JP2018106676A - Information processing device, operated vehicle, information processing method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processing device capable of improving safety of an operated vehicle, an operated vehicle, an information processing method, and a program.SOLUTION: A remote handling apparatus 13 remotely controls an operated vehicle 16 via an operator 10. The remote handling apparatus 13 comprises a position information processing unit 1307a. The position information processing unit 1307a generates, based on vehicle position information indicating a current position of the operated vehicle 16 and delay information indicating a delay time required for transmitting information between the operated vehicle 16 and the remote handling apparatus 13, first position information indicating a first prediction position of the operated vehicle 16 in consideration of the delay time for the current position of the operated vehicle 16; and based on obstruction position information that indicates the current position of one or more obstructions present around the operated vehicle 16 obtained by the operated vehicle 16 and the delay information, second position information that indicates a second prediction position of the one or more obstructions in consideration of the delay time for the current position of the obstruction. The position information processing unit 1307a outputs the first position information and the second position information.SELECTED DRAWING: Figure 5

Description

  The present disclosure relates to an information processing apparatus, an operated vehicle, an information processing method, and a program for remotely controlling a vehicle traveling on a road.

  In recent years, by using communication means such as a wireless local area network (LAN) or a cellular phone line, a vehicle in which a driver is not boarded or a vehicle in which a driver is on board but is not driving is operated by a remote operator. Remote control systems to operate have appeared. In such a remote operation system, the sensing result of the operated vehicle obtained from various sensors such as a millimeter wave radar, a laser radar, and a camera mounted on the operated vehicle is transmitted to the operator via the communication means. The operator operates the operated vehicle from a remote location by transmitting a control signal relating to traveling of the operated vehicle to the operated vehicle.

  Patent Document 1 discloses a remote control system for a semi-autonomous unmanned vehicle. The remote control system in Patent Document 1 acquires distance measurement data in the travel area of the own vehicle, performs autonomous travel based on the distance measurement data, and is transmitted from the remote control device by the operation of an operator at a remote location. Equipped with a semi-autonomous vehicle for remote control based on control information. In this remote operation system, a semi-autonomous vehicle can be remotely operated.

Japanese Patent No. 5366703

  There is a need for further improvements such as improved safety over conventional remote operation systems in which an operator in a remote place operates a vehicle to be operated using communication means such as a wireless LAN or a mobile phone line.

  Therefore, the present disclosure has been made in view of the above problems, and an object thereof is to provide an information processing apparatus, an operated vehicle, an information processing method, and a program capable of improving the safety of the operated vehicle.

  An information processing apparatus according to an aspect of the present disclosure is an information processing apparatus for an operator to remotely operate an operated vehicle, and vehicle position information indicating a current position of the operated vehicle acquired by the operated vehicle; , Based on the delay information indicating the delay time required for information transmission between the operated vehicle and the information processing apparatus, the number of the operated vehicle considering the delay time with respect to the current position of the operated vehicle. Obstacle position information indicating the current position of one or more obstacles around the operated vehicle acquired by the operated vehicle, and the delay information; And a position information processing unit that generates second position information indicating a second predicted position of one or more obstacles in consideration of the delay time with respect to the current position of the obstacle, , The first position information and the And outputs the 2 position information.

  According to the present disclosure, the safety of the operated vehicle can be improved.

FIG. 1 is a diagram illustrating an example of a remote control system according to the first embodiment. FIG. 2 is a block diagram showing an example of the configuration of the operated vehicle in the remote control system according to the first embodiment. FIG. 3 is a block diagram illustrating an example of a configuration of the remote operation device in the remote operation system according to the first embodiment. FIG. 4 is a diagram illustrating an example of an output screen in which information generated by an HMI (Human Machine Interface) generation unit in the remote operation device of the remote operation system according to Embodiment 1 is displayed on the display device. FIG. 5 is a sequence diagram illustrating the operation of the remote control system according to the first embodiment. FIG. 6 is a flowchart showing processing for determining information to be displayed on the display device according to the distance between the operated vehicle and the obstacle according to the first embodiment. FIG. 7 is a flowchart illustrating a process of controlling the travel of the operated vehicle from the traveling direction of the operated vehicle and the traveling direction of the obstacle according to the first embodiment. FIG. 8A is an image diagram showing an obstacle according to the first embodiment. FIG. 8B is an image diagram illustrating a state where there is a risk of collision between the operated vehicle and an obstacle according to the first embodiment. FIG. 9 is a flowchart showing processing for reducing video information according to the first embodiment. FIG. 10 is a block diagram illustrating another example of the configuration of the operated vehicle in the remote control system according to the modification of the first embodiment. FIG. 11 is a block diagram showing an example of another configuration of the operated vehicle in the modification of the first embodiment. FIG. 12 is a block diagram illustrating an example of the configuration of the remote operation device in the remote operation system according to the second embodiment.

  Hereinafter, the knowledge that is the basis of the present disclosure will be described.

  In a conventional information processing system, when there is some change in the situation around the operated vehicle compared to when the driver on board the vehicle directly operates the vehicle, the situation by the operator at the remote place Recognition of changes tends to be delayed, and the operation of the operated vehicle tends to be delayed. This occurs when the information indicating the detection result is generated from the output signal of the sensor mounted on the operated vehicle and before the information indicating the detection result is transmitted from the operated vehicle to the remote control device. The delay time due to communication, the delay time until the remote control device receives the information indicating the detection result and outputs it to the display device, the operation signal that the operator operated the operation input device based on the information displayed on the display device This is because a specific delay time related to the information processing system such as a delay time until generation and a delay time until a vehicle operation signal is received by the operated vehicle via the network and the wireless base station occurs. Therefore, even if the surrounding situation of the operated vehicle is detected by the sensor, the delay time as described above occurs between the time when the detection is performed by the sensor and the completion of the operation of the operated vehicle.

  When such a delay time occurs, the situation around the operated vehicle changes during this time. For this reason, the operation of the operated vehicle by the operator is delayed due to the delay time. For example, when another vehicle traveling ahead of the operated vehicle suddenly stops, the collision between the operated vehicle and the other vehicle occurs. There is a problem that the risk of the increase. This problem becomes more prominent if the delay time until the operated vehicle is operated increases.

  Patent Document 1 discloses an information processing system for a semi-autonomous unmanned vehicle. The information processing system in Patent Document 1 acquires distance measurement data in the travel area of the own vehicle, performs autonomous travel based on the distance measurement data, and is transmitted from the remote control device by the operation of an operator at a remote location. It is equipped with a semi-autonomous unmanned driving vehicle that performs remote maneuvering based on maneuvering information. Furthermore, the information processing system calculates a delay time between the device that performs remote operation and the semi-autonomous unmanned driving vehicle, calculates the travel amount of the semi-autonomous driving vehicle in consideration of this delay time, Remote operation is performed based on operation limit information for autonomous driving vehicles.

  However, in Patent Document 1, in addition to information that obstacles such as other vehicles and pedestrians move in an area where a semi-autonomous unmanned driving vehicle travels, a device that performs remote operation and semi-autonomous unmanned driving The amount of movement of the obstacle for the delay time generated between the vehicle and the vehicle is not considered. Therefore, if the communication delay between the remote control device and the semi-autonomous unmanned driving vehicle increases, the amount of obstacle movement also increases. It will deviate significantly from the travelable area. For this reason, further improvements, such as improvement of safety, are required rather than the conventional information processing system in which the operator in the remote place operates the operated vehicle.

  Therefore, an information processing apparatus, an operated vehicle, an information processing method, and a program that can improve the safety of the operated vehicle have been studied.

  In order to solve such a problem, an information processing device according to an aspect of the present disclosure is an information processing device for an operator to remotely operate an operated vehicle, and the operated vehicle acquired by the operated vehicle The delay relative to the current position of the operated vehicle based on vehicle position information indicating the current position of the vehicle and delay information indicating a delay time required for information transmission between the operated vehicle and the information processing apparatus. First position information indicating a first predicted position of the operated vehicle in consideration of time is generated, and a current position of one or more obstacles around the operated vehicle acquired by the operated vehicle is indicated. Position information processing for generating second position information indicating a second predicted position of one or more obstacles in consideration of the delay time with respect to the current position of the obstacle based on the obstacle position information and the delay information The position information Management unit outputs the second position information and the first positional information.

  According to this configuration, the position information processing unit generates the first position information indicating the first predicted position of the operated vehicle in consideration of the delay time with respect to the current position of the operated vehicle, and the current position of the obstacle The second position information indicating the second predicted position of one or more obstacles considering the delay time is generated. The position information processing unit outputs first position information and second position information. For this reason, even when a delay time required for information transmission between the operated vehicle and the remote control device occurs, the second position information of the obstacle with the first position information of the operated vehicle considering the delay time is obtained. , Can be presented to an operator at a remote location. For this reason, since the operator can recognize the information regarding each of the vehicle predicted position and the obstacle predicted position, it becomes easy to remotely operate the operated vehicle.

  Therefore, the safety of the operated vehicle can be improved. As a result, the operator can safely remotely operate the operated vehicle.

  Further, in the information processing method according to one aspect of the present disclosure, an information processing method for an operator to remotely operate the operated vehicle, the vehicle position indicating the current position of the operated vehicle acquired by the operated vehicle. Based on the information and delay information indicating a delay time required for information transmission between the operated vehicle and the information processing device, the operation vehicle in consideration of the delay time with respect to a current position of the operated vehicle. First position information indicating a first predicted position is generated, obstacle position information indicating a current position of one or more obstacles around the operated vehicle acquired by the operated vehicle, and the delay information Based on the current position of the obstacle, second position information indicating a second predicted position of the one or more obstacles considering the delay time is generated, and the first position information and the second position information are generated. Output.

  A program according to an aspect of the present disclosure causes a computer to execute an information processing method.

  Also in these cases, the same effects as described above are obtained.

  Moreover, in the information processing apparatus according to an aspect of the present disclosure, the position information processing unit is further configured to perform the operation after an arbitrary time has elapsed from the current position of the operated vehicle based on the vehicle position information. A third predicted position that is predicted to reach the vehicle and different from the first predicted position is calculated, and the position information processing unit outputs third position information indicating the calculated third predicted position.

  According to this configuration, the position information processing unit calculates the third predicted position where the operated vehicle is predicted to arrive after an arbitrary time has elapsed from the current position of the operated vehicle based on the vehicle position information. . The position information processing unit outputs third position information indicating the third predicted position. For this reason, it is possible to present to the operator the current position of the operated vehicle and the third predicted position after an arbitrary time has elapsed from the current position. For this reason, it becomes easy to remotely operate the operated vehicle. As a result, the operator can correct the operation of the operated vehicle, so that the operated vehicle can be operated more safely.

  In the information processing apparatus according to an aspect of the present disclosure, the progress indicating the direction in which the obstacle is predicted to move from the current position of the obstacle indicated by the obstacle position information based on the obstacle position information. A direction calculation unit for calculating a direction is provided, and the direction calculation unit outputs direction information indicated by the calculated traveling direction of the obstacle.

  According to this configuration, the direction calculation unit calculates the traveling direction of the obstacle indicating the direction in which the obstacle is predicted to move from the current position of the obstacle indicated by the obstacle position information based on the obstacle position information. . The direction calculation unit outputs direction information indicated by the traveling direction. For this reason, the present position of the obstacle in the periphery of the operated vehicle and the traveling direction of the obstacle can be presented to the operator. For this reason, the operator can quickly identify an obstacle to be aware of when operating the operated vehicle. For this reason, since it becomes easy for an operator to recognize the state of the operated vehicle and the obstacle, the operated vehicle can be operated more safely.

  Further, in the information processing device according to one aspect of the present disclosure, is the distance between the operated vehicle and the obstacle equal to or less than a predetermined threshold based on at least the first predicted position and the second predicted position? A judgment processing unit for judging whether or not, and when the distance between the operated vehicle and the obstacle is equal to or less than a predetermined threshold, the judgment processing unit outputs information for calling attention on the corresponding obstacle.

  According to this configuration, when the distance between the operated vehicle and the obstacle is equal to or less than a predetermined threshold, the determination processing unit outputs information for calling attention regarding the corresponding obstacle. For this reason, it is possible to present in advance to the operator the risk of an accident such as a collision between the operated vehicle and an obstacle. For this reason, since it becomes easy for the operator to recognize the state of the operated vehicle and the obstacle from the information for prompting attention, the operated vehicle can be operated more safely.

  In the information processing apparatus according to an aspect of the present disclosure, when the distance between the operated vehicle and the obstacle is equal to or less than a predetermined threshold, the determination processing unit displays information for calling attention regarding the obstacle. And output as a warning sound.

  According to this configuration, when the distance between the operated vehicle and the obstacle is equal to or less than the predetermined threshold, the determination processing unit outputs information for calling attention regarding the obstacle as a warning sound. For this reason, it is possible to make the operator recognize in advance the risk of an accident such as a collision between the operated vehicle and an obstacle. Thereby, the operator can operate the operated vehicle more safely.

  In the information processing apparatus according to an aspect of the present disclosure, the information processing apparatus further includes a determination processing unit, and the direction calculation unit further receives the vehicle position information based on the vehicle position information and the first position information. A traveling direction indicating a direction in which the operated vehicle is predicted to move is calculated from a current position of the operated vehicle, and the determination processing unit determines the traveling direction of the operated vehicle and the traveling direction of an obstacle. On the basis of whether or not the traveling direction of the operated vehicle and the traveling direction of the obstacle intersect, and when the traveling direction of the operated vehicle and the traveling direction of the obstacle intersect, The unit outputs a stop signal to stop the traveling of the operated vehicle to the operated vehicle.

  According to this configuration, the direction calculation unit proceeds based on the vehicle position information and the first position information and indicates the direction in which the operated vehicle is predicted to move from the current position of the operated vehicle indicated by the vehicle position information. Calculate the direction. Further, when the traveling direction of the operated vehicle intersects the traveling direction of the obstacle, the determination processing unit outputs a stop signal for stopping the traveling of the operated vehicle to the operated vehicle. For this reason, the traveling of the operated vehicle can be stopped without presenting the operator the risk of an accident such as a collision between the operated vehicle and an obstacle. For this reason, since the delay time by an operator's judgment does not generate | occur | produce, the safety | security of a to-be-operated vehicle improves.

  In the information processing apparatus according to an aspect of the present disclosure, in addition to the delay time, the delay time related to the process of generating the vehicle position information, the delay time related to the generation of the obstacle position information, A delay time related to a process of calculating a first predicted position; a delay time related to a process of calculating the second predicted position; a delay time of outputting the first predicted position and the second predicted position to a display device; A delay indicating a delay time by combining at least one of the delay times from when the information processing device generates a vehicle operation signal for operating the operated vehicle to when the operated vehicle receives the signal. A time measuring unit that measures information is provided, and the time measuring unit outputs the delay information to the position information processing unit.

  According to this configuration, in addition to the delay time required for information transmission between the operated vehicle and the remote control device, the first predicted position of the operated vehicle considering the delay time of the data processing, and the vicinity of the operated vehicle The second predicted position of the obstacle can be presented to an operator in a remote place that operates the operated vehicle. For this reason, the operability of the operated vehicle is improved. Thereby, the operator can operate the operated vehicle more safely.

  Further, the operated vehicle according to one aspect of the present disclosure is an operated vehicle that is remotely operated by an operator using an information processing device, and the control device includes a steering angle of the operated vehicle, the operated Transmission that transmits vehicle traveling information indicating a traveling state of the operated vehicle including at least one of a speed of the vehicle, an acceleration of the operated vehicle, and a traveling direction of the operated vehicle to the information processing apparatus. And the communication quality from the operated vehicle to the information processing device and the delay time required for information transmission between the operated vehicle and the information processing device, the transmission to the information processing device A control unit for controlling the amount of information of vehicle position information indicating the current position of the operated vehicle, the vehicle travel information, and obstacle position information indicating the current position of one or more obstacles around the operated vehicle; With .

  According to this configuration, the control unit transmits the vehicle transmitted by the operated vehicle according to the communication quality between the operated vehicle and the remote operation device and the delay time required for information transmission between the operated vehicle and the remote operation device. The amount of travel information, the priority of vehicle travel information, and the like can be controlled. For this reason, in the operated vehicle, even when the communication speed between the operated vehicle and the remote control device decreases, priority is given to necessary information related to safety in operating the operated vehicle remotely. Can be sent.

  The operated vehicle according to an aspect of the present disclosure further includes an imaging unit that generates and outputs video information indicating a video around the operated vehicle, and the control unit includes the operated vehicle and the operation vehicle. It is determined whether or not the communication speed with the information processing apparatus is greater than a specified value, and when the communication speed is equal to or less than a specified value, the information amount of the video information acquired from the imaging unit is reduced and reduced. The video information is output.

  According to this configuration, when the communication speed is equal to or lower than the specified value, the control unit reduces the information amount of the video information acquired from the imaging unit. This makes it easy to maintain real-time information transmission / reception between the operated vehicle and the information processing apparatus.

  In the operated vehicle according to an aspect of the present disclosure, the imaging unit is provided in a plurality, and the control unit determines the importance of the imaging unit according to the behavior of the operated vehicle, and the importance In response, the information amount of the video information generated by the imaging unit is reduced, and the reduced video information is output.

  According to this configuration, the control unit reduces the information amount of the video information generated by the imaging unit according to the importance. For example, when the operated vehicle bends, the video information captured by the imaging unit that captures the direction of the turn is important, and the importance of the video captured by the other imaging units decreases. Further, since the video information captured by the imaging unit that captures the turning direction is highly important, the information amount of the video information is not decreased or hardly decreased. In this way, by reducing the information amount of video information with low importance, it becomes easy to maintain real-time information transmission / reception between the operated vehicle and the information processing apparatus. In addition, for video information with high importance, a clear video can be obtained.

  These general or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM. The system, method, integrated circuit, computer You may implement | achieve with arbitrary combinations of a program or a recording medium.

  Note that each of the embodiments described below shows a specific example of the present disclosure. Numerical values, shapes, components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements. In all the embodiments, the contents can be combined.

  Each figure is a schematic diagram and is not necessarily illustrated strictly. Moreover, in each figure, the same code | symbol is attached | subjected to the substantially same structure, The overlapping description is abbreviate | omitted or simplified.

(Embodiment 1)
[Configuration of remote control system]
A configuration of remote operation system 100 in the first embodiment will be described with reference to FIG.

  FIG. 1 is a diagram illustrating an example of a remote operation system for operating the operated vehicle 16 from a remote place.

  As shown in FIG. 1, a remote operation system 100 is a system that connects an operated vehicle 16 and a remote operation device 13 via a wireless base station 15 such as a wireless LAN or a communication terminal and a network 14 so that they can communicate with each other. is there. The remote operation system 100 includes an operation input device 11, a display device 12, a speaker 19, an operated vehicle 16, and a remote operation device 13 for remotely operating the operated vehicle by an operator 10 at a remote location. ing. The remote operation device 13 is an example of an information processing device.

  The display device 12 is a device that displays the operated vehicle 16 and the state of an obstacle around the operated vehicle 16 to the operator 10. The display device 12 is connected to the remote operation device 13 and is a monitor that displays, for example, the operated vehicle 16 and obstacles around the operated vehicle 16, and the operator 10 in the remote place can detect the operated vehicle 16 and the obstacles. It is possible to recognize the state. A plurality of display devices 12 may be connected to the remote operation device 13.

  The obstacle here is another vehicle other than the operated vehicle 16, a person, etc., and mainly means a moving body that becomes an obstacle when the operated vehicle 16 travels. The obstacle may be a real estate fixed on the ground.

  The operation input device 11 is connected to the remote operation device 13 and is a device to which a remote operation of the operator 10 is input. The operation input device 11 is, for example, a handle, a foot pedal, or the like, and is a device for operating the operated vehicle 16. The operation input device 11 is connected to the remote operation device 13 and outputs an input vehicle operation signal to the remote operation device 13.

  The speaker 19 is connected to the remote control device 13 and outputs a warning sound to the operator 10 in order to call attention to the obstacle, thereby making the operator 10 recognize that the danger is imminent.

  The operated vehicle 16 is obtained from various sensors such as a mounted millimeter wave radar 1611, a laser radar 1610, and a camera 1612 shown in FIG. 2 to be described later, and sensing results of the operated vehicle 16 and the periphery of the operated vehicle 16 are obtained. Is transmitted to the remote control device 13 via the radio base station 15 and the network 14. Hereinafter, the millimeter wave radar 1611, the laser radar 1610, and the camera 1612 are collectively referred to as sensors.

  In addition, the operated vehicle 16 transmits a vehicle operation signal output when the operator 10 operates the operation input device 11 from the operation input device 11 via the remote operation device 13, the network 14, and the radio base station 15. By receiving, it is operated based on the vehicle operation signal.

  The operator 10 who operates the operated vehicle 16 from a remote location operates the operation input device 11 based on the operated vehicle 16 displayed on the display device 12 and the state of the obstacle. The state of the operated vehicle 16 and the obstacle corresponds to a map image described later.

[Configuration of operated vehicle]
Next, the configuration of the operated vehicle 16 in the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing an example of the configuration of the operated vehicle 16 according to the present embodiment.

  As shown in FIG. 2, the operated vehicle 16 is a vehicle that can perform autonomous traveling based on traveling data that the vehicle holds in advance, traveling data that is generated based on information detected by sensors, and the like. It is a vehicle capable of automatic driving that is remotely operated by an operator 10 in a remote place under predetermined conditions.

  The operated vehicle 16 includes a wireless communication unit 1601, a steering angle sensor 1602, a speed / acceleration sensor 1603, a speed control unit 1604, a steering control unit 1605, in-vehicle networks 1606 and 1607, a map database 1608, a remote A control unit 1609, one or more laser radars 1610, one or more millimeter wave radars 1611, one or more cameras 1612, and a GPS (Global Positioning System) 1613 are provided.

  The camera 1612 is provided at a position where photographing from the operated vehicle 16 in the front-rear and left-right directions is possible. That is, the camera 1612 is provided in the operated vehicle 16 so that the periphery of the operated vehicle 16 can be photographed. The camera 1612 outputs the captured image of the periphery of the operated vehicle 16 to the remote control unit 1609. The video here means to include moving images and still images. The camera 1612 is an example of an imaging unit.

  In the present embodiment, the operated vehicle 16 includes the laser radar 1610 and the millimeter wave radar 1611. However, the operated vehicle 16 is not an essential component of the operated vehicle 16, and thus may not be provided. .

  The wireless communication unit 1601 is a communication device that performs wireless communication with the wireless base station 15. The wireless communication unit 1601 remotely transmits sensing information including vehicle position information, vehicle travel information, video information, obstacle position information, time information indicating the time of sensing, and the like, which will be described later, via the wireless base station 15 and the network 14. It transmits to the operating device 13. The wireless communication unit 1601 is an example of a transmission unit.

  The steering angle sensor 1602 is a sensor that measures the steering angle of the wheel in the operated vehicle 16 and outputs the steering angle information related to the steering angle on the in-vehicle network 1607.

  The speed / acceleration sensor 1603 is a sensor that measures the speed and acceleration of the operated vehicle 16 and outputs vehicle speed information including the measured speed and acceleration on the in-vehicle network 1607.

  The speed control unit 1604 is a device that controls the speed by operating the accelerator, the brake, and the shift lever of the operated vehicle 16. The speed control unit 1604 is, for example, an ECU (engine control unit). The speed control unit 1604 receives the vehicle operation signal output from the operation input device 11 via the remote operation device 13, the network 14, the wireless base station 15, and the wireless communication unit 1601.

  The steering control unit 1605 is a device that controls the speed and steering of the operated vehicle 16 in accordance with a vehicle operation signal. The steering control unit 1605 is a device that can control the traveling direction of the operated vehicle 16 by operating the steering of the operated vehicle 16. The steering control unit 1605 also receives the vehicle operation signal output from the operation input device 11 via the remote operation device 13, the network 14, the wireless base station 15, and the wireless communication unit 1601.

  The in-vehicle networks 1606 and 1607 are transmission paths that transmit information transmitted and received between each sensor and each unit mounted on the operated vehicle 16 such as CAN (Control Area Network). The in-vehicle networks 1606 and 1607 may be integrated into one or may be configured with three or more networks.

  The map database 1608 is a database that stores map information related to structures such as roads and buildings. The map database 1608 is recorded on a recording medium such as a hard disk or a semiconductor memory.

  The remote control unit 1609 generates sensing information to be transmitted to the remote operation device 13. Specifically, the remote control unit 1609 is based on sensing information of the operated vehicle 16 obtained from the steering angle sensor 1602, the speed / acceleration sensor 1603, the map database 1608, the laser radar 1610, the camera 1612, and the GPS 1613. Vehicle position information indicating the current position of the operated vehicle 16 at the time when 16 is measured is generated. The vehicle position information may include identification information of the lane of the road on which the operated vehicle 16 travels, stored in the map database 1608.

  The remote control unit 1609 also steers the operated vehicle 16 based on sensing information obtained from the steering angle sensor 1602 and the speed / acceleration sensor 1603 from operations such as an accelerator, a brake, a shift lever, and steering of the operated vehicle 16. Vehicle travel information indicating the travel state of the operated vehicle 16 including at least one of the corner, the speed of the operated vehicle 16, the acceleration of the operated vehicle 16, and the traveling direction of the operated vehicle 16 is generated.

  Further, the remote control unit 1609 generates video information around the operated vehicle 16 based on sensing information obtained from one or more cameras 1612. The video information around the operated vehicle 16 may be generated individually as video information in the front-rear and left-right directions of the operated vehicle 16. You may synthesize | combine and produce | generate as information.

  Further, the remote control unit 1609 detects an obstacle around the vehicle of the operated vehicle 16 based on sensing information obtained from the sensors of the laser radar 1610, the millimeter wave radar 1611, and the camera 1612, so that the current obstacle is detected. Obstacle position information indicating the position is generated. The obstacle position information may include information on the current position of the obstacle, the speed of the obstacle, the acceleration of the obstacle, the traveling direction of the obstacle, the size of the obstacle, and the type of the obstacle. The types of obstacles are types that distinguish pedestrians, motorcycles, automobiles, and the like, for example. The current position of the obstacle indicates the position of the obstacle when each sensor senses the obstacle.

  Next, the remote control unit 1609 transmits vehicle position information, vehicle travel information, video information, and obstacle position information to the remote control device 13 via the wireless communication unit 1601.

  The remote control unit 1609 communicates with the remote control device 13 according to the communication quality from the operated vehicle 16 to the remote control device 13 and the delay time required for information transmission between the operated vehicle 16 and the remote control device 13. The amount of information of the vehicle position information, vehicle travel information, video information, and obstacle position information to be transmitted is controlled. The remote control unit 1609 changes the information amount of the vehicle position information, the vehicle traveling information, the video information, and the obstacle position information, or controls the communication amount by selectively transmitting the information. . The remote control unit 1609 is an example of a control unit.

  The remote control unit 1609 determines whether or not the communication speed between the operated vehicle 16 and the remote operation device 13 is higher than a specified value. The remote control unit 1609 determines the importance of the camera 1612 according to the behavior of the operated vehicle 16 when the communication speed is equal to or lower than a specified value. The remote control unit 1609 reduces the information amount of the video information generated by the camera 1612 according to the importance, and outputs the reduced video information to the remote operation device 13. The behavior of the operated vehicle 16 includes a right turn or a left turn of the operated vehicle 16, a lane change of the operated vehicle 16, a brake of the operated vehicle 16, and the like. The importance differs for each camera 1612 depending on the behavior of the operated vehicle 16. That is, the importance differs for each piece of video information generated by each camera 1612. Specifically, when the operated vehicle 16 bends, video information captured by the camera 1612 that captures the turning direction is important, and the importance of the video captured by the other cameras 1612 decreases. For this reason, the importance of the video information generated by the camera 1612 other than the direction of the turn is set low. Further, since the video information captured by the camera 1612 that captures the turning direction has high importance, the importance is set higher than the video information generated by other cameras 1612 other than the direction of bending.

  Then, the remote control unit 1609 does not reduce or slightly reduces the information amount of the video information with high importance. In addition, the remote control unit 1609 relatively reduces the information amount of video information with low importance. That is, the remote control unit 1609 reduces the information amount of video information with low importance from the current level. Alternatively, the remote control unit 1609 reduces the information amount of the less important video information with respect to the information amount of the higher importance video information.

  In such a remote control unit 1609, for example, when the communication speed is lowered due to deterioration of the radio wave environment between the radio base station 15 and the operated vehicle 16, the remote control unit 1609 relatively reduces the amount of information. The bit rate or the like of a large amount of video information is lower than the communication speed, that is, the information amount of the video information is preferentially lowered compared to the sensing information. This makes it easy to maintain real-time information transmission / reception between the operated vehicle 16 and the remote control device 13.

  The remote control unit 1609 selects an arbitrary camera 1612 from a plurality of cameras 1612 mounted on the operated vehicle 16 according to the driving scene of the operated vehicle 16, and a bit of video information corresponding to the selected camera 1612. The rate may be lowered. For example, when the operated vehicle 16 bends, the video information captured by the camera 1612 that captures the turning direction is important, and the importance of the video captured by the other camera 1612 decreases. For this reason, the video information of the other camera 1612 is reduced preferentially.

  The remote control unit 1609 receives the vehicle operation signal transmitted from the remote operation device 13 via the wireless communication unit 1601. The remote control unit 1609 controls the travel of the operated vehicle 16 by controlling the speed control unit 1604 and the steering control unit 1605 based on the received vehicle operation signal.

  The remote control unit 1609 measures a delay time from when the operation input device 11 generates a vehicle operation signal for operating the operated vehicle 16 to when the operated vehicle 16 receives the signal, and uses the measurement result. Delay information indicating a certain delay time may be transmitted to the remote control device 13. The delay time here is a time required for information transmission between the operated vehicle 16 and the remote control device 13.

  The laser radar 1610 is a sensor that is disposed around the operated vehicle 16 and measures a distance from an object around the operated vehicle 16 that has been irradiated with the laser light, from the transmission and reception of the laser light. The laser radar 1610 can also change the light transmission position and measure the three-dimensional shape of the object from the light reception result.

  The millimeter wave radar 1611 is a sensor that is disposed around the operated vehicle 16 and measures the distance and relative speed between the transmission and reception of radio waves in the millimeter wave region and the objects around the vehicle 16 to which the radio waves are reflected. It is.

  The GPS 1613 is a sensor that measures the current position of the operated vehicle 16.

[Configuration of remote control device]
Next, the configuration of the remote control device 13 in the present embodiment will be described with reference to FIG. FIG. 3 is a block diagram illustrating an example of the configuration of the remote control device 13 according to the first embodiment.

  As shown in FIG. 3, the remote operation device 13 includes a communication interface 1301, a vehicle information reception unit 1302, a vehicle operation signal transmission unit 1303, a time measurement unit 1304, a vehicle operation signal generation unit 1305, and a map database 1306. And an HMI generation unit 1307.

  The communication interface 1301 is a communication unit that is connected to the network 14 and communicates with the operated vehicle 16 via the network 14 and the wireless base station 15.

  The vehicle information receiving unit 1302 receives at least vehicle position information, vehicle travel information, video information, and obstacle position information transmitted from the operated vehicle 16 via the communication interface 1301.

  The time measuring unit 1304 measures a delay time required for information transmission between the operated vehicle 16 and the remote control device 13 via the radio base station 15 and the network 14. For example, the time measurement unit 1304 acquires the time point when these sensors of the laser radar 1610, the millimeter wave radar 1611, and the camera 1612 sense the operated vehicle 16 and an obstacle, and the sensing information sensed by these sensors. Measure the time difference from the time point. The time measuring unit 1304 may be a timer, for example.

  In addition, the time measurement unit 1304 includes not only the time required for information transmission between the operated vehicle 16 and the remote operation device 13 but also a delay time related to a process for generating vehicle position information, A delay time related to the generation of the object position information, a delay time related to a process of calculating a first predicted position, which will be described later, a delay time related to a process of calculating the second predicted position, the first predicted position, and the second predicted At least of a delay time for outputting the position to the display device 12 and a delay time from when the remote operation device 13 generates a vehicle operation signal for operating the operated vehicle 16 until the operated vehicle 16 receives the signal. The delay information indicating the delay time is calculated by combining one or more. The time measuring unit 1304 outputs the delay information to the position information processing unit 1307a. Note that the time measurement unit 1304 may calculate delay information indicating the delay time by combining delay times related to the process of calculating a third predicted position, which will be described later, in the delay time.

  The vehicle operation signal generation unit 1305 generates a vehicle operation signal based on the operation of the operation input device 11 by the operator 10 and outputs the generated vehicle operation signal to the vehicle operation signal transmission unit 1303.

  The vehicle operation signal transmission unit 1303 transmits the vehicle operation signal generated by the vehicle operation signal generation unit 1305 to the operated vehicle 16 via the communication interface 1301, the network 14, and the radio base station 15.

  The map database 1306 is a database that stores map information related to structures such as roads.

  The HMI generation unit 1307 generates a map video necessary for the operation of the operated vehicle 16 by the operator 10 based on the vehicle position information, vehicle travel information, obstacle position information, video information, delay time, and map information. The map video is output to the display device 12. Specifically, the HMI generation unit 1307 includes a position information processing unit 1307a, a direction calculation unit 1307b, a determination processing unit 1307c, and a video generation unit 1307d.

  The position information processing unit 1307a is a vehicle position information indicating the current position of the operated vehicle 16 acquired by the operated vehicle 16 and a delay indicating a delay time required for information transmission between the operated vehicle 16 and the remote operation device 13. Based on the information, first position information indicating a first predicted position of the operated vehicle 16 in consideration of a delay time with respect to the current position of the operated vehicle 16 is generated. The position information processing unit 1307a outputs first position information indicating the calculated first predicted position to the display device 12 via the video generation unit 1307d and the determination processing unit 1307c.

  The position information processing unit 1307 a acquires rudder angle information indicating the steering angle of the operated vehicle 16 from the operated vehicle 16. The position information processing unit 1307a is predicted to reach the operated vehicle 16 after an arbitrary time has elapsed from the time point indicating the current position of the operated vehicle 16 based on the vehicle position information and the steering angle information. A third predicted position different from the one predicted position is calculated. Details of the calculation of the third predicted position will be described later. Then, the position information processing unit 1307a outputs third position information indicating the calculated third predicted position to the display device 12 via the video generation unit 1307d.

  Note that the position information processing unit 1307a may calculate a plurality of third predicted positions. In this case, a predicted trajectory may be drawn from a plurality of third predicted positions. Further, the third predicted position may be a position indicating the tip of the first predicted position.

  The position information processing unit 1307a also obtains the current position of the obstacle based on the obstacle position information acquired by the operated vehicle 16 and indicating the current position of one or more obstacles around the operated vehicle 16 and the delay information. Second position information indicating a second predicted position of one or more obstacles considering delay time with respect to the position is generated. The position information processing unit 1307a outputs second position information indicating the calculated second predicted position to the display device 12 via the video generation unit 1307d and the determination processing unit 1307c.

  With respect to the method for calculating the first predicted position, the position information processing unit 1307a calculates the target position from the current position of the operated vehicle 16, the speed of the operated vehicle 16 indicated by the vehicle travel information, and the traveling direction of the operated vehicle 16. A first predicted position may be calculated in consideration of the delay time with respect to the current position of the operation vehicle 16.

  As for the method for calculating the first predicted position, the position information processing unit 1307a stores information on the current position of the operated vehicle 16 measured every unit time in a storage device such as a memory, The first predicted position may be calculated from the speed of the operated vehicle 16.

  Based on the obstacle position information, the direction calculation unit 1307b calculates an obstacle traveling direction indicating a direction in which the obstacle is predicted to move from the current position of the obstacle indicated by the obstacle position information. The direction calculation unit 1307b obtains the direction information of the obstacle indicated by the calculated traveling direction of the obstacle, via the image generation unit 1307d and the determination processing unit 1307c. It outputs to the display device 12 which recognizes a state.

  The method of calculating the traveling direction of the obstacle may be calculated from, for example, a change in the position of the obstacle by the first sensing and the position of the obstacle by the second sensing.

  Further, the direction calculation unit 1307b further indicates a direction in which the operated vehicle 16 is predicted to move from the current position of the operated vehicle 16 indicated by the vehicle position information based on the vehicle position information and the first position information. The traveling direction of the operated vehicle 16 is calculated. The traveling direction of the operated vehicle 16 is obtained, for example, by detecting the steering angle of the operated vehicle 16 by the steering control unit 1605. The direction calculation unit 1307b outputs the direction information of the operated vehicle 16 indicated by the calculated traveling direction of the operated vehicle 16 to the display device 12 via the video generation unit 1307d and the determination processing unit 1307c.

  Based on the first predicted position and the second predicted position, the determination processing unit 1307c determines whether the distance between the operated vehicle 16 and the obstacle is equal to or less than a specified threshold value. When the distance between the operated vehicle 16 and the obstacle is equal to or less than a predetermined threshold, the determination processing unit 1307c outputs information for calling attention on the corresponding obstacle to the display device 12. By changing the color of the obstacle that is close to the operated vehicle 16 shown in the map image as information that calls attention to the obstacle, the operator 10 can easily recognize that the danger is imminent. The information for calling attention to an obstacle is not limited to changing the color of the corresponding obstacle, but may be easily recognized by the operator 10 by blinking. It may be output. The determination processing unit 1307c is provided in the HMI generation unit 1307, but may be configured as a separate device from the HMI generation unit 1307.

  Further, the determination processing unit 1307c determines whether or not the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle intersect based on the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle. When the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle intersect, the determination processing unit 1307 c outputs a stop signal for stopping the traveling of the operated vehicle 16 to the operated vehicle 16. Details of the output of the stop signal will be described later.

  Note that the determination processing unit 1307c may output a result of determining whether or not the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle intersect to the vehicle operation signal generation unit 1305. In this case, the vehicle operation signal generation unit 1305 may output a stop signal for stopping the travel of the operated vehicle 16 to the operated vehicle 16. In this case, the stop signal may be included in the vehicle operation signal.

  The video generation unit 1307d of the HMI generation unit 1307 displays a map video in which the first position information, the second position information, the direction information of the operated vehicle 16, and the direction information of the obstacle are associated with the map information. Output to. Specifically, the video generation unit 1307d displays the first prediction indicated by each of the first position information and the second position information generated by the position information processing unit 1307a on the map indicated by the map information stored in the map database 1306. Map the position and the second predicted position. Furthermore, the video generation unit 1307d maps the third predicted position indicated by the third position information on the map indicated by the map information stored in the map database 1306. Furthermore, the video generation unit 1307d maps the traveling direction of the obstacle indicated by the obstacle direction information on the map indicated by the map information stored in the map database 1306. Note that the traveling direction of the operated vehicle 16 may be further mapped to a map indicated by the map information.

  In this way, the video generation unit 1307d maps the first predicted position, the second predicted position, the third predicted position, and the traveling direction of the obstacle to the map indicated by the map information stored in the map database 1306. Generate video.

  The video generation unit 1307 d outputs the map video to the display device 12. This map image is information necessary for the remote operation of the operated vehicle 16 by the operator 10.

  Next, new map information output to the display device 12 will be described with reference to FIG.

  FIG. 4 is a diagram showing an example of an output screen on which the map image generated by the HMI generation unit 1307 in the remote operation device 13 of the remote operation system according to the present embodiment is displayed on the display device 12.

  As shown in FIG. 4, the output screen 200 of the display device 12 is displayed on all or part of the display screen of the display device 12. A map video 201 is displayed on the output screen 200.

  The map video 201 is generated from the map information stored in the map database 1306, the current vehicle position 202a, the predicted vehicle position 202b, the predicted vehicle position 202c, and the like. The map image 201 displays information on the road on which the operated vehicle 16 travels, the surrounding roads, traffic signs, and the like.

  The information regarding the operated vehicle 16 includes vehicle position information indicating the current vehicle position 202a, first position information indicating the predicted vehicle position 202b, and third position information indicating the predicted vehicle position 202c.

  The vehicle current position 202a is displayed at a corresponding position on the map image 201 of the display device 12 based on the vehicle position information.

  The predicted vehicle position 202b indicates the first predicted position of the operated vehicle 16 with respect to the current vehicle position 202a in consideration of the delay time. The predicted vehicle position 202b is displayed at a corresponding position on the map video 201 based on at least the vehicle position information and the delay time. Further, the predicted vehicle position 202b may be calculated by further considering vehicle travel information.

  A method for obtaining the predicted vehicle position 202b based on the vehicle position information and the delay time will be described using an example.

The predicted vehicle position 202b is the x direction in the traveling direction of the operated vehicle 16 and the y direction in the lateral direction. The predicted vehicle position at time t2 is (x _t2 , y _t2 , 0), and the current vehicle position at time t1. The position is (x _t1 , y _t1 , 0), the x-axis speed is ν _x , the y-axis direction speed is ν _y , the x-axis direction acceleration is a _x , and the y-axis direction acceleration is a _y. When the delay time is D, it is obtained by the following equations (1) and (2). It is assumed that the relationship between the time t1, the time t2, and the delay time D is t2 = t1 + D. 0 shown in the vehicle current position indicates the z-axis direction orthogonal to the x-axis and the y-axis.

  The delay time D includes a delay time related to a process for generating vehicle position information, a delay time related to a process for calculating a predicted vehicle position, and a delay time for outputting the predicted vehicle position 202b to the display device 12, At least one value may be added in advance.

The speed and acceleration can be obtained by, for example, Expression (3) and Expression (4) when the speed in the x-axis direction at time t is ν _x (t) and the acceleration in the x-axis direction is a _x , respectively. .

  Note that the HMI generating unit 1307 may use the vehicle travel information in a complementary manner for calculating the predicted vehicle position 202b.

  The predicted vehicle position 202c indicates a position until the operated vehicle 16 arrives at an arbitrary time from the time of the current position of the operated vehicle 16 based on the vehicle position information, and is displayed on the map image 201 of the display device 12. Displayed at the corresponding position. The predicted vehicle position 202c is an example of a third predicted position. In FIG. 4, it is displayed at a position advanced from the first predicted position, but may be a position before the first predicted position. That is, the arbitrary time may be the same as or different from the time from the time of the current position to the time of the first predicted position.

  The predicted vehicle position 202c can be obtained by using an arbitrary elapsed time instead of the delay time, for example, from the equations (1) to (4). Note that the HMI generation unit 1307 may use the vehicle travel information in a complementary manner to calculate the predicted vehicle position 202c.

  Further, the map image 201 displayed on the output screen 200 shows the current position of the obstacle (203a, 204a, 205a, 206a, 207a, 208a) regarding at least one obstacle around the operated vehicle 16. The obstacle predicted position (203b, 204b, 205b, 206b, 207b, 208b) and the obstacle movement vector (203c, 204c, 205c, 206c, 207c, 208c) are shown.

  The current position of the obstacle (203a, 204a, 205a, 206a, 207a, 208a) is a map image of the display device 12 based on the obstacle position information indicating the position of one or more obstacles around the operated vehicle 16. It is displayed at a corresponding position on 201.

  The obstacle predicted position (203b, 204b, 205b, 206b, 207b, 208b) indicates the predicted position of the obstacle in consideration of the delay time. The obstacle predicted positions (203b, 204b, 205b, 206b, 207b, 208b) are displayed at corresponding positions on the map video 201 based on the obstacle position information and the delay time. The obstacle predicted positions (203b, 204b, 205b, 206b, 207b, 208b) are the current positions (203a, 204a, 205a, 206a, 207a, 208a) of the obstacles expressed by the equations (1) to (4). Can be obtained by substituting The obstacle predicted position (203b, 204b, 205b, 206b, 207b, 208b) is an example of the second predicted position.

  It should be noted that the delay time related to the processing for calculating the obstacle predicted position (203b, 204b, 205b, 206b, 207b, 208b) and the obstacle predicted position (203b, 204 b, 205 b, 206 b, 207 b, 208 b) and one or more values among delay time for outputting to the display device 12 and delay time from generation of the vehicle operation signal to reception of the operated vehicle 16. It may be added in advance.

  The obstacle movement vector (203c, 204c, 205c, 206c, 207c, 208c) indicates the traveling direction of the obstacle, and corresponds to the obstacle on the map image 201 of the display device 12 based on the obstacle position information. Displayed in position. For example, when the obstacle on the map image 201 is the current position 203a of the obstacle, an obstacle movement vector 203c corresponding to the obstacle is shown. The obstacle movement vector (203c, 204c, 205c, 206c, 207c, 208c) is an example of the traveling direction of the obstacle.

  Note that the HMI generation unit 1307 includes a vehicle current position 202a, a vehicle predicted position 202b, a vehicle predicted position 202c, an obstacle current position (203a, 204a, 205a, 206a, 207a, 208a), and an obstacle predicted position (203b, 204b). , 205b, 206b, 207b, 208b) and information on the obstacle movement vector (203c, 204c, 205c, 206c, 207c, 208c) according to the operation status of the operator 10 and the state of the operated vehicle 16 12 may be output and at least a part of the information may be hidden.

  Note that the HMI generating unit 1307 has a high possibility of contact and collision with the operated vehicle 16 based on at least the predicted vehicle position 202b and the predicted obstacle position (203b, 204b, 205b, 206b, 207b, 208b). For the one or more obstacles, for example, the current position (203a, 204a, 205a, 206a, 207a, 208a) of the obstacle shown in FIG. 4 and the predicted obstacle position (203b, 204b, 205b, 206b, 207b and 208b) may be changed to notify the operator 10 of the danger of the operated vehicle 16 by changing the color. For example, as an example of a method for determining that the possibility of contact and collision is high, among obstacles in which the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle coincide or cross, A case where the difference between the predicted obstacle position and the predicted vehicle position is smaller than an arbitrary distance is considered.

  Next, an example of a method for determining the possibility of contact or collision between the operated vehicle 16 and an arbitrary obstacle will be described.

First, a method for determining whether or not the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle intersect will be described. The current position of the operated vehicle 16 illustrated in _{(x t1, y t1, z} t1), the current position _{(x t1, y t1, z} t1) predicted vehicle position of an arbitrary time from the time (T seconds) after a ( x _t2 , y _t2 , z _t2 ), the current position of the obstacle indicated by the obstacle position information is indicated by (X _t1 , Y _t1 , Z _t1 ), and the current position (X _t1 , Y _t1 , Z _t1 ) The case where the predicted obstacle position after an arbitrary time (T seconds) from the time point is indicated by (X _t2 , Y _t2 , Z _t2 ) is expressed by Expression (5) and Expression (6). Note that z _t1 , z _t2 , Z _t1 , and Z _t2 are 0 because they are in the height direction.

  When the condition of Expression (7) is satisfied based on Expression (5) and Expression (6), it can be determined that the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle intersect. In this case, the determination processing unit 1307 c outputs a stop signal for stopping the traveling of the operated vehicle 16 to the operated vehicle 16. Whether or not the operated vehicle 16 and the obstacle travel in the same direction can be determined by whether or not the operated vehicle 16 and the obstacle are on the same lane or in the same traveling direction.

  Next, how to obtain the distance between the operated vehicle 16 and an arbitrary obstacle will be described.

When the vehicle predicted position is (x _t2 , y _t2 , z _t2 ) and the obstacle predicted position is (X _t2 , Y _t2 , Z _t2 ), the distance between the vehicle predicted position and the obstacle predicted position is expressed by the following equation: When the distance between the predicted vehicle position and the predicted obstacle position is an arbitrary value or less, it can be determined that the risk of contact is high.

  As illustrated in FIG. 4, the HMI generation unit 1307 may output vehicle travel information and video information to the display device 12 as information necessary for operating the operated vehicle 16. The HMI generation unit 1307 has a high possibility of contacting and colliding with the operated vehicle 16 based on at least the predicted vehicle position 202b and the predicted obstacle position (203b, 204b, 205b, 206b, 207b, 208b). Further, regarding one or more obstacles, a frame line for notifying danger may be superimposed on the corresponding obstacle displayed in the video information. That is, information that calls attention may be output to the display device 12.

  The HMI generation unit 1307 has a high possibility of contacting and colliding with the operated vehicle 16 based on at least the predicted vehicle position 202b and the predicted obstacle position (203b, 204b, 205b, 206b, 207b, 208b). In such a case, a frame line for notifying the danger may be displayed for the entire screen of the display device 12.

[Operation]
Next, the operation of the remote operation system 100 in the present embodiment will be described.

  FIG. 5 is a sequence diagram illustrating the operation of the remote control system according to the first embodiment.

  As shown in FIG. 5, first, each sensor of the operated vehicle 16 senses the periphery of the operated vehicle 16, so that the vehicle position information, vehicle travel information, obstacle position information, and video of the operated vehicle 16 are detected. Information etc. are acquired (S11). The operated vehicle 16 transmits vehicle position information, vehicle travel information, obstacle position information, video information, and the like measured by each sensor to the remote control device 13 via the wireless communication unit 1601 and the like.

  Next, the remote control device 13 acquires vehicle position information, obstacle position information, and the like. The time measurement unit calculates a delay time required for information transmission between the operated vehicle 16 and the remote operation device 13 (S21), and outputs the delay information to the HMI generation unit 1307.

  Next, the direction calculation unit 1307b of the HMI generation unit 1307 calculates the traveling direction of the obstacle from the current position of the obstacle based on the obstacle position information (S22). The direction calculation unit 1307b outputs information indicating the traveling direction of the obstacle to the video generation unit 1307d.

  Next, the position information processing unit 1307a of the HMI generation unit 1307 is operated after an arbitrary time has elapsed from the current position of the operated vehicle 16 indicated by the vehicle position information based on the steering angle information and the vehicle position information. Third position information indicating the third predicted position predicted to be reached by the vehicle 16 is generated (S23). The position information processing unit 1307a outputs the third position information to the video generation unit 1307d.

  Next, the position information processing unit 1307a of the HMI generating unit 1307 generates first position information indicating the first predicted position based on the vehicle position information and the delay information (S24). Further, the position information processing unit 1307a generates second position information indicating the second predicted position of the obstacle based on the obstacle position information and the delay information (S24). The position information processing unit 1307a outputs the first position information and the second position information to the video generation unit 1307d of the HMI generation unit 1307.

  Next, the video generation unit 1307d adds the first position information, the second position information, the third position information, and a position based on the information indicating the traveling direction of the obstacle to the map indicated by the map information stored in the map database 1306. Are mapped to generate a map image (S25). The video generation unit 1307 d outputs the map video to the display device 12.

  Next, the display device 12 displays a map video (S31).

  Next, when the operator 10 recognizes from the map video displayed on the display device 12 that the operated vehicle 16 has a risk of colliding with an obstacle, the operator 10 operates the operation input device 11. The operation input device 11 transmits a vehicle operation signal to the remote operation device 13 (S41).

  Next, the remote operation device 13 receives the vehicle operation signal and transmits it to the operated vehicle 16.

  Next, the operated vehicle 16 receives the vehicle operation signal and travels according to the vehicle operation signal (S12). Thus, the remote operation system 100 can remotely control the operated vehicle 16 traveling on the road.

  Next, a mode of displaying on the display device 12 according to the distance between the operated vehicle 16 and the obstacle will be described.

  FIG. 6 is a flowchart illustrating processing for determining information to be displayed on the display device 12 according to the distance between the operated vehicle 16 and the obstacle according to the first embodiment.

  As shown in FIG. 6, first, the determination processing unit 1307c calculates the distance between the operated vehicle 16 and the obstacle based on the first predicted position and the second predicted position (S101).

  Next, the determination processing unit 1307c determines whether or not the distance calculated in step S101 is equal to or less than a specified threshold (S102).

  When the distance between the operated vehicle 16 and the obstacle is equal to or less than the predetermined threshold (YES in S102), the determination processing unit 1307c adds information for calling attention on the corresponding obstacle to the map image in FIG. (S103). Specifically, the judgment processing unit 1307c is imminent by changing the color of the obstacle that is close to the operated vehicle 16 shown in the map video as information that calls attention to the corresponding obstacle. This makes it easy for the operator 10 to recognize this. The determination processing unit 1307c outputs a map video to which information for calling attention regarding the corresponding obstacle is added to the display device 12 (S103). Then, this process ends.

  In addition, when the distance between the operated vehicle 16 and the obstacle is larger than the predetermined threshold (NO in S102), it is considered that the distance between the obstacle and the operated vehicle 16 is far away, so the determination processing unit 1307c. Outputs a normal map image to the display device 12 (S104). Then, this process ends.

  Next, a case where the traveling of the operated vehicle 16 is forcibly stopped will be described.

  FIG. 7 is a flowchart illustrating a process for controlling traveling of the operated vehicle 16 from the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle according to the first embodiment.

  As illustrated in FIG. 7, first, the direction calculation unit 1307b predicts that the operated vehicle 16 moves from the current position of the operated vehicle 16 indicated by the vehicle position information based on the vehicle position information and the first position information. The traveling direction indicating the direction to be displayed is calculated. Further, the direction calculation unit 1307b calculates a traveling direction indicating a direction in which the obstacle is predicted to move from the current position of the obstacle indicated by the obstacle position information based on the obstacle position information (S111).

  Next, the determination processing unit 1307c determines whether or not the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle intersect based on the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle. (S112).

  When the traveling direction of the operated vehicle 16 intersects the traveling direction of the obstacle (YES in S112), the determination processing unit 1307c outputs a stop signal for stopping the traveling of the operated vehicle 16 to the operated vehicle 16. (S113). Then, this process ends.

  On the other hand, when the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle do not intersect (NO in S112), this process is terminated.

  The determination processing unit 1307c exemplifies a case where information for calling attention regarding the corresponding obstacle is output to the display device 12.

  FIG. 8A is an image diagram showing an obstacle according to the first embodiment. FIG. 8B is an image diagram illustrating a state where there is a risk of collision between the operated vehicle 16 and an obstacle according to the first embodiment. FIG. 8B shows the obstacle after an arbitrary time has elapsed from FIG. 8A.

  8A and 8B are output screens displayed on the display device 12. This output screen may be displayed at a location adjacent to the output screen 200 of FIG.

  In FIG. 8A, the obstacle sensed by the operated vehicle 16 is surrounded by a solid square frame. In FIG. 8B in which an arbitrary time has elapsed from FIG. 8A, the traveling direction of the oncoming vehicle 217 that is the obstacle of FIG. 8A is directed to the operated vehicle 16. In this case, since the oncoming vehicle 217 may bend, the determination processing unit 1307c determines that the traveling direction of the operated vehicle 16 and the traveling direction of the oncoming vehicle 217 intersect. In this case, the determination processing unit 1307c changes, for example, the color of the square frame of the oncoming vehicle 217 in order to output the information that calls attention to the obstacle to the display device 12. On the display device 12, the oncoming vehicle 217 is displayed with the color of the square frame changed.

  Next, a decrease in the amount of video information will be described.

  FIG. 9 is a flowchart showing processing for reducing video information according to the first embodiment.

  As shown in FIG. 9, first, the remote control unit 1609 communicates between the remote operation device 13 and the operated vehicle 16, more specifically, communication between the radio base station 15 and the operated vehicle 16. The speed is acquired from the wireless communication unit 1601 (S201).

  Next, the remote control unit 1609 determines whether or not the communication speed is higher than a specified value according to the behavior of the operated vehicle 16 (S202).

  When the communication speed is equal to or lower than the specified value (NO in S202), the remote control unit 1609 determines the importance for each camera 1612 (S204).

  Next, the remote control unit 1609 reduces the information amount of the video information generated by the camera 1612 according to the importance (S205). The remote control unit 1609 reduces the information amount of video information with low importance according to the importance set in step S204, and does not reduce or slightly decreases the information amount of video information with high importance. The remote control unit 1609 outputs the generated video information to the remote operation device 13 (S205). Then, this process ends.

  On the other hand, when the communication speed is higher than the specified value (YES in S202), the remote control unit 1609 outputs the video information generated by the camera 1612 to the remote operation device 13 as it is (S203). Then, this process ends.

  In this process, the importance is determined in step S204, but this is not an essential constituent requirement. That is, the amount of video information may be reduced without determining the importance.

[Function and effect]
Next, the operation and effect of the remote control device 13, the operated vehicle 16, the information processing method, and the program in the present embodiment will be described.

  As described above, in the remote operation device 13 according to the present embodiment, the position information processing unit 1307a indicates the first predicted position of the operated vehicle 16 in consideration of the delay time with respect to the current position of the operated vehicle 16. First position information is generated, and second position information indicating a second predicted position of one or more obstacles in consideration of a delay time with respect to the current position of the obstacle is generated. The position information processing unit 1307a outputs first position information and second position information. For this reason, even when a delay time required for information transmission between the operated vehicle 16 and the remote control device 13 occurs, the first position information of the operated vehicle 16 and the second position information of the obstacle in consideration of the delay time. Can be presented to the operator 10 at a remote location. For this reason, the operator 10 can recognize information related to each of the predicted vehicle position and the predicted obstacle position, which makes it easier to remotely operate the operated vehicle 16.

  Therefore, the safety of the operated vehicle 16 can be improved. As a result, the operator 10 can remotely operate the operated vehicle 16 safely.

  Also, the information processing method and program according to the present embodiment have the same effects as described above.

  Moreover, in the remote control device 13 according to the present embodiment, the position information processing unit 1307a reaches the operated vehicle 16 after an arbitrary time has elapsed from the current position of the operated vehicle 16 based on the vehicle position information. Then, a predicted third predicted position is calculated. The position information processing unit 1307a outputs the third position information indicating the third predicted position to the display device 12. For this reason, the operator 10 can be presented with the current position of the operated vehicle 16 and the third predicted position after an arbitrary time has elapsed from the current position. For this reason, it becomes easy to remotely operate the operated vehicle 16. Thereby, since the operator 10 can correct the operation of the operated vehicle 16, the operated vehicle 16 can be operated more safely.

  In the remote control device 13 according to the present embodiment, the direction calculation unit 1307b indicates the direction in which the obstacle is predicted to move from the current position of the obstacle indicated by the obstacle position information based on the obstacle position information. Calculate the direction of obstacle travel. The direction calculation unit 1307b outputs direction information indicated by the traveling direction. Therefore, the current position of the obstacle around the operated vehicle 16 and the traveling direction of the obstacle can be presented to the operator 10. Therefore, the operator 10 can quickly identify an obstacle to be noted when operating the operated vehicle 16. For this reason, since it becomes easy for the operator 10 to recognize the state of the operated vehicle 16 and the obstacle, the operated vehicle 16 can be operated more safely.

  Further, in the remote control device 13 according to the present embodiment, when the distance between the operated vehicle 16 and the obstacle is equal to or less than a predetermined threshold, the determination processing unit 1307c displays information for calling attention on the corresponding obstacle. The state of the operated vehicle 16 and the obstacle is output. For this reason, the danger of the occurrence of an accident such as collision of the operated vehicle 16 and an obstacle can be presented to the operator 10 in advance. For this reason, since it becomes easy for the operator 10 to recognize the state of the operated vehicle 16 and the obstacle from the information for prompting attention, the operated vehicle 16 can be operated more safely.

  Further, in the remote control device 13 according to the present embodiment, when the distance between the operated vehicle 16 and the obstacle is equal to or less than a predetermined threshold, the determination processing unit 1307c displays information for calling attention on the corresponding obstacle. And output as a warning sound. For this reason, it is possible to make the operator 10 recognize in advance the risk of an accident such as a collision between the operated vehicle 16 and an obstacle. Thereby, the operator 10 can operate the operated vehicle 16 more safely.

  Moreover, in the remote control device 13 according to the present embodiment, the direction calculation unit 1307b determines the operated vehicle from the current position of the operated vehicle 16 indicated by the vehicle position information based on the vehicle position information and the first position information. The traveling direction indicating the direction in which 16 is predicted to move is calculated. Further, when the traveling direction of the operated vehicle 16 and the traveling direction of the obstacle intersect, the determination processing unit 1307 c outputs a stop signal for stopping the traveling of the operated vehicle 16 to the operated vehicle 16. For this reason, the traveling of the operated vehicle 16 can be stopped without presenting the operator 10 the risk of an accident such as a collision between the operated vehicle 16 and an obstacle. For this reason, since the delay time by the judgment of the operator 10 does not occur, the safety of the operated vehicle 16 is improved.

  Further, in the remote control device 13 according to the present embodiment, in addition to the delay time required for information transmission between the operated vehicle 16 and the remote control device 13, the operation time of the operated vehicle 16 in consideration of the data processing delay time. The 1 predicted position and the second predicted position of the obstacle in the vicinity of the operated vehicle 16 can be presented to the operator 10 in the remote place where the operated vehicle 16 is operated. For this reason, the operability of the operated vehicle 16 is improved. Thereby, the operator 10 can operate the operated vehicle 16 more safely.

  In the operated vehicle 16 according to the present embodiment, the remote control unit 1609 communicates the communication quality between the operated vehicle 16 and the remote operation device 13 and information between the operated vehicle 16 and the remote operation device 13. The amount of vehicle travel information transmitted by the operated vehicle 16, the priority of the vehicle travel information, and the like can be controlled by the delay time required for transmission. For this reason, in the operated vehicle 16, even when the speed at which communication is possible between the operated vehicle 16 and the remote operation device 13 is reduced, necessary information related to safety in operating the operated vehicle 16 from a remote location. Can be preferentially transmitted.

  In the operated vehicle 16 according to the present embodiment, the amount of video information acquired from the camera 1612 by the remote control unit 1609 is reduced when the communication speed is equal to or lower than a specified value. This makes it easy to maintain real-time information transmission / reception between the operated vehicle 16 and the remote control device 13.

  In the operated vehicle 16 according to the present embodiment, the remote control unit 1609 reduces the information amount of the video information generated by the camera 1612 according to the importance. For example, when the operated vehicle 16 bends, the video information captured by the camera 1612 that captures the turning direction is important, and the importance of the video captured by the other camera 1612 decreases. Further, since the video information captured by the camera 1612 that captures the turning direction is highly important, the information amount of the video information is not decreased or hardly decreased. In this way, by reducing the amount of video information with low importance, it becomes easier to maintain real-time information transmission / reception between the operated vehicle 16 and the remote control device 13. In addition, for video information with high importance, a clear video can be obtained.

(Modification of Embodiment 1)
Next, a remote control system according to this modification will be described.

  This modified example is different from the first embodiment in that the configuration of the operated vehicle 160 further includes a position detection unit 1614 and an obstacle detection unit 1615. Further, this modification example is the same as that of the first embodiment unless otherwise specified, and the same components are denoted by the same reference numerals, and detailed description thereof is omitted.

[Configuration of another operated vehicle]
FIG. 10 is a block diagram illustrating an example of another configuration of the operated vehicle 160 in the modification of the first embodiment.

  As shown in FIG. 10, the configuration of the operated vehicle 160 further includes a position detection unit 1614 and an obstacle detection unit 1615. Among the roles of the remote control unit 1609 in FIG. 2, in the operated vehicle 160 in FIG. 10, the position detection unit 1614 generates vehicle position information, and the obstacle detection unit 1615 generates obstacle position information.

  In place of the remote control unit 1609, the position detection unit 1614 includes one or more of a steering angle sensor 1602, a speed / acceleration sensor 1603, a map database 1608, a laser radar 1610, a camera 1612, and a GPS 1613 obtained from these devices. Based on the information, the current position of the operated vehicle 160 is measured to generate vehicle position information.

  The obstacle detection unit 1615 generates obstacle position information based on information obtained from the laser radar 1610, the millimeter wave radar 1611, and the camera 1612 instead of the remote control unit 1609.

  The remote control unit 1609 generates video information in the front-rear and left-right directions of the operated vehicle 160 obtained from one or more cameras 1612, and from each information output from the steering angle sensor 1602 and the speed / acceleration sensor 1603, the vehicle Generate travel information.

  Further, the remote control unit 1609 remotely transmits the vehicle position information generated by the position detection unit 1614, the vehicle travel information, the video information, and the obstacle position information generated by the obstacle detection unit 1615 via the wireless communication unit 1601. It transmits to the operating device 130.

  FIG. 11 is a block diagram illustrating an example of another configuration of the remote control device 130 according to the modification of the first embodiment.

  In this modification, the position detection unit 1614 of the operated vehicle 160 generates the vehicle position information, and the obstacle detection unit 1615 of the operated vehicle 160 generates the obstacle position information. Therefore, the difference from FIG. 3 of the first embodiment is that the HMI generation unit 1307 does not have the position information processing unit 1307a.

  The functions and effects in this modification are the same as those in the first embodiment, and detailed description of the same functions and effects is omitted.

(Embodiment 2)
Next, the remote control system in this embodiment will be described.

  The present embodiment is different from the first embodiment in that the time measuring unit 1304 in FIG. 3 is not provided in the remote control device 230 and that the remote control unit 1609 generates delay information.

  In the present embodiment, the other configurations in the remote operation system are the same as those of the remote operation system 100 in the first embodiment, and unless otherwise specified, the same configurations are denoted by the same reference numerals and related to the configurations. Detailed description is omitted.

[Configuration of operated vehicle]
As shown in FIG. 2, the remote control unit 1609 measures a delay time that is a delay time required for information transmission between the operated vehicle 16 including the radio base station 15 and the network 14 and the remote operation device 230.

  Note that the remote control unit 1609 may calculate the current position and the first predicted position of the operated vehicle 16 based on the vehicle position information and the delay time. Further, the remote control unit 1609 may calculate the current position and the second predicted position of the obstacle based on the obstacle position information and the delay time. Then, the remote control unit 1609 transmits vehicle position information, first position information, vehicle travel information, obstacle position information, second position information, and video information to the remote control device 230 via the wireless communication unit 1601. May be.

  Further, the remote control unit 1609 receives the vehicle operation signal transmitted by the remote operation device 230 via the wireless communication unit 1601. The remote control unit 1609 controls the travel of the operated vehicle 16 using the speed control unit 1604 and the steering control unit 1605 according to the vehicle operation signal.

[Configuration of remote control device]
A remote control device 230 in the present embodiment will be described with reference to FIG.

  FIG. 12 is a block diagram illustrating an example of the configuration of the remote operation device 230 in the remote operation system according to the second embodiment.

  As shown in FIG. 12, the remote operation device 230 includes a communication interface 1301, a vehicle information receiving unit 1302, a vehicle operation signal transmitting unit 1303, a vehicle operation signal generating unit 1305, a map database 1306, and an HMI generating unit 1307. With.

  The communication interface 1301 is connected to the network 14 and communicates with the operated vehicle 16 via the network 14 and the radio base station 15.

  The vehicle information receiving unit 1302 receives delay information, vehicle position information, vehicle travel information, obstacle position information, and video information transmitted from the operated vehicle 16 via the communication interface 1301. Note that the vehicle information receiving unit 1302 transmits the first position information and the second position information transmitted from the operated vehicle 16 when the remote control unit 1609 generates the first position information and the second position information. You may receive further via.

  The vehicle operation signal generation unit 1305 generates a vehicle operation signal based on the operation of the operation input device 11 by the operator 10.

  The vehicle operation signal transmission unit 1303 transmits the vehicle operation signal generated by the vehicle operation signal generation unit 1305 to the operated vehicle 16 via the communication interface 1301, the network 14, and the radio base station 15. Further, the vehicle operation signal transmission unit 1303 transmits the vehicle operation signal generated by the vehicle operation signal generation unit 1305 to the operated vehicle 16 via the network 14 and the radio base station 15.

  The HMI generation unit 1307 operates the operated vehicle 16 by the operator 10 based on the current vehicle position, the first position information, the vehicle travel information, the obstacle position information, the second position information, the video information, and the map information. Necessary map video is generated and the map video is output to the display device 12.

  In the present embodiment, the remote control unit 1609 measures a delay time that is a delay time required for information transmission between the operated vehicle 16 including the radio base station 15 and the network 14 and the remote control device 230. There is no need to provide the time measuring unit 1304 in the device 230. For this reason, according to this remote operation system, the manufacturing cost of the remote operation device 230 can be reduced because the time measuring unit 1304 is not provided.

  The operational effects of the present embodiment are the same as those of the first embodiment, and detailed description of the same operational effects is omitted.

(Modifications, etc.)
Although the present disclosure has been described based on the first and second embodiments and the modifications of the first embodiment, the present disclosure is limited to the first and second embodiments and the first embodiment. It is not a thing.

  For example, in the information processing apparatus and the operated vehicle according to the first and second embodiments and the modified example of the first embodiment, the information that calls attention to an obstacle is an obstacle that is close to the operated vehicle shown in the map image. You may use at least 1 or more of changing the color of an object, blinking the obstacle near the to-be-operated vehicle shown by the map image | video, and outputting a warning sound with a speaker. For this reason, the change in the color of the obstacle, the blinking of the obstacle, and the speaker are not essential components in the information processing apparatus.

  Further, in the information processing apparatus and the operated vehicle according to the first and second embodiments, the position information processing unit 1307a does not have to generate the third position information, and the generation of the third position information is an essential component requirement. Absent. For this reason, the third predicted position may not be displayed on the display unit.

  Further, the information processing apparatus according to Embodiment 1 may be mounted on the operated vehicle. In this case, the information processing device transmits a map video or the like to the display device via the wireless base station and the network.

  Further, in the information processing apparatus and the operated vehicle according to the first and second embodiments and the modified example of the first embodiment, when the radio wave intensity between the information processing apparatus and the operated vehicle is equal to or lower than the threshold value, the information processing apparatus A stop signal for stopping the traveling of the operated vehicle may be transmitted to the operated vehicle. As a result, the operated vehicle stops traveling.

  Further, the information processing apparatus according to the first and second embodiments and the modification of the first embodiment and each processing unit of the operated vehicle are typically realized as an LSI that is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them.

  Further, the circuit integration is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after manufacturing the LSI or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.

  In each of the above-described first and second embodiments and the modification of the first embodiment, each component is configured by dedicated hardware or realized by executing a software program suitable for each component. May be. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

  Moreover, all the numbers used above are illustrated for specifically explaining the present disclosure, and embodiments of the present disclosure are not limited to the illustrated numbers.

  In addition, division of functional blocks in the block diagram is an example, and a plurality of functional blocks can be realized as one functional block, a single functional block can be divided into a plurality of functions, or some functions can be transferred to other functional blocks. May be. In addition, functions of a plurality of functional blocks having similar functions may be processed in parallel or time-division by a single hardware or software.

  In addition, the order in which the steps in the flowchart are executed is for illustration in order to specifically describe the present disclosure, and may be in an order other than the above. Also, some of the above steps may be executed simultaneously (in parallel) with other steps.

  In addition, the first and second embodiments, the first and second embodiments, and the first and second embodiments obtained by making various modifications that a person skilled in the art can conceive, the first and second embodiments and the first and second embodiments without departing from the spirit of the present disclosure. A form realized by arbitrarily combining the constituent elements and functions in the modification of the first embodiment is also included in the present disclosure.

  The information processing apparatus, the operated vehicle, the information processing method, and the program according to the present disclosure are effective for a system in which an operator in a remote place remotely operates a vehicle using a communication line or the like for a vehicle traveling on a road. It is.

10 Operator 13, 130, 230 Remote operation device (information processing device)
16, 160 Vehicle to be operated 19 Speaker 202a Current vehicle position 202b Predicted vehicle position (first predicted position)
202c predicted vehicle position (third predicted position)
203a, 204a, 205a, 206a, 207a, 208a Obstacle current position 203b, 204b, 205b, 206b, 207b, 208b Obstacle predicted position (second predicted position)
203c, 204c, 205c, 206c, 207c, 208c Obstacle movement vector (obstruction traveling direction)
1301 Communication interface 1302 Vehicle information receiving unit (vehicle information receiving means)
1304 Time measurement unit 1307a Position information processing unit 1307b Direction calculation unit 1307c Judgment processing unit 1601 Wireless communication unit (transmission unit)
1609 Remote control unit (control unit)
1612 Camera (imaging unit)

Claims (12)

An information processing apparatus for an operator to remotely operate an operated vehicle,
Based on vehicle position information indicating the current position of the operated vehicle acquired by the operated vehicle and delay information indicating a delay time required for information transmission between the operated vehicle and the information processing device. The first position information indicating the first predicted position of the operated vehicle in consideration of the delay time with respect to the current position of the operated vehicle is generated, and 1 around the operated vehicle acquired by the operated vehicle is generated. Based on obstacle position information indicating the current position of one or more obstacles and the delay information, a second predicted position of one or more obstacles taking the delay time into consideration for the current position of the obstacle is indicated. A position information processing unit for generating second position information;
The position information processing unit outputs the first position information and the second position information. The position information processing unit
Further, based on the vehicle position information, a third predicted position different from the first predicted position, which is predicted to be reached by the operated vehicle after an arbitrary time has elapsed from the current position of the operated vehicle, is calculated. And
The information processing apparatus according to claim 1, wherein the position information processing unit outputs third position information indicating the calculated third predicted position. Furthermore, based on the obstacle position information, from a current position of the obstacle indicated by the obstacle position information, comprising a direction calculation unit that calculates a traveling direction indicating a direction in which the obstacle is predicted to move,
The information processing apparatus according to claim 1, wherein the direction calculation unit outputs direction information indicated by the calculated traveling direction of the obstacle. And a determination processing unit that determines whether or not a distance between the operated vehicle and the obstacle is equal to or less than a predetermined threshold based on at least the first predicted position and the second predicted position.
The determination processing unit outputs information for calling attention to a corresponding obstacle when a distance between the operated vehicle and the obstacle is equal to or less than a predetermined threshold value. Information processing device. The information processing according to claim 4, wherein when the distance between the operated vehicle and the obstacle is equal to or less than a predetermined threshold, the determination processing unit outputs information that calls attention to the corresponding obstacle as a warning sound. apparatus. Furthermore, a judgment processing unit is provided,
The direction calculation unit further determines a direction in which the operated vehicle is predicted to move from a current position of the operated vehicle indicated by the vehicle position information based on the vehicle position information and the first position information. Calculate the direction of travel shown,
The determination processing unit determines whether the traveling direction of the operated vehicle and the traveling direction of the obstacle intersect based on the traveling direction of the operated vehicle and the traveling direction of the obstacle,
The said determination process part outputs the stop signal which stops the driving | running | working of the said to-be-operated vehicle to the said to-be-operated vehicle, when the advancing direction of the to-be-operated vehicle and the advancing direction of an obstruction cross | intersect. Information processing device. Furthermore, in addition to the delay time, a delay time related to the process of generating the vehicle position information, a delay time related to the generation of the obstacle position information, a delay time related to the process of calculating the first predicted position, A delay time related to the process of calculating the second predicted position; a delay time for outputting the first predicted position and the second predicted position to a display device; and the information processing device for operating the operated vehicle. A time measuring unit that measures delay information indicating the delay time by combining at least one of the delay time from when the vehicle operation signal is generated until the operated vehicle receives the signal;
The information processing apparatus according to claim 1, wherein the time measurement unit outputs the delay information to the position information processing unit. An operated vehicle for an operator to remotely operate using an information processing device,
A vehicle indicating a traveling state of the operated vehicle including at least one of a steering angle of the operated vehicle, a speed of the operated vehicle, an acceleration of the operated vehicle, and a traveling direction of the operated vehicle. A transmission unit for transmitting traveling information to the information processing apparatus;
The operated vehicle that is transmitted to the information processing device according to communication quality from the operated vehicle to the information processing device and a delay time required for information transmission between the operated vehicle and the information processing device. A control unit for controlling an information amount of vehicle position information indicating the current position of the vehicle, the vehicle travel information, and obstacle position information indicating the current position of one or more obstacles around the operated vehicle. Operation vehicle. And an imaging unit that generates and outputs video information indicating video around the operated vehicle.
The controller is
Determining whether a communication speed between the operated vehicle and the information processing device is greater than a specified value;
The operated vehicle according to claim 8, wherein when the communication speed is equal to or lower than a specified value, the information amount of the video information acquired from the imaging unit is reduced and the reduced video information is output. A plurality of the imaging units are provided,
The controller is
Determine the importance of the imaging unit according to the behavior of the operated vehicle,
The operated vehicle according to claim 9, wherein the information amount of the video information generated by the imaging unit is reduced according to the importance, and the reduced video information is output. An information processing method for an operator to remotely operate an operated vehicle,
Based on vehicle position information indicating the current position of the operated vehicle acquired by the operated vehicle, and delay information indicating a delay time required for information transmission between the operated vehicle and the information processing device, Generating first position information indicating a first predicted position of the operated vehicle in consideration of the delay time with respect to a current position of the vehicle;
Based on the obstacle position information indicating the current position of one or more obstacles around the operated vehicle acquired by the operated vehicle and the delay information, the delay time is calculated with respect to the current position of the obstacle. Generating second position information indicating a second predicted position of the one or more obstacles considered;
An information processing method for outputting the first position information and the second position information. The program which makes a computer perform the information processing method of Claim 11.

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