Avoidance path calculation device 31: Information acquisition unit 32: Avoidance path calculation unit 33: Avoidance path setting unit 50: Mobile object 51: Automatic driving control unit 100: Remote monitoring system 110: Monitoring device 111: Information receiving unit 112: Monitoring screen display unit 113: Remote control unit 130: Avoidance path calculation device 131: Information acquisition unit 132: Avoidance path calculation unit 133: Avoidance path setting unit 500: Computer device 510: Control unit 520: Storage unit 530: ROM 540: RAM 550: Communication interface 560: User interface

Claims

1. an information acquisition unit that acquires stopped vehicle information relating to the stopping status of a stopped vehicle stopped in front of an autonomously driven moving body, the stopped vehicle information including information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in the driving lane in which the moving body is traveling, and the stopped state of the stopped vehicle; an avoidance path calculation unit that generates an avoidance path for the moving body to travel while avoiding the stopped vehicle based on the stopped vehicle information; an avoidance path calculation device comprising an avoidance path setting unit that sets the avoidance path to the moving body;

2. 2. The avoidance path calculation device according to claim 1, wherein the information acquisition unit acquires, as the position of the stopped vehicle, information indicating whether the stopped vehicle is close to a line on the left side that defines the driving lane, and information indicating whether the stopped vehicle is close to a line on the right side that defines the driving lane.

3. 3. The avoidance path calculation device according to claim 2, wherein, when information indicating that the stopped vehicle is close to the left line is acquired as the position of the stopped vehicle, the avoidance path calculation unit generates an avoidance path for the moving body to avoid the stopped vehicle from the right side of the stopped vehicle, and when information indicating that the stopped vehicle is close to the right line is acquired as the position of the stopped vehicle, the avoidance path calculation unit generates an avoidance path for the moving body to avoid the stopped vehicle from the left side of the stopped vehicle.

4. The stopped vehicle information further includes a distance indicating how far the stopped vehicle protrudes into the driving lane from the left line or the right line, The avoidance path calculation device according to claim 2 or 3, wherein the avoidance path calculation unit determines an amount of avoidance for avoiding the stopped vehicle in accordance with a distance included in the stopped vehicle information.

5. The avoidance path calculation device according to claim 1 , wherein the information acquisition unit acquires the vehicle type of the stopped vehicle as information relating to a width and a length of the stopped vehicle.

6. A mobile object, an automatic driving control unit that drives the moving body in an automatic driving mode; an avoidance path calculation device that generates an avoidance path for avoiding a stopped vehicle ahead of the moving body, The avoidance path calculation device an information acquisition unit that acquires stopped vehicle information that is information about the stopped state of the stopped vehicle, the information including information about the width and length of the stopped vehicle, the position of the stopped vehicle in the driving lane in which the moving object is traveling, and the stopped state of the stopped vehicle; an avoidance path calculation unit that generates an avoidance path for the moving body to travel while avoiding the stopped vehicle based on the stopped vehicle information; A moving body comprising an avoidance path setting unit that sets the avoidance path in the automatic driving control unit.

7. A mobile object, an automatic driving control unit that drives the moving body in an automatic driving mode; The autonomous driving control unit, when set, causes the moving body to travel along the set avoidance route for avoiding a stopped vehicle stopped in front of the moving body, the avoidance route being generated based on stopped vehicle information including information about the stopped status of the stopped vehicle, information about the width and length of the stopped vehicle, the position of the stopped vehicle in the driving lane in which the moving body is traveling, and the stopped state of the stopped vehicle.

8. a moving body having an automatic driving control unit that drives the moving body in an automatic driving manner; a monitoring device for monitoring the moving object; an avoidance path calculation device that generates an avoidance path for avoiding a stopped vehicle ahead of the moving body, The avoidance path calculation device an information acquisition unit that acquires stopped vehicle information that is information about the stopped state of the stopped vehicle, the information including information about the width and length of the stopped vehicle, the position of the stopped vehicle in the driving lane in which the moving object is traveling, and the stopped state of the stopped vehicle; an avoidance path calculation unit that generates an avoidance path for the moving body to travel while avoiding the stopped vehicle based on the stopped vehicle information; a mobile object monitoring system comprising an avoidance path setting unit that sets the avoidance path in the mobile object.

9. acquiring stopped vehicle information relating to the stopping status of a stopped vehicle that is stopped in front of the autonomously driven moving body, the stopped vehicle information including information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in the lane in which the moving body is traveling, and the stopping status of the stopped vehicle; generating an avoidance route for the moving body to avoid the stopped vehicle based on the stopped vehicle information; a step of setting the avoidance path to the moving body;

10. acquiring stopped vehicle information relating to the stopping status of a stopped vehicle that is stopped in front of the autonomously driven moving body, the stopped vehicle information including information relating to the width and length of the stopped vehicle, the position of the stopped vehicle in the lane in which the moving body is traveling, and the stopping status of the stopped vehicle; generating an avoidance route for the moving body to avoid the stopped vehicle based on the stopped vehicle information; A program for causing a computer to execute a process including setting the avoidance path for the moving body.