Information output method, information output device, and program

Abstract

This information output method comprises: a tracking information acquisition step (S400) for acquiring tracking information pertaining to the tracking of a mobile body (20) capable of autonomous movement and remote control for movement; a calculation step (S450) for calculating a congestion elimination timing at which congestion identified on the basis of the tracking information is eliminated; and a notification information output step (S470) for causing the mobile body (20) to notify the outside of mobile body information including information pertaining to the congestion elimination timing.

Description

Information output method, information output device, and program

[0001] The present disclosure relates to an information output method, an information output device, and a program for outputting information related to an autonomously moving and remotely controllable mobile object.

[0002] 2. Description of the Related Art Conventionally, methods for remotely controlling a moving object have been known (see, for example, Patent Documents 1 and 2).

[0003] Japanese Patent Application Laid-Open No. 2020-005123 Japanese Patent Application Laid-Open No. 2020-530618

[0004] When a traffic jam occurs due to an autonomously moving or remotely controlled mobile object, people around the mobile object may not be able to take appropriate action to deal with the traffic jam if they do not know when the traffic jam will clear up.

[0005] Therefore, the present disclosure aims to provide an information output method, an information output device, and a program that, when a traffic jam occurs due to a mobile object that can move autonomously and be remotely controlled, allows people around the mobile object to know when the traffic jam will be resolved.

[0006] An information output method according to one aspect of the present disclosure includes a follower information acquisition step of acquiring follower information regarding the following of a mobile body that can move autonomously and be remotely controlled for movement, a calculation step of calculating a congestion resolution timing at which a congestion identified based on the follower information will be resolved, and a notification information output step of causing the mobile body to report mobile body information including information regarding the congestion resolution timing to the outside.

[0007] In this specification, a traffic jam refers to a state in which the presence of a moving object makes it impossible for a following moving object to avoid the moving object.

[0008] An information output device according to one aspect of the present disclosure includes a follower information acquisition unit that acquires follower information regarding a mobile body that can move autonomously and be remotely controlled for movement, a calculation unit that calculates a congestion resolution timing at which a congestion identified based on the follower information will be resolved, and a notification information output unit that causes the mobile body to report mobile body information including information indicating the congestion resolution timing to the outside.

[0009] A program according to one aspect of the present disclosure is a program for causing a computer to perform information output processing, the information output processing including a follow-up information acquisition step for acquiring follow-up information regarding a mobile body that can move autonomously and be remotely controlled for movement, a calculation step for calculating a congestion resolution timing at which a congestion identified based on the follow-up information will be resolved, and a notification information output step for causing the mobile body to report mobile body information including information indicating the congestion resolution timing to the outside.

[0010] According to the information output method, information output device, and program disclosed herein, when a traffic jam occurs due to a mobile object that can move autonomously and be remotely controlled, people around the mobile object can know when the traffic jam will be resolved.

[0011] FIG. 1 is a block diagram showing the configuration of a remote control system according to a first embodiment. FIG. 2A is a schematic diagram showing an example of an image showing moving object information that is displayed on a display by a notification unit according to the first embodiment. FIG. 2B is a schematic diagram showing an example of an image showing moving object information that is displayed on a display by a notification unit according to the first embodiment. FIG. 2C is a schematic diagram showing an example of an image showing moving object information that is displayed on a display by a notification unit according to the first embodiment. FIG. 2D is a schematic diagram showing an example of an image showing moving object information that is displayed on a display by a notification unit according to the first embodiment. FIG. 3 is a schematic diagram showing an example of a state in which a determination unit according to the first embodiment determines whether or not there is congestion related to a moving object. FIG. 4A is a schematic diagram showing an example of a state in which a calculation unit according to the first embodiment calculates a congestion resolution timing. FIG. 4B is a schematic diagram showing another example of a state in which a calculation unit according to the first embodiment calculates a congestion resolution timing. FIG. 5A is a schematic diagram showing an example of an image showing overtaking remote control information and / or remote control request information that is displayed on a display by a remote control information output unit according to the first embodiment. 5B is a schematic diagram showing an example of an image showing overtaking remote control information and / or remote control request information displayed on a display by a remote control information output unit according to the first embodiment. FIG. 6 is a flowchart of following information transmission processing performed by a moving body according to the first embodiment. FIG. 7 is a flowchart of remote control request processing performed by a moving body according to the first embodiment. FIG. 8 is a flowchart of notification processing performed by a moving body according to the first embodiment. FIG. 9 is a flowchart of first notification information output processing performed by a control center according to the first embodiment. FIG. 10 is a flowchart of remote control processing performed by a control center according to the first embodiment. FIG. 11 is a block diagram showing the configuration of a remote control system according to the second embodiment. FIG. 12 is a flowchart of second notification information output processing performed by a control center according to the second embodiment. FIG. 13 is a flowchart of inquiry processing performed by a control center according to the second embodiment. FIG. 14 is a flowchart of first determination processing performed by a control center according to the second embodiment. FIG. 15 is a flowchart of the second determination process performed by the control center according to the second embodiment.FIG. 16 is a flowchart of the third determination process performed by the control center according to the second embodiment.

[0012] (How one aspect of the present disclosure was achieved) Conventionally, when a traffic jam occurs due to an unmanned moving object, people around the moving object may have difficulty determining how to act in response to the traffic jam.

[0013] The inventors thought that in such cases, if people around the moving object could know when the congestion would clear up, they would be able to take appropriate action in response to the congestion.

[0014] Based on this idea, the inventors have conducted repeated experiments and studies and have come up with the information output method, information output device, and program according to the present disclosure below.

[0015] An information output method according to one aspect of the present disclosure includes a follower information acquisition step of acquiring follower information regarding the following of a mobile body that can move autonomously and be remotely controlled for movement, a calculation step of calculating a congestion resolution timing at which a congestion identified based on the follower information will be resolved, and a notification information output step of causing the mobile body to report mobile body information including information regarding the congestion resolution timing to the outside.

[0016] According to the above information output method, people around the moving object can know when the traffic jam will be resolved from the notification information sent from the moving object, and can therefore take appropriate action in response to the traffic jam.

[0017] Furthermore, the method may further include a remote control request acquisition step of acquiring a remote control request requesting remote control of the moving body, and a remote control information output step of, when the remote control request is acquired in the remote control request acquisition step, outputting to the outside overtaking remote control information for remotely controlling the moving body so that a following moving body following the moving body can overtake the moving body.

[0018] As a result, when a remote control request is made and congestion occurs, the operator who remotely controls the moving body can remotely control the moving body so that the following moving body can overtake the moving body based on the overtaking remote control information.

[0019] Furthermore, in the remote control information output step, when the remote control request is acquired in the remote control request acquisition step, remote control request information for remotely controlling the moving object so that the moving object moves in accordance with the remote control request may be output to the outside.

[0020] This allows an operator who remotely controls the moving body to, when a remote control request is made, remotely control the moving body so that the moving body moves in accordance with the remote control request based on the remote control information.

[0021] In addition, in the remote control information outputting step, output of the remote control request information may be suppressed at least during a period in which the overtaking remote control information is being output.

[0022] This makes it possible to prevent an operator remotely controlling a mobile object from remotely controlling the mobile object so that the mobile object moves in accordance with the remote control request based on the remote control request information when a remote control request is made and congestion occurs.

[0023] In addition, in the remote control information output step, if the remote control request is acquired in the remote control request acquisition step and the following moving body is a moving body that satisfies a predetermined condition, the output of the overtaking remote control information may be suppressed.

[0024] This prevents the operator remotely controlling the following moving body from remotely controlling the moving body to make the moving body move in accordance with the remote control request based on the overtaking remote control information, when the following moving body is a moving body that satisfies predetermined conditions.

[0025] In addition, in the remote control information output step, when both the overtaking remote control information and the remote control request information are output, priority information indicating that the remote control related to the overtaking remote control information has a higher priority than the remote control related to the remote control request information may further be output to the outside.

[0026] This allows the operator remotely controlling the moving object to remotely control the moving object by prioritizing remote control related to the overtaking remote control information over remote control related to the remote control request information.

[0027] In addition, in the remote control information output step, if the following moving object is an emergency vehicle, the overtaking remote control information may be output to the outside, while output of the remote control request information may be suppressed.

[0028] This prevents the operator remotely controlling the following moving body from remotely controlling the moving body to make the moving body move in accordance with the remote control request information, when the following moving body is an emergency vehicle.

[0029] In addition, in the remote control information outputting step, if the following moving object is a predetermined priority moving object defined in a rule, output of the remote control request information may be suppressed.

[0030] This prevents an operator remotely controlling a moving body from remotely controlling the moving body to make the moving body move in accordance with the remote control request information when the following moving body is a priority moving body.

[0031] In addition, in the remote control information outputting step, if the following moving object is a predetermined non-priority moving object defined in a rule, output of the overtaking remote control information may be suppressed.

[0032] This prevents an operator remotely controlling a moving body from remotely controlling the moving body to make the moving body move in accordance with the overtaking remote control information when the following moving body is a non-priority moving body.

[0033] Furthermore, in the remote control information output step, when the remote control of the moving body performed in response to the output of the overtaking remote control information has ended but the remote control of the moving body performed in response to the output of the remote control request information has not yet started, information indicating that the remote control of the moving body performed in response to the output of the remote control request information has not yet started may be output to the outside.

[0034] This makes it possible to notify the operator who remotely controls the mobile object that remote control of the mobile object, which is performed in response to the output of the remote control request information, has not yet started.

[0035] Furthermore, in the remote control information output step, when the remote control of the moving body performed in response to the output of the overtaking remote control information has ended but the remote control of the moving body performed in response to the output of the remote control request information has not yet started, information indicating an inquiry as to whether the remote control of the moving body performed in response to the output of the remote control request information will be performed before the remote control of other moving bodies other than the moving body may be output to the outside.

[0036] This allows the operator remotely controlling the mobile body to determine whether or not to perform remote control of the mobile body in response to the output of remote control request information that has not yet been performed before remote control of other mobile bodies.

[0037] In addition, in the remote control information outputting step, output of the remote control request information may be suppressed until remote control of the moving object, which is performed in response to the output of the overtaking remote control information, is completed.

[0038] This prevents an operator remotely controlling the moving body from remotely controlling the moving body to make the moving body move in accordance with the remote control request information before the remote control of the moving body performed in accordance with the output of the overtaking remote control information is completed.

[0039] Furthermore, the method may further include a determination step of determining whether or not there is a traffic jam involving the moving body based on the following information, and in the remote control information output step, if it is determined in the determination step that there is a traffic jam while remote control of the moving body is being performed in response to the output of the remote control request information, the overtaking remote control information and / or the remote control request information may be output to the outside in a manner corresponding to the progress of the remote control.

[0040] This allows the mobile body to be remotely controlled to move in accordance with the remote control request information and / or in accordance with the overtaking remote control information, depending on the progress of the remote control of the mobile body, which is carried out in accordance with the output of remote control request information.

[0041] An information output device according to one aspect of the present disclosure includes a follower information acquisition unit that acquires follower information regarding a mobile body that can move autonomously and be remotely controlled for movement, a calculation unit that calculates a congestion resolution timing at which a congestion identified based on the follower information will be resolved, and a notification information output unit that causes the mobile body to report mobile body information including information indicating the congestion resolution timing to the outside.

[0042] According to the information output device, people around the moving object can know when the traffic jam will be resolved by the notification information sent from the moving object, and can therefore take appropriate action in response to the traffic jam.

[0043] A program according to one aspect of the present disclosure is a program for causing a computer to perform information output processing, the information output processing including a follow-up information acquisition step for acquiring follow-up information regarding a mobile body that can move autonomously and be remotely controlled for movement, a calculation step for calculating a congestion resolution timing at which a congestion identified based on the follow-up information will be resolved, and a notification information output step for causing the mobile body to report mobile body information including information indicating the congestion resolution timing to the outside.

[0044] According to the program, people around the moving object can know when the traffic jam will be resolved from the notification information sent from the moving object, and can therefore take appropriate action in response to the traffic jam.

[0045] A specific example of a remote control system according to one aspect of the present disclosure will be described below with reference to the drawings. Each embodiment shown here represents a specific example of the present disclosure. Therefore, the numerical values, shapes, components, the arrangement and connection of the components, steps (processes), and the order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, each figure is a schematic diagram and is not necessarily an exact illustration. In each figure, substantially identical components are assigned the same reference numerals, and redundant explanations are omitted or simplified.

[0046] (First embodiment) Hereinafter, a remote control system according to a first embodiment for remotely controlling one or more moving objects will be described.

[0047] <Configuration> FIG. 1 is a block diagram showing the configuration of a remote control system 1 according to the first embodiment.

[0048] As shown in Fig. 1, the remote control system 1 includes a control center 10 and a mobile object 20. Although Fig. 1 illustrates the remote control system 1 as if it includes one mobile object 20, the number of mobile objects 20 included in the remote control system 1 is not necessarily limited to one, and may be multiple. Here, the description will be given assuming that the remote control system 1 includes multiple mobile objects 20.

[0049] The mobile body 20 is a mobile body capable of autonomous movement. When the mobile body 20 receives a remote control command transmitted from the control center 10 while moving autonomously, the mobile body 20 temporarily suspends the autonomous movement and moves in accordance with the remote control command. In other words, the mobile body 20 is a mobile body capable of autonomous movement and remote control for movement.

[0050] The mobile object 20 may be, for example, a car that travels on public roads, or may be, for example, a robot that can transport parts and moves around a manufacturing floor in a factory.

[0051] As shown in FIG. 1, the moving object 20 includes a follow-up information generating unit 21, a detecting unit 22, a notifying unit 23, a transmitting unit 24, a control unit 25, and a receiving unit 26.

[0052] The subsequent information generation unit 21, the detection unit 22, the alarm unit 23, the transmission unit 24, the control unit 25, and the reception unit 26 may be realized, for example, by a computer having a processor (e.g., a CPU (Central Processing Unit)), a memory, various communication interfaces, and various input / output interfaces, in which the processor executes a program stored in the memory.

[0053] The control unit 25 controls the autonomous movement of the moving body 20 .

[0054] When the control unit 25 is controlling the autonomous movement of the mobile body 20 and the receiving unit 26 described below receives a remote control command from the control center 10, the control unit 25 temporarily suspends the autonomous movement and controls the movement of the mobile body 20 in accordance with the remote control command.

[0055] Furthermore, the control unit 25 generates a remote control request for requesting remote control from the control center 10. In this case, the control unit 25 may generate a remote control request for requesting remote control from the control center 10 when, for example, the autonomous movement of the mobile object 20 becomes difficult.

[0056] A state in which it is difficult for the moving body 20 to move autonomously refers to, for example, a state in which the moving body 20 is unable to move straight due to the presence of an obstacle ahead of the moving body 20. In this specification, a state in which it is difficult for the moving body 20 to move autonomously is also referred to as a stuck state, and the moving body 20 falling into a stuck state is also referred to as being stuck.

[0057] The control unit 25 may suppress the generation of a remote control request when traffic congestion is expected to occur due to the temporary stopping of the mobile body 20 in order to switch from autonomous movement control of the mobile body 20 to remote control from the control center 10. This makes it possible to suppress the occurrence of traffic congestion caused by the temporary stopping of the mobile body 20 when switching from autonomous movement of the mobile body 20 to remote control.

[0058] In this case, the control unit 25 may generate a remote control request after the mobile object 20 has moved to a location where traffic congestion is not expected to occur due to temporary stopping of the mobile object 20, for example.

[0059] The detection unit 22 detects a following moving object following the moving object 20 .

[0060] The following moving object may be, for example, a car, a bicycle, a robot, or a person.

[0061] The detection unit 22 may include, for example, a camera and / or a LiDAR (Light Detection and Ranging) and may detect a following moving object by performing an object detection process using the camera and / or the LiDAR.

[0062] The detection unit 22 may, for example, detect the shape of the following moving object, the distance to the following moving object, or the speed of the following moving object.

[0063] Furthermore, the detection unit 22 may, for example, detect the model of the following moving body if it is a car, or may detect the model number if it is a robot, or may detect whether the following moving body is a specific person if it is a person.

[0064] The following information generating unit 21 generates following information regarding the following of the moving object 20 based on the detection of the following moving object by the detecting unit 22 .

[0065] The following information may include, for example, information indicating the shape of the following moving body, information indicating the distance to the following moving body, information indicating the speed of the following moving body, information indicating the model of the following moving body, information indicating the model number of the following moving body, information indicating whether the following moving body is a specific person, or information indicating the speed of moving body 20.

[0066] In addition to information regarding the following of the mobile body 20, the following information may further include, for example, obstacle information indicating the position and shape of an obstacle if there is an obstacle ahead of the mobile body 20, road width information indicating the width of the road if the mobile body 20 is moving on a road, or running path width information indicating the width of the running path if the mobile body 20 is moving on a running path within the manufacturing floor.

[0067] When generating obstacle information, road width information, and / or road width information, the following information generation unit 21 may generate the information based on information used by the control unit 25 when controlling autonomous movement (e.g., an image captured in front of the moving body 20, etc.).

[0068] The transmitting unit 24 transmits the remote control request generated by the control unit 25 and the follow-up information generated by the follow-up information generating unit 21 to the control center 10 .

[0069] The receiving unit 26 receives notification information and remote control commands transmitted from the control center 10 .

[0070] The notification information is information for notifying the outside of mobile body information including information regarding the timing at which the traffic congestion related to the mobile body 20 will be resolved, and is information including that mobile body information.

[0071] When the receiving unit 26 receives the notification information, the notification unit 23 notifies the outside of the mobile unit information included in the notification information.

[0072] The notification unit 23 may, for example, be equipped with a display and display an image indicating the mobile body information on the display, or may, for example, be equipped with a speaker and output audio indicating the mobile body information from the speaker, or, for example, may use both of these.

[0073] 2A, 2B, 2C, and 2D are schematic diagrams showing examples of images indicating moving object information that are displayed on the display by the notification unit 23. FIG.

[0074] As shown in FIGS. 2A and 2B, the notification unit 23 may, for example, display an image indicating the remaining time until the congestion is resolved on a display.

[0075] 2C , the notification unit 23 may, for example, display on a display an image showing the travel route of the mobile body 20 during a time period including the timing when the traffic congestion is resolved, to urge people around the mobile body 20 to detour from the travel route of the mobile body 20. In this case, for example, as shown in FIG. 2C , an overtaking area in which a following mobile body can overtake the mobile body 20 may be superimposed on the displayed travel route.

[0076] Further, as shown in FIG. 2D, the notification unit 23 may display an image on the display for receiving an operation from a person around the mobile object 20 to inform the person that they are in a hurry to clear the traffic jam.

[0077] In this case, for example, the notification unit 23 may be provided with a physical button and accept operation of the physical button, or may be provided with a touch panel and accept operation of buttons displayed on the touch panel, or may be provided with a voice input device and accept input operation by voice recognition, or may be provided with a camera and accept input operation by gesture recognition, or may accept input operation via an application installed on a smartphone or the like.

[0078] Furthermore, in this case, for example, a camera may be provided and facial recognition, vehicle number recognition, etc. may be used to accept input operations only if they are from a specific person, or a contactless card reader, tag reader, etc. may be provided and an ID read from a contactless card, tag, etc. may be used to accept input operations only if they are from a specific person.

[0079] In addition, when the notification unit 23 receives an operation from a person around the mobile body 20 indicating that they are in a hurry to clear the traffic jam, for example, the transmission unit 24 may transmit urgent information to the control center 10 indicating that an operation from a person around the mobile body 20 indicating that they are in a hurry to clear the traffic jam has been received.

[0080] Although not shown in FIGS. 2A to 2D, the notification unit 23 may also display, for example, an image showing a possible detour route for the following mobile unit on a display.

[0081] In this case, the notification unit 23 may further display on the display an image indicating the distance and / or time until the following moving object starts rerouting.

[0082] Returning to FIG. 1 again, the description of the remote control system 1 will continue.

[0083] The control center 10 remotely controls a plurality of mobile objects 20 .

[0084] The control center 10 is staffed with one or more operators who remotely control the mobile objects 20. Each operator is assigned a plurality of mobile objects 20 to be remotely controlled, and remotely controls the assigned plurality of mobile objects 20 by operating a remote control reception unit 18 (described later) provided in the control center 10.

[0085] As shown in FIG. 1, the control center 10 includes a subsequent information acquisition unit 11, a remote control request acquisition unit 12, a notification information output unit 13, a remote control command output unit 14, a determination unit 15, a calculation unit 16, a remote control information output unit 17, and a remote control reception unit 18.

[0086] The subsequent information acquisition unit 11, the remote control request acquisition unit 12, the notification information output unit 13, the remote control command output unit 14, the judgment unit 15, the calculation unit 16, the remote control information output unit 17, and the remote control reception unit 18 may be realized, for example, in a computer having a processor (e.g., a CPU), a memory, various communication interfaces, and various input / output interfaces, by the processor executing a program stored in the memory.

[0087] The follow-up information acquisition unit 11 acquires follow-up information transmitted from the mobile object 20 .

[0088] The remote control request acquisition unit 12 acquires a remote control request transmitted from the mobile object 20 .

[0089] The determination unit 15 determines whether or not there is a traffic jam involving the mobile object 20 based on the following information acquired by the following information acquisition unit 11.

[0090] FIG. 3 is a schematic diagram showing an example of how the determining unit 15 determines whether or not there is a traffic jam involving the mobile object 20 based on the following information.

[0091] As shown in Figure 3, the determination unit 15 may determine whether or not there is a traffic jam involving the moving body 20 based on, for example, the size of the following moving body, the distance or speed to the following moving body, the width of the road on which the moving body 20 is traveling, the size of an obstacle present in front of the moving body 20, and the size of the moving body 20 stored in advance by the determination unit 15, which are included in the following information.

[0092] In this case, the judgment unit 15 may determine that there is a traffic jam involving the moving body 20, for example, if (road width) - (size of obstacle) - (size of moving body 20) - (size of following moving body) < (first threshold) and (duration of following) > (second threshold).

[0093] The determination unit 15 may also determine whether or not there is a traffic jam involving the mobile object 20 based on, for example, the distance or speed of the following mobile object. In this case, the determination unit 15 may determine that there is a traffic jam involving the mobile object 20 when, for example, (predicted time to pass through the narrow road)>(distance to the following mobile object) / (speed of the following mobile object).

[0094] Generally, possible cases in which traffic congestion occurs due to factors related to the moving body 20 include (1) a case in which traffic congestion occurs due to the moving body 20 getting stuck (hereinafter also referred to as the "first case"), and (2) a case in which traffic congestion occurs due to a following moving body that can move faster than the moving speed of the moving body 20 catching up with the moving body 20 (hereinafter also referred to as the "second case").

[0095] The determination unit 15 may detect a traffic jam in the first case, for example, when the detection unit 22 detects a following moving body after the moving body 20 stops due to being stuck, and there is no space for the following moving body to overtake the moving body 20.

[0096] Possible patterns of traffic congestion in the first case include, for example, a pattern in which a following moving body is present before moving body 20 gets stuck, causing traffic congestion when moving body 20 gets stuck, and a pattern in which a following moving body is not present before moving body 20 gets stuck, causing traffic congestion when moving body 20 gets stuck and the following moving body arrives later.

[0097] In addition, the determination unit 15 may detect a traffic jam in the second case, for example, when the moving body 20 is moving, there are no other moving bodies in front of the moving body 20, the detection unit 22 detects a following moving body, the following moving body is capable of moving at a higher speed than the moving body 20, and there is no space for the following moving body to overtake the moving body 20.

[0098] Returning to FIG. 1 again, the description of the remote control system 1 will continue.

[0099] When the determination unit 15 determines that there is a traffic jam related to the mobile object 20, the calculation unit 16 calculates a traffic jam resolution timing at which the traffic jam related to the mobile object 20 will be resolved.

[0100] The calculation unit 16 may calculate the timing of congestion relief based on, for example, the following information acquired by the following information acquisition unit 11, vehicle information indicating various specifications of the mobile body 20 that the calculation unit 16 has pre-stored, and map information including the movement route of the mobile body 20 that the calculation unit 16 has pre-stored.

[0101] FIG. 4A is a schematic diagram showing an example of how the calculation unit 16 calculates the congestion relief timing.

[0102] As shown in FIG. 4A, the calculation unit 16 may calculate the timing of congestion relief based on, for example, following information (e.g., the size of the following moving body, the distance to the following moving body, and the speed of the following moving body), vehicle information (e.g., the size of the moving body 20 and the speed of the moving body 20), and map information (e.g., the driving route of the moving body 20 and the road width of the driving route).

[0103] In this case, the calculation unit 16 may, for example, calculate a predicted congestion relief point 201 on the driving route 131 along which the moving body 20 leads to the destination 121 based on the following information, vehicle information, and map information, at which the following moving body 301 will be able to overtake the moving body 20, and may calculate the travel time of the moving body 20 to the calculated predicted congestion relief point 201 as the congestion relief timing.

[0104] FIG. 4B is a schematic diagram showing another example of how the calculation unit 16 calculates the congestion relief timing.

[0105] As shown in Figure 4B, the calculation unit 16 may calculate the timing of congestion relief based on, for example, following information (e.g., the size of the following moving body, the distance from the following moving body, and the speed of the following moving body), vehicle information (e.g., the size of the moving body 20 and the speed of the moving body 20), and map information (e.g., the destination 121 of the moving body 20, the driving route of the moving body 20, and the road width of the roads around the destination 121 including the road width of the driving route).

[0106] In this case, the calculation unit 16 calculates, for example, based on the following information, vehicle information, and map information, a predicted congestion relief point 202 on the driving route 131 leading to the destination 121 where the following moving body 301 will be able to overtake the moving body 20, and calculates the travel time T1 of the moving body 20 to the calculated predicted congestion relief point 202.

[0107] Next, the calculation unit 16 determines whether the calculated travel time T1 is equal to or greater than a predetermined threshold, and if the travel time T1 is equal to or greater than the predetermined threshold, searches for an alternative travel route 132 other than the travel route 131 that will take the mobile body 20 to the destination 121. Then, the calculation unit 16 calculates an expected congestion relief point 203 on the searched alternative travel route 132 where the following mobile body 301 will be able to overtake the mobile body 20, and calculates a travel time T2 for the mobile body 20 to the calculated expected congestion relief point 203.

[0108] Next, the calculation unit 16 determines whether the travel time T2 is less than the travel time T1, and if the travel time T2 is less than the travel time T1, calculates the travel time T2 as the timing at which the congestion will be resolved, and if the travel time T2 is greater than or equal to the travel time T1, calculates the travel time T1 as the timing at which the congestion will be resolved.

[0109] When the calculation unit 16 calculates the congestion relief timing, the calculation unit 16 generates notification information including the mobile body information, which is information for notifying the outside of the mobile body information including information related to the calculated congestion relief timing.

[0110] Here, the method for resolving the traffic jam has been described as an example in which the following moving body 301 overtakes the moving body 20, but the method for resolving the traffic jam does not necessarily have to be limited to the method in which the following moving body 301 overtakes the moving body 20.

[0111] Other examples of methods for eliminating congestion include, for example, increasing the speed of the mobile body 20, or, if the mobile body 20 is a robot that moves around the manufacturing floor in a factory and is capable of transporting parts, calling factory security personnel to remove obstacles on the route of the mobile body 20 to eliminate the congestion.

[0112] Furthermore, here, we have explained an example in which the timing of congestion relief is the travel time of moving body 20 to a point where following moving body 301 can overtake moving body 20, but the timing of congestion relief does not necessarily have to be limited to the travel time of moving body 20 to a point where following moving body 301 can overtake moving body 20.

[0113] Other examples of the timing for relieving congestion include, for example, if the mobile body 20 is a car traveling on the road, the time it takes to pull over to the side of the road; for example, if the mobile body 20 is a robot that delivers luggage, and the robot is waiting for the user to receive the luggage, the waiting time for receiving the luggage; for example, if the operator remotely controlling the mobile body 20 cannot immediately remotely control it, the waiting time until remote control begins; for example, if the operator remotely controlling the mobile body 20 needs preparation time before starting remote control (for example, time for the operator to check the situation around the mobile body 20 using video information, etc.), the preparation time; for example, if the mobile body 20 is a robot that can transport parts and moves around the manufacturing floor in a factory, the time it takes for factory security personnel to be called and for the security personnel to arrive at the location of the mobile body 20, or the time it takes for the security personnel to move the mobile body 20 to an appropriate position.

[0114] Returning to FIG. 1 again, the description of the remote control system 1 will continue.

[0115] When the determination unit 15 determines that there is a traffic jam involving the moving body 20, the remote control information output unit 17 outputs to the outside overtaking remote control information for remotely controlling the moving body 20 so that a following moving body following the moving body 20 can overtake the moving body 20.

[0116] In addition, when the remote control request acquisition unit 12 acquires a remote control request for the mobile body 20, the remote control information output unit 17 outputs remote control request information to the outside for remotely controlling the mobile body 20 so that the mobile body 20 moves in accordance with the remote control request.

[0117] Here, the remote control information output unit 17 will be described as outputting the overtaking remote control information and the remote control request information to an operator located in the control center 10 who remotely controls a plurality of mobile objects.

[0118] The overtaking remote control information may be generated by the determination unit 15 or the remote control information output unit 17, for example.

[0119] The remote control request information may be generated by the remote control request acquisition unit 12 or the remote control information output unit 17, for example.

[0120] The remote control information output unit 17 may, for example, be equipped with a display and display an image indicating the overtaking remote control information and / or the remote control request information on the display, or may, for example, be equipped with a speaker and output a sound indicating the overtaking remote control information and / or the remote control request information from the speaker, or, for example, may use both of them in combination.

[0121] Here, the remote control information output unit 17 is described as having a display and displaying an image indicating the overtaking remote control information and / or the remote control request information on the display.

[0122] 5A and 5B are schematic diagrams showing examples of images indicating overtaking remote control information and / or remote control request information that are displayed on the display by the remote control information output unit 17. FIG.

[0123] As shown in Figure 5A, for example, when the judgment unit 15 determines that there is a traffic jam for the second moving body 20B in an image having a first display area 401 displaying an image related to the first moving body 20A, a second display area 402 displaying an image related to the second moving body 20B, a third display area 403 displaying an image related to the third moving body 20C, and a fourth display area 404 displaying an image related to the fourth moving body 20D, the remote control information output unit 17 may display overtaking remote control information 501A in the second display area 402 to instruct the operator to remotely control the second moving body 20B so that the following moving body can overtake the second moving body 20B.

[0124] 5A shows an example in which the overtaking remote control information 501A is a character string "in traffic jam." This character string "in traffic jam" is an example of a character string that is displayed when the determination unit 15 determines that there is traffic jam for the second moving object 20B, for example, in a case in which the remote control request acquisition unit 12 has not acquired a remote control request from the second moving object 20B.

[0125] As shown in FIG. 5B , for example, for an image having a first display area 401 displaying an image related to a first moving object 20A, a second display area 402 displaying an image related to a second moving object 20B, a third display area 403 displaying an image related to a third moving object 20C, and a fourth display area 404 displaying an image related to a fourth moving object 20D, when the determination unit 15 determines that there is a traffic jam for the second moving object 20B, the remote control information output unit 17 displays an operator's The remote control request acquisition unit 12 may display overtaking remote control information 501B to the operator to remotely control the second moving body 20B so that the following moving body can overtake the second moving body 20B, and when the remote control request acquisition unit 12 acquires a remote control request for the fourth moving body 20D, the remote control request information 502 may be displayed in the fourth display area 404 to the operator to remotely control the fourth moving body 20D so that the fourth moving body 20D moves in accordance with the remote control request.

[0126] 5B shows an example in which the overtaking remote control information 501B is a character string "remote control request with priority given to following vehicles" and the remote control request information 502 is a character string "remote control request for avoiding a stuck vehicle." The character string "remote control request with priority given to following vehicles" is an example of a character string that is displayed when, for example, the remote control request acquisition unit 12 acquires a remote control request from the second moving body 20B and the determination unit 15 determines that there is a traffic jam for the second moving body 20B, and is an example of a character string that is displayed when the operator prioritizes having a following moving vehicle overtake the moving body 20B over the remote control request.

[0127] In addition, the overtaking remote control information may include information indicating the driving route of the mobile body 20 during remote control, and the remote control request information may include information indicating the driving route of the mobile body 20 during remote control.

[0128] Here, it has been explained that the remote control information output unit 17 outputs overtaking remote control information to the outside when the determination unit 15 determines that there is a traffic jam involving the moving body 20. However, if the traffic jam that occurs is a traffic jam in the second case, even if the determination unit 15 determines that there is a traffic jam involving the moving body 20, there are cases where it is not necessarily necessary for the following moving body to overtake the moving body 20, and the moving body 20 can continue moving as is. Therefore, in such cases, even if the determination unit 15 determines that there is a traffic jam involving the moving body 20, the remote control information output unit 17 does not necessarily need to output overtaking remote control information to the outside.

[0129] Examples of cases where there is no need for the following moving body to overtake the moving body 20 and the moving body 20 can continue moving as is include, for example, a case where an overtaking area is not relatively close, for example, a case where the distance to the overtaking area is relatively long, for example, a case where it is determined that remotely controlling the moving body 20 so that the following moving body can overtake the moving body 20 will cause or increase a delay in the task of the moving body 20, and for example, a case where the distance to the overtaking area is relatively short.

[0130] Furthermore, if the traffic congestion that occurs is a traffic congestion in the second case, the driving route of the following moving body is not necessarily the same as the driving route of moving body 20, so the remote control information output unit 17 may determine whether or not to output overtaking remote control information and / or the timing of outputting the overtaking remote control information.

[0131] In this case, the remote control information output unit 17 may determine whether or not to output overtaking remote control information and / or the timing of outputting the overtaking remote control information, depending on, for example, whether or not there is a shortcut on the driving route of the mobile body 20.

[0132] In this case, the remote control information output unit 17 may, for example, not output overtaking remote control information if there is a shortcut on the driving route of the mobile body 20, and may output overtaking remote control information to the outside if there is no shortcut on the driving route of the mobile body 20.

[0133] In this case, the remote control information output unit 17 may, for example, temporarily suspend the output of the overtaking remote control information when there is a shortcut on the driving route of the moving body 20, and when the following moving body is driving the same driving route as the driving route of the moving body 20 even after the moving body 20 has passed the location of the shortcut, release the temporary suspension of the overtaking remote control information and output the overtaking remote control information, and when the following moving body is driving a different driving route from the driving route of the moving body 20 after passing the location of the shortcut, not release the temporary suspension of the overtaking remote control information and not output the overtaking remote control information.

[0134] In addition, if the traffic congestion that occurs is a traffic congestion in the second case, the remote control information output unit 17 may decide whether or not to output overtaking remote control information to the outside depending on the time the following moving body is following.

[0135] In this case, the remote control information output unit 17 may output the overtaking remote control information to the outside, for example, when the time that the following moving object has been following the moving object 20 is longer than a predetermined time.

[0136] Furthermore, if the traffic congestion that occurs is the traffic congestion in the second case, there are cases where it is not necessary to remotely control the mobile body 20 so that the following mobile body can overtake the mobile body 20, and it is sufficient to simply have the mobile body 20 automatically travel to an overtaking area.

[0137] In such a case, for example, the remote control information output unit 17 may not output overtaking remote control information, while the control unit 25 may automatically move the mobile object 20 to an overtaking area.

[0138] In this case, the remote control information output unit 17 may output, for example, information indicating that the moving body 20 will automatically move to an overtaking area, instead of outputting the overtaking remote control information to the outside.

[0139] Alternatively, when the traffic congestion that occurs is the traffic congestion in the second case, where there is no need to remotely control the mobile body 20 so that the following mobile body can overtake the mobile body 20, and it is sufficient to simply allow the mobile body 20 to automatically drive to an overtaking area, the remote control information output unit 17 may, for example, instead of outputting overtaking remote control information to the outside, output information to the outside indicating that it is OK to ask the operator whether it is OK to automatically drive the mobile body to an overtaking area.

[0140] Returning to FIG. 1 again, the description of the remote control system 1 will continue.

[0141] The remote control receiving unit 18 receives an operation by an operator to remotely control the moving body 20, and generates a remote control command for remotely controlling the moving body 20 based on the received operation by the operator.

[0142] When the overtaking remote control information is displayed on the display provided in the remote control information output unit 17, the operator can remotely control the moving body 20 so that the following moving body can overtake the moving body 20.

[0143] In addition, when remote control request information is displayed on the display provided in the remote control information output unit 17, the operator can remotely control the mobile body 20 so that the mobile body 20 moves in accordance with the remote control request.

[0144] When the calculation unit 16 calculates the congestion relief timing, the notification information output unit 13 generates notification information including the mobile body information, which is information for externally notifying the mobile body information including information related to the congestion relief timing calculated by the calculation unit 16, and outputs the generated notification information to the mobile body 20. In this way, the notification information output unit 13 causes the mobile body 20 to externally notify the mobile body information.

[0145] When the remote control receiving unit 18 generates a remote control command, the remote control command output unit 14 outputs the remote control command generated by the remote control receiving unit 18 to the mobile object 20 .

[0146] <Operation> The operation performed by the remote control system 1 having the above configuration will be described below.

[0147] In the remote control system 1, the mobile object 20 performs subsequent information transmission processing, remote control request processing, and notification processing, and the control center 10 performs first notification information output processing and remote control processing.

[0148] These processes will be explained below in order with reference to the drawings.

[0149] FIG. 6 is a flowchart of the subsequent information transmission process performed by the mobile unit 20.

[0150] The subsequent information transmission process is started, for example, when the mobile object 20 is started.

[0151] As shown in Figure 6, when the following information transmission process is started, the following information generation unit 21 waits until the detection unit 22 detects a following moving body following the moving body 20 (step S100: No), and when the detection unit 22 detects the following moving body (step S100: Yes), it generates following information regarding the following of the moving body 20 (step S110).

[0152] When the following information generating unit 21 generates the following information, the transmitting unit 24 transmits the following information generated by the following information generating unit 21 to the control center 10 (step S120).

[0153] When the process of step S120 is completed, the subsequent information transmission process proceeds to the process of step S100 again.

[0154] FIG. 7 is a flowchart of a remote control request process performed by the mobile object 20. As shown in FIG.

[0155] The remote control request process is started, for example, when the control unit 25 starts controlling the autonomous movement of the moving body 20 .

[0156] As shown in FIG. 7, when the remote control request process is started, the control unit 25 continues to control the autonomous movement of the mobile body 20 until the mobile body 20 is stacked (step S200: No), and when the mobile body 20 is stacked (step S200: Yes), generates a remote control request to the control center 10 requesting remote control (step S210).

[0157] When the control unit 25 generates the remote control request, the transmission unit 24 transmits the remote control request generated by the control unit 25 to the control center 10 (step S220).

[0158] When the process of step S220 is completed, the remote control request process ends.

[0159] FIG. 8 is a flowchart of the notification process performed by the moving body 20.

[0160] The notification process is started, for example, when the mobile object 20 is started.

[0161] As shown in Figure 8, when the notification process is started, the notification unit 23 waits until the receiving unit 26 receives notification information including mobile body information transmitted from the control center 10, which information is for notifying the outside world of mobile body information including information regarding the timing at which the congestion related to the mobile body 20 will be cleared (step S300: No).When the receiving unit 26 receives the notification information (step S300: Yes), the notification unit 23 notifies the outside world of the mobile body information included in the received notification information (step S310).

[0162] When the process of step S310 is completed, the notification process proceeds to the process of step S300 again.

[0163] FIG. 9 is a flowchart of the first notification information output process performed by the control center 10.

[0164] The first notification information output process is started, for example, when an operation to start the first notification information output process is performed on the control center 10 .

[0165] As shown in Figure 9, when the first alarm information output process is started, the determination unit 15 waits until the following information acquisition unit 11 acquires following information transmitted from the mobile body 20 (step S400: No), and when the following information acquisition unit 11 acquires the following information (step S400: Yes), it determines whether or not there is a traffic jam involving the mobile body 20 based on the following information (step S410).

[0166] In the processing of step S410, if the judgment unit 15 determines that there is traffic congestion related to the mobile body 20 (step S410: Yes), the remote control information output unit 17 checks whether the remote control request acquisition unit 12 has already acquired the remote control request output from the mobile body 20 (step S420).

[0167] In the processing of step S420, if the remote control request acquisition unit 12 has not yet acquired a remote control request (step S420: No), the remote control information output unit 17 outputs to the outside overtaking remote control information for remotely controlling the moving body 20 so that a following moving body following the moving body 20 can overtake the moving body 20 (step S430).

[0168] In the processing of step S420, if the remote control request acquisition unit 12 has already acquired a remote control request (step S420: Yes), the remote control information output unit 17 outputs to the outside overtaking remote control information for remotely controlling the moving body 20 so that a following moving body following the moving body 20 can overtake the moving body 20, prior to the remote control that causes the moving body 20 to move in accordance with the remote control request (step S440).

[0169] When the process of step S430 is completed and when the process of step S440 is completed, the calculation unit 16 calculates the congestion resolution timing at which the congestion relating to the mobile object 20 will be resolved (step S450).

[0170] When the calculation unit 16 calculates the timing for the congestion to be resolved, the calculation unit 16 generates notification information (step S460), and the notification information output unit 13 outputs the notification information to the mobile body 20 (step S470), thereby causing the mobile body information to be notified to the outside from the mobile body 20.

[0171] In the processing of step S410, if the determination unit 15 determines that there is no traffic congestion involving the mobile body 20 (step S410: No), or if the processing of step S470 is completed, the first notification information output processing ends.

[0172] FIG. 10 is a flowchart of the remote control process performed by the control center 10.

[0173] The remote control process is started, for example, when an operation to start the remote control process is performed on the control center 10 .

[0174] As shown in FIG. 10, when the remote control process is started, the remote control command output unit 14 waits until the remote control accepting unit 18 generates a remote control command to remotely control the mobile object 20 (step S500: No), and when the remote control accepting unit 18 generates a remote control command (step S500: Yes), the remote control command output unit 14 outputs the remote control command generated by the remote control accepting unit 18 to the mobile object 20 (step S510).

[0175] When the process of step S510 ends, the remote control process proceeds to the process of step S500 again.

[0176] <Considerations> According to the remote control system 1 configured as described above, people around the mobile object 20 can know when the traffic congestion will be resolved by the notification information reported from the mobile object 20. Therefore, people around the mobile object 20 can take appropriate action in response to the traffic congestion.

[0177] Second Embodiment Hereinafter, a remote control system according to a second embodiment will be described, in which the configuration of the remote control system 1 according to the first embodiment is partially changed.

[0178] The remote control system according to the second embodiment is an example of a system configured such that when the control center according to the second embodiment receives a remote control request from a mobile body 20, and then receives following information from the mobile body 20 and determines based on the following information that there is a traffic jam involving the mobile body 20, the control center outputs overtaking remote control information and / or remote control request information to the outside in a manner according to the following information.

[0179] Here, for the remote control system according to embodiment 2, components that are similar to those of remote control system 1 have already been explained, so they will be assigned the same symbols and their detailed explanations will be omitted, and the explanation will focus on the differences from remote control system 1.

[0180] <Configuration> FIG. 11 is a block diagram showing the configuration of a remote control system 1A according to the second embodiment.

[0181] 11 , the remote control system 1A is configured by changing the control center 10 in the remote control system 1 according to the first embodiment to a control center 10A. Here, the control center 10A is configured by changing the remote control information output unit 17 in the control center 10 to a remote control information output unit 17A.

[0182] When the remote control request acquisition unit 12 acquires a remote control request from a mobile body 20 and the determination unit 15 does not determine that there is a traffic jam related to the mobile body 20, the remote control information output unit 17A outputs remote control request information to the outside for remotely controlling the mobile body 20 to make the mobile body 20 move in accordance with the remote control request.

[0183] In addition, when the remote control request acquisition unit 12 has not acquired a remote control request from the mobile body 20, the following information acquisition unit 11 acquires following information from the mobile body 20, and the judgment unit 15 determines, based on the following information, that there is a traffic jam related to the mobile body 20, the remote control information output unit 17A outputs to the outside overtaking remote control information for remotely controlling the mobile body 20 so that a following mobile body following the mobile body 20 can overtake the mobile body 20.

[0184] Furthermore, when the remote control request acquisition unit 12 acquires a remote control request from a mobile body 20, the following information acquisition unit 11 acquires following information from the mobile body 20, and the judgment unit 15 determines based on the following information that there is a traffic jam involving the mobile body 20, the remote control information output unit 17A outputs overtaking remote control information and / or remote control request information to the outside in a manner corresponding to the following information.

[0185] For example, when the remote control request acquisition unit 12 acquires a remote control request from the mobile object 20, the following information acquisition unit 11 further acquires following information from the mobile object 20, and the determination unit 15 determines, based on the following information, that there is a traffic jam involving the mobile object 20, the remote control information output unit 17A may output the overtaking remote control information to the outside, but may suppress the output of the remote control request information to the outside at least for the period during which the overtaking remote control information is output to the outside. In this case, the remote control information output unit 17A may also output, for example, information indicating whether the currently output information is overtaking remote control information or remote control request information to the outside.

[0186] This makes it possible to prevent an operator remotely controlling the mobile body 20 from remotely controlling the mobile body 20 to make the mobile body 20 move in accordance with the remote control request based on the remote control request information when a remote control request is made and congestion is occurring.

[0187] In this case, for example, if the following information includes information indicating the distance to the following moving body, the remote control information output unit 17A may decide whether or not to suppress the external output of the remote control request information based on the distance to the following moving body.

[0188] The remote control information output unit 17A may, for example, compare the required distance for remote control based on remote control request information (hereinafter also referred to as the ``remote control request information required distance'') with the required distance for remote control based on overtaking remote control information (hereinafter also referred to as the ``overtaking remote control information required distance''), and if the remote control request information required distance is greater than the overtaking remote control information required distance, suppress the external output of the remote control request information and output the overtaking remote control information to the outside.

[0189] This allows remote control to be completed over a shorter distance.

[0190] For example, when the distance required for the remote control request information is less than or equal to the distance required for the overtaking remote control information, the remote control information output unit 17A may suppress the output of the overtaking remote control information to the outside, output the remote control request information to the outside, and also output information to the outside indicating that the priority of the remote control operation on the moving body 20 performed in accordance with the remote control request information will be increased.

[0191] This makes it possible to start remote control based on the remote control request information as soon as possible without having to take the trouble of performing remote control based on the overtaking remote control information.

[0192] Furthermore, when the remote control request acquisition unit 12 acquires a remote control request from the mobile body 20, and the subsequent information acquisition unit 11 further acquires subsequent information from the mobile body 20 and the judgment unit 15 determines based on the subsequent information that there is a traffic jam involving the mobile body 20, the remote control information output unit 17A may output information to the outside, for example, inquiring the operator about which remote control to perform: a remote control operation on the mobile body 20 in response to the remote control request information, or a remote control of the mobile body 20 in response to the overtaking remote control information.

[0193] Furthermore, when the remote control request acquisition unit 12 acquires a remote control request from a mobile body 20, and the following information acquisition unit 11 further acquires following information from the mobile body 20, and the judgment unit 15 determines based on the following information that there is a traffic jam involving the mobile body 20, the remote control information output unit 17A may output overtaking remote control information and / or remote control request information to the outside in a manner according to the type of the following mobile body, for example, if the following information includes information indicating the type of the following mobile body.

[0194] In this case, for example, when the following moving object is an emergency vehicle, the remote control information output unit 17A may output the overtaking remote control information to the outside while suppressing the output of the remote control request information to the outside. At this time, the remote control information output unit 17A may output, for example, information indicating that the following moving object is an emergency vehicle to the outside. Furthermore, at this time, even if an operator remotely controlling the moving object 20 is remotely controlling the moving object 20 based on the remote control request information to make the moving object 20 move in accordance with the remote control request, the remote control information output unit 17A may output the overtaking remote control information to the outside while suppressing the output of the remote control request information to the outside, regardless of the progress of the remote control.

[0195] In this case, for example, if the moving body 20 is a robot moving within a factory and the following moving body is another robot, the remote control information output unit 17A may output remote control request information to the outside, while suppressing the output of overtaking remote control information to the outside.

[0196] This allows robots to be operated in accordance with factory rules that prohibit robots from overtaking other robots.

[0197] In this case, for example, if the moving object 20 is a robot moving in a factory and the following moving object is a customer, the remote control information output unit 17A may output the overtaking remote control information to the outside while suppressing the output of the remote control request information to the outside, and if the following moving object is an employee, the remote control information output unit 17A may output the remote control request information to the outside while suppressing the output of the overtaking remote control information to the outside. In this case, for example, the remote control information output unit 17A may determine that a person wearing a factory uniform is an employee and a person not wearing a uniform is a customer.

[0198] This allows the robots to be operated in accordance with the factory rules that prioritize customer movement over employee movement.

[0199] In this case, the remote control information output unit 17A may, for example, in accordance with predetermined rules related to the following moving body, output overtaking remote control information to the outside if the following moving body is a predetermined priority moving body (e.g., a large vehicle) defined in the rules, while suppressing the output of remote control request information to the outside, and may output remote control request information to the outside if the following moving body is a predetermined non-priority moving body (e.g., a small vehicle) defined in the rules, while suppressing the output of overtaking remote control information to the outside.

[0200] Here, a priority moving body refers to a moving body whose movement has priority over the movement of moving body 20, and a non-priority moving body refers to a moving body whose movement does not have priority over the movement of moving body 20.

[0201] This makes it possible to pre-register operational rules for the mobile body 20, such as giving priority to the movement of large vehicles and not giving priority to the movement of small vehicles.

[0202] In this way, for example, when the remote control request acquisition unit 12 acquires a remote control request from a mobile body 20, and the following information acquisition unit 11 further acquires following information from the mobile body 20, and the judgment unit 15 determines based on the following information that there is a traffic jam involving the mobile body 20, the remote control information output unit 17A may suppress the output of overtaking remote control information if the following mobile body is a mobile body that satisfies specified conditions.

[0203] This prevents an operator remotely controlling the moving body 20 from remotely controlling the moving body 20 to make the moving body 20 move in accordance with the remote control request information, when the following moving body is a moving body that satisfies predetermined conditions.

[0204] In addition, when the remote control information output unit 17A outputs the overtaking remote control information and the remote control request information to the outside, it may also output priority information to the outside indicating that the remote control related to the overtaking remote control information has a higher priority than the remote control related to the remote control request information.

[0205] Furthermore, when the remote control of the moving body 20 performed by the operator in response to the output overtaking remote control information has ended but the remote control of the moving body 20 performed by the operator in response to the remote control request information has not yet started, the remote control information output unit 17A may externally output information indicating that the remote control of the moving body 20 performed in response to the remote control request information has not yet started. At this time, the remote control information output unit 17A may externally output, for example, inquiry information indicating an inquiry to the operator as to whether the remote control of the moving body 20 performed in response to the remote control request information will be performed before the remote control of another moving body 20. Furthermore, at this time, the remote control information output unit 17A may externally output, for example, information indicating that the remote control of the moving body 20 performed in response to the remote control request information cannot be started until the following moving body has completely overtaken the moving body 20. Furthermore, at this time, the remote control information output unit 17A may, for example, suppress the output of remote control request information to the outside until the following moving body has completed overtaking the moving body 20, thereby preventing the operator from starting remote control of the moving body 20 in response to the remote control request information, and the remote control receiving unit 18 may, for example, suppress the reception of operations by the operator to remotely control the moving body 20, thereby preventing the operator from starting remote control of the moving body 20 in response to the remote control request information.

[0206] Furthermore, when the remote control request acquisition unit 12 acquires a remote control request from the mobile body 20, and when the subsequent information acquisition unit 11 acquires subsequent information from the mobile body 20 and the judgment unit 15 determines based on the subsequent information that there is a traffic jam involving the mobile body 20, and if the operator is remotely controlling the mobile body 20 in accordance with the overtaking remote control information, the remote control information output unit 17A may output to the outside information that, while the remote control is being performed, it is necessary to remotely control the mobile body 20 in accordance with the remote control request after the remote control is completed.

[0207] By recognizing the inquiry information output from the remote control information output unit 17A, the operator can determine whether or not the remote control of the mobile body 20 performed in response to the remote control request information should be performed before the remote control of other mobile bodies 20.

[0208] Furthermore, for example, when the judgment unit 15 determines that there is a traffic jam involving the mobile body 20 while an operator remotely controlling the mobile body 20 is remotely controlling the mobile body 20 to make the mobile body 20 move in accordance with the remote control request based on the remote control request information, the remote control information output unit 17A may output overtaking remote control information and / or remote control request information to the outside in a manner according to the progress of the remote control.

[0209] In this case, the remote control information output unit 17A may, for example, output remote control request information to the outside if the progress of the remote control exceeds a predetermined threshold, while suppressing the output of overtaking remote control information to the outside, and if the progress does not exceed the threshold, output overtaking remote control information to the outside, while suppressing the output of remote control request information to the outside.

[0210] Furthermore, when the remote control request acquisition unit 12 acquires a remote control request from the mobile body 20, and the subsequent information acquisition unit 11 further acquires subsequent information from the mobile body 20 and the judgment unit 15 determines based on the subsequent information that there is a traffic jam involving the mobile body 20, the remote control information output unit 17A may output overtaking remote control information and / or remote control request information to the outside in a manner according to the comparison result between, for example, the moving distance of the mobile body 20 required for remote control of the mobile body 20 performed in accordance with the remote control request information (hereinafter also referred to as the "first moving distance") and the moving distance of the mobile body 20 required for remote control of the mobile body 20 performed in accordance with the overtaking remote control information (hereinafter also referred to as the "second moving distance").

[0211] In this case, the remote control information output unit 17A may output overtaking remote control information to the outside while suppressing the output of remote control request information to the outside, for example, when the first movement distance is greater than the second movement distance.

[0212] Alternatively, in this case, the remote control information output unit 17A may output remote control request information to the outside when the second movement distance is greater than or equal to the first movement distance, while suppressing the output of overtaking remote control information to the outside, and may output information to the outside indicating that the priority of remote control operations on the moving body 20 performed in accordance with the remote control request information will be increased.

[0213] <Operation> The operation performed by the remote control system 1A having the above configuration will be described below.

[0214] In the remote control system 1A, the control center 10A performs, in addition to the processing performed by the control center 10 in embodiment 1, a second notification information output processing, an inquiry processing, a first judgment processing, a second judgment processing, and a third judgment processing.

[0215] FIG. 12 is a flowchart of the second notification information output process performed by the control center 10A.

[0216] The second notification information output process is started when the subsequent information acquisition unit 11 acquires subsequent information after the remote control request acquisition unit 12 acquires a remote control request.

[0217] As shown in FIG. 12, when the second notification information output process is started, the determination unit 15 determines whether or not there is a traffic jam involving the mobile object 20 based on the following information acquired by the following information acquisition unit 11 (step S600).

[0218] In the processing of step S600, if the judgment unit 15 determines that there is a traffic jam involving the mobile body 20 (step S600: Yes), the remote control information output unit 17A outputs overtaking remote control information and / or remote control request information to the outside in a manner corresponding to the subsequent information (step S610).

[0219] When the process of step S610 is completed, the calculation unit 16 calculates the congestion relief timing at which the congestion relating to the mobile object 20 will be relieved (step S630).

[0220] When the calculation unit 16 calculates the congestion relief timing, the calculation unit 16 generates notification information (step S640), and the notification information output unit 13 outputs the notification information to the mobile object 20 (step S650).

[0221] When the processing of step S650 is completed, and when the determination unit 15 determines in the processing of step S600 that there is no traffic congestion involving the mobile body 20 (step S600: No), the second notification information output processing ends.

[0222] FIG. 13 is a flowchart of the inquiry process performed by the control center 10A.

[0223] The inquiry process is initiated when the operator starts remote control of the moving body 20 in response to the overtaking remote control information output by the remote control information output unit 17A after the remote control request acquisition unit 12 acquires the remote control request.

[0224] As shown in Figure 13, when the inquiry process is started, the remote control information output unit 17A waits until the operator has completed the remote control of the moving body 20 in response to the overtaking remote control information (step S700: No), and when the operator has completed the remote control of the moving body 20 in response to the overtaking remote control information (step S700: Yes), it outputs inquiry information to the operator inquiring whether the remote control of the moving body 20 in response to the remote control request information will be performed before the remote control of another moving body 20 (step S710).

[0225] When the process of step S710 ends, the inquiry process ends.

[0226] 14 and 15 are flowcharts of the first and second determination processes, respectively, performed by the control center 10A.

[0227] The first and second judgment processes are initiated when the remote control information output unit 17A outputs remote control request information for a mobile body 20 to the outside, and the operator starts remote control of the mobile body 20 based on the remote control request information so that the mobile body 20 moves in accordance with the remote control request, and then the judgment unit 15 determines that there is a traffic jam involving the mobile body 20.

[0228] The control center 10A selectively performs either the first determination process or the second determination process. For example, the control center 10A may be configured to change in advance which of the first determination process and the second determination process to perform.

[0229] FIG. 14 is a flowchart of the first determination process performed by the control center 10A.

[0230] As shown in Figure 14, when the first judgment process is started, the remote control information output unit 17A checks whether the judgment unit 15's judgment that there is a traffic jam involving the mobile body 20 was made while the operator was remotely controlling the mobile body 20 based on the remote control request information so that the mobile body 20 would move in accordance with the remote control request (step S800).

[0231] In the process of step S800, if the determination unit 15 determines that there is a traffic jam while the operator is remotely controlling the mobile object 20 to make the mobile object 20 move in accordance with the remote control request (step S800: Yes), the remote control information output unit 17A suppresses the output of the remote control request information and outputs overtaking remote control information to the outside instead of the remote control request information (step S810). At this time, the remote control information output unit 17A may further output information to the outside instructing the operator to suspend responding to the remote control request information and respond to the overtaking remote control information, or may output information to the outside indicating that the task has been changed, or may output information to the outside indicating the reason for the task change.

[0232] In the processing of step S800, if the judgment unit 15 judges that there is a traffic jam when the operator is not remotely controlling the moving body 20 to make it move in accordance with the remote control request (step S800: No), that is, when the remote control has ended or when the processing of step S810 has ended, the first judgment processing ends.

[0233] FIG. 15 is a flowchart of the second determination process performed by the control center 10A.

[0234] In the second determination process, the process of step S900 and the process of step S910 are the same as the process of step S800 and the process of step S810 in the first determination process, respectively.

[0235] Therefore, the processing of step S905 will be mainly described here.

[0236] As shown in Figure 15, in the processing of step S900, if the judgment unit 15 determines that there is a traffic jam while the operator is remotely controlling the mobile object 20 to make it move in accordance with the remote control request (step S900: Yes), the remote control information output unit 17A checks whether the progress of the remote control is below a predetermined threshold (step S905).

[0237] In the process of step S905, if the progress of the remote control is less than the predetermined threshold (step S905: Yes), the second determination process proceeds to the process of step S910.

[0238] In the processing of step S900, the second judgment processing ends when the judgment unit 15 determines that there is a traffic jam if the operator is not in the process of remotely controlling the mobile body 20 to make it move in accordance with the remote control request (step S900: No), i.e., if the remote control has ended; in the processing of step S905, if the progress of the remote control is not less than a predetermined threshold (step S905: No); or if the processing of step S910 has ended.

[0239] FIG. 16 is a flowchart of the third determination process performed by the control center 10A.

[0240] The third judgment process is started when the remote control request acquisition unit 12 acquires a remote control request from a mobile body 20, and then the subsequent information acquisition unit 11 acquires subsequent information from the mobile body 20, and the judgment unit 15 determines, based on the subsequent information, that there is a traffic jam involving the mobile body 20.

[0241] As shown in Figure 16, when the third judgment process is started, the remote control information output unit 17A checks whether the first movement distance of the moving body 20 required for remote control of the moving body 20 performed in accordance with the remote control request information is longer than the second movement distance of the moving body 20 required for remote control of the moving body 20 performed in accordance with the overtaking remote control information (step S1000).

[0242] In the process of step S1000, if the first movement distance is longer than the second movement distance (step S1000: Yes), the remote control information output unit 17A outputs the overtaking remote control information to the outside (step S1010).

[0243] In the process of step S1000, if the first movement distance is not longer than the second movement distance (step S1000: No), the remote control information output unit 17A outputs remote control request information to the outside (step S1020).

[0244] When the process of step S1010 is completed, or when the process of step S1020 is completed, the third determination process ends.

[0245] <Discussion> According to the remote control system 1A configured as described above, the operator remotely controlling the moving body 20 can remotely control the moving body 20 based on the overtaking remote control information and / or remote control request information that is output in a manner corresponding to the following information transmitted from the moving body 20. Therefore, the moving body 20 is remotely controlled appropriately according to the following information.

[0246] (Supplementary Note) As described above, the first and second embodiments have been described as examples of the technology disclosed in this application. However, the present disclosure is not limited to these embodiments. As long as they do not deviate from the spirit of the present disclosure, various modifications that would occur to a person skilled in the art to the present embodiments, or forms constructed by combining components of different embodiments or modifications, may also be included within the scope of one or more aspects of the present disclosure.

[0247] A comprehensive or specific aspect of the present disclosure may be realized as a system, an apparatus, a method, an integrated circuit, a program, or a non-transitory recording medium such as a computer-readable CD-ROM. It may also be realized as any combination of a system, an apparatus, a method, an integrated circuit, a program, and a non-transitory recording medium. For example, the present disclosure may be realized as a program that causes a computer device to execute processing performed by the control center 10, the control center 10A, the mobile object 20, the remote control system 1, and / or the remote control system 1A.

[0248] The present disclosure is widely applicable to autonomous movement and remote control systems that remotely control mobile bodies that are capable of remote control.

[0249] 1, 1A Remote control system 10, 10A Control center 11 Following information acquisition unit 12 Remote control request acquisition unit 13 Notification information output unit 14 Remote control command output unit 15 Determination unit 16 Calculation unit 17, 17A Remote control information output unit 18 Remote control acceptance unit 20 Mobile body 20A First mobile body 20B Second mobile body 20C Third mobile body 20D Fourth mobile body 21 Following information generation unit 22 Detection unit 23 Notification unit 24 Transmission unit 25 Control unit 26 Reception unit 121 Destination 131 Travel route 132 Alternative travel route 201, 202, 203 Predicted congestion relief point 301 Following mobile body 401 First display area 402 Second display area 403 Third display area 404 Fourth display area 501A, 501B Overtaking remote control information 502 Remote control request information

Claims

1. A subsequent information acquisition step that acquires subsequent information regarding the subsequent movements of a mobile body capable of autonomous movement and remote control for movement, A calculation step to calculate the timing at which the congestion identified based on the subsequent information will be resolved, The system includes a notification information output step that causes the mobile body to broadcast to the outside information, including information related to the timing of congestion resolution. Information output method.

2. moreover, A remote control request acquisition step, which acquires a remote control request requesting the remote control of the aforementioned mobile body, The remote control information output step includes, when a remote control request is obtained in the remote control request acquisition step, outputting overtaking remote control information to the outside for remotely controlling the moving body so that a following moving body can overtake the moving body. The information output method according to claim 1.

3. In the remote control information output step, if a remote control request is obtained in the remote control request acquisition step, remote control request information is output to the outside for remotely controlling the mobile body to perform a movement in accordance with the remote control request. The information output method according to claim 2.

4. In the remote control information output step, the output of the remote control request information is suppressed at least during the period in which the overtaking remote control information is being output. The information output method according to claim 3.

5. In the remote control information output step, if the remote control request is obtained in the remote control request acquisition step, and the following moving object is a moving object that satisfies predetermined conditions, the output of the overtaking remote control information is suppressed. The information output method according to claim 3.

6. In the remote control information output step, if both the overtaking remote control information and the remote control request information are output, priority information indicating that the remote control related to the overtaking remote control information has a higher priority than the remote control related to the remote control request information is further output externally. The information output method according to claim 3.

7. In the remote control information output step, if the following vehicle is an emergency vehicle, the overtaking remote control information is output externally, while the output of the remote control request information is suppressed. The information output method according to claim 3.

8. In the remote control information output step, if the following moving object is a predetermined priority moving object as defined in the rules, the output of the remote control request information is suppressed. The information output method according to claim 3.

9. In the remote control information output step, if the following moving object is a predetermined non-priority moving object as defined in the rules, the output of the overtaking remote control information is suppressed. The information output method according to claim 3.

10. In the remote control information output step, if the remote control of the mobile body performed in response to the output of the overtaking remote control information has been completed, but the remote control of the mobile body performed in response to the output of the remote control request information has not yet been started, then information indicating that the remote control of the mobile body performed in response to the output of the remote control request information has not yet been started is output to the outside. The information output method according to claim 3.

11. In the remote control information output step, if the remote control of the mobile body performed in response to the output of the overtaking remote control information has been completed, but the remote control of the mobile body performed in response to the output of the remote control request information has not yet been started, then information indicating that a query is being made to determine whether the remote control of the mobile body performed in response to the output of the remote control request information will be performed before any other mobile bodies. The information output method according to claim 3.

12. In the remote control information output step, the output of the remote control request information is suppressed until the remote control of the moving body, which is performed in response to the output of the overtaking remote control information, is completed. The information output method according to claim 3.

13. Furthermore, the system includes a determination step that determines whether or not there is congestion related to the moving object based on the subsequent information, In the remote control information output step, if it is determined in the determination step that there is congestion while the remote control of the moving object is being performed in response to the output of the remote control request information, the overtaking remote control information and / or the remote control request information are output to the outside in a manner appropriate to the progress of the remote control. The information output method according to claim 3.

14. A follow-up information acquisition unit that acquires follow-up information regarding a mobile body capable of autonomous movement and remote control for movement, A calculation unit that calculates the timing at which the congestion identified based on the subsequent information will be resolved, The system includes a notification information output unit that causes the mobile body to broadcast to the outside information, including information indicating the timing of congestion resolution. Information output device.

15. A program that causes a computer to perform information output processing, The aforementioned information output process is: A subsequent information acquisition step that acquires subsequent information regarding the subsequent movements of a mobile body capable of autonomous movement and remote control for movement, A calculation step to calculate the timing at which the congestion identified based on the subsequent information will be resolved, The system includes a notification information output step that causes the mobile body to broadcast to the outside information, including information indicating the timing of congestion resolution. program.