JP7340669B2 - Control device, control method, control program and control system - Google Patents

Description

The present disclosure relates to a control device used to remotely monitor a plurality of autonomous vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which remote control is performed by a remote control device; The present invention relates to a device control method, a control program, and a control system including the control device.

In recent years, technology has been developed for self-driving vehicles that operate completely autonomously without the need for a driver's operation, and plans and practical experiments are being conducted to deliver packages using such self-driving vehicles. Further, a vehicle remote control system for operating a vehicle in a remote location is also being developed.

For example, in Patent Document 1, a vehicle in a vehicle remote control system includes an imaging unit that captures images in all directions, a steering angle sensor that detects the angle of the front wheels, a vehicle speed sensor, a steering unit that changes the direction of the front wheels, and a rear wheel. a drive unit that drives the rear wheels, a brake unit that brakes the rear wheels, a lateral G sensor, a yaw rate sensor, a vehicle control unit that controls each part, and a wireless communication unit that performs wireless communication with a remote control room in a remote location. Equipped with a switching section that switches between operation by the driving section, which is not used here, and operation by the remote control room, it receives input values for steering, driving, and braking by the driver in the remote control room via wireless communication, and monitors the behavior of the vehicle and the surroundings. It is disclosed that a signal indicating a situation or the like is given to a remote control room.

JP2004-206218A

However, although the above-mentioned conventional technology discloses remote control of a normal vehicle that can be operated by a driver, that is, a manually operated vehicle that is not an automated driving vehicle, the remote operator controls multiple automated driving vehicles. If a remote operator needs to remotely control an autonomous vehicle while remotely monitoring an autonomous vehicle, no consideration has been given to how to control other autonomous vehicles. Further improvements were needed regarding the control of the driving vehicle.

The present disclosure has been made to solve the above problem, and when a remote operator remotely monitors multiple autonomous vehicles, the remote operator remotely controls the autonomous vehicle to be remotely controlled. The object of the present invention is to provide a control device, a control method, a control program, and a control system that can realize a situation in which it is easy to concentrate on one's activities.

A control method according to one aspect of the present disclosure is used to remotely monitor a plurality of autonomous vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which remote control is performed by a remote control device. A control method for a control device, wherein a non-target vehicle other than a target vehicle to be remotely controlled is identified among the plurality of automatically driven vehicles when a predetermined event occurs, and the target vehicle is controlled by the remote control device. a remote control avoidance control command for causing the non-target vehicle to travel autonomously so as to avoid a situation in which the non-target vehicle requires remote control when controlled to travel in the remote control mode in response to a maneuver; and transmits the remote control avoidance control command to at least some of the non-target vehicles.

According to the present disclosure, when a remote operator remotely monitors multiple automated driving vehicles, a situation can be created in which the remote operator can easily concentrate on remotely controlling the automated driving vehicle that is the target of remote control. It can be realized.

FIG. 1 is a block diagram illustrating an example of the configuration of a control system in Embodiment 1 of the present disclosure. FIG. 2 is a block diagram showing an example of the configuration of the control device shown in FIG. 1. FIG. FIG. 2 is a block diagram showing an example of the configuration of the automatic driving vehicle shown in FIG. 1. FIG. FIG. 2 is a block diagram showing an example of the configuration of the remote control device shown in FIG. 1. FIG. 2 is a flowchart showing an example of remote control avoidance control processing by the control device shown in FIG. 1. FIG. FIG. 2 is a block diagram illustrating an example of a configuration of a control device of a control system in Embodiment 2 of the present disclosure. 7 is a flowchart showing an example of remote control avoidance control processing by the control device shown in FIG. 6;

(Findings that formed the basis of this disclosure)
As described above, when a remote operator remotely monitors multiple autonomous vehicles, there are cases where one autonomous vehicle has an accident or becomes unable to drive itself. For example, when the environmental situation deteriorates due to bad weather such as snow, rain, and wind, when the road is crowded with many people, when there are many obstacles such as garbage scattered on the road, or when in-vehicle sensors etc. In the event that the automatic driving vehicle malfunctions, it may misrecognize objects such as road signs or obstacles, or the self-driving vehicle may become unable to ascertain its own position, resulting in inaccurate sensing by the sensor. Unable to drive.

When the above situation occurs, the remote operator needs to remotely control the automated driving vehicle by switching from the autonomous driving mode to the remote control mode. At this time, when the remote operator starts remotely controlling the autonomous vehicle, the remote operator cannot monitor other autonomous vehicles, and furthermore, the above situation may occur to other autonomous vehicles. Even if remote control is requested, it will not be possible to respond. Therefore, if another autonomous vehicle is in a situation where it requires remote control, it will have to wait until remote control becomes possible, so it is possible to prevent other autonomous vehicles from being in a situation where remote control is required. There is a need to.

In order to solve the above-mentioned problems, the present disclosure provides, for example, when starting remote control of one autonomous vehicle among a plurality of autonomous vehicles that are being remotely monitored, In response, a command to autonomously drive is sent to reduce the possibility of a situation requiring remote control. As a result, during remote control, it is possible to reduce the possibility that other self-driving vehicles will fall into a situation where remote control is required, and also that other self-driving vehicles will be in a situation where they are waiting for remote control while driving. The possibility can be reduced.

That is, a control method according to one aspect of the present disclosure is for remotely monitoring a plurality of autonomous vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which remote control is performed by a remote control device. A control method for a control device used in remote control avoidance for causing the non-target vehicle to travel autonomously so as to avoid a situation in which the non-target vehicle requires remote control when controlled to run in the remote control mode according to the operation of a device; A control command is created and the remote control avoidance control command is transmitted to at least some of the non-target vehicles.

According to this configuration, when a predetermined event occurs, a non-target vehicle other than the target vehicle that is the target of remote control is identified among a plurality of automatically driven vehicles, and the target vehicle is set in remote control mode according to the operation of the remote control device. Create a remote control avoidance control command for causing the non-target vehicle to travel autonomously so as to avoid a situation in which the non-target vehicle requires remote control when controlled to run, and the created remote control avoidance control command is sent to at least some of the non-target vehicles, reducing the possibility that non-target vehicles that have received the remote control avoidance control command will end up in a situation that requires remote control when the target vehicle is remotely controlled. In addition, it is possible to reduce the possibility that a non-target vehicle that has received a remote control avoidance control command will be in a situation where it waits for remote control while traveling. As a result, when a remote operator is remotely monitoring multiple automated driving vehicles, a situation is realized in which the remote operator can easily concentrate on remotely controlling the automated driving vehicle that is the target of remote control. I can do it.

The remote control avoidance control command includes a remote control suppression control command for causing the non-target vehicle to travel autonomously so that the possibility that the non-target vehicle requires remote control is lower than the current possibility. It may be included.

According to this configuration, when the identified target vehicle is controlled to run in remote control mode according to the operation of the remote control device, the possibility that the non-target vehicle requires remote control is reduced from the current possibility. We create a remote control suppression control command to make the non-target vehicle drive autonomously so that the probability is low, and send the created remote control suppression control command to the non-target vehicle, so when the target vehicle is remotely controlled, It is possible to reliably reduce the possibility that a non-target vehicle will be in a situation where remote control is required, and it is also possible to reliably reduce the possibility that a non-target vehicle will be in a situation where it is waiting for remote control while driving. .

The remote control suppression control command may include a speed suppression control command for causing the non-target vehicle to travel autonomously so that the non-target vehicle travels at a speed lower than the current speed.

According to this configuration, when the specified target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the non-target vehicle is controlled so that the non-target vehicle runs at a speed lower than the current speed. Since we create a speed restriction control command to make the vehicle run autonomously and send the created speed restriction control command to the non-target vehicle, it is possible to make the non-target vehicle run at a safe low speed when the target vehicle is remotely controlled. can.

The remote control suppression control command includes an autonomous driving maintenance control command for causing the non-target vehicle to travel autonomously so that the possibility that the non-target vehicle will be unable to travel autonomously is lower than the current possibility. Good too.

According to this configuration, when the specified target vehicle is controlled to run in remote control mode according to the operation of the remote control device, the possibility that the non-target vehicle will not be able to drive autonomously is lower than the current possibility. Since we create an autonomous running maintenance control command to make the non-target vehicle run autonomously and send the created autonomous running maintenance control command to the non-target vehicle, when the target vehicle is remotely controlled, the non-target vehicle It is possible to reliably reduce the possibility that a vehicle will fall into a situation that requires remote control, and it is also possible to reliably reduce the possibility that a non-target vehicle will fall into a situation where it is waiting for remote control while traveling.

When the non-target vehicle is running on a road with multiple lanes, the independent running maintenance control command is issued.
It may also include a center side travel control command for causing the non-target vehicle to autonomously travel so as to travel on a lane on the center line side of the plurality of lanes.

According to this configuration, when the specified target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, and the non-target vehicle is traveling on a multi-lane road, We created a center-side travel control command to make the non-target vehicle autonomously run in the lane on the center line side, and sent the created center-side travel control command to the non-target vehicle. During remote control, even if the non-target vehicle is traveling on a road with multiple lanes, the non-target vehicle can be caused to travel in the lane on the center line side where there are fewer obstacles.

When the non-target vehicle is running on a road whose width is narrower than a predetermined value, the independent running maintenance control command causes the non-target vehicle to run on a road whose width is equal to or larger than the predetermined value. It may also include a width expansion control command for autonomous driving.

According to this configuration, when the specified target vehicle is controlled to travel in the remote control mode according to the operation of the remote control device, if the non-target vehicle is traveling on a road whose width is narrower than a predetermined value, A width expansion control command is created to make the non-target vehicle drive autonomously on a road with a width greater than a predetermined value, and the created width expansion control command is sent to the non-target vehicle. Even if a non-target vehicle is driving on a road whose width is narrower than a predetermined value when the target vehicle is remotely controlled, it is possible to have the non-target vehicle drive on a safe, wide road where remote control is unlikely to be necessary. .

The independent running maintenance control command is configured to control the non-target vehicle so that the non-target vehicle does not run in a travel avoidance area within a predetermined range that includes a point where the target vehicle's driving mode is switched from the autonomous driving mode to the remote control mode. It may also include a route change control command for causing the vehicle to travel autonomously.

According to this configuration, when the identified target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the point where the drive mode of the target vehicle is switched from the autonomous driving mode to the remote control mode. A route change control command is created to make the non-target vehicle drive autonomously so that the non-target vehicle does not drive in the travel avoidance area that includes the area, and the created route change control command is sent to the non-target vehicle. During remote control, it is possible to have a non-target vehicle drive on a safe route that is unlikely to require remote control, without having to drive through the travel avoidance area that includes the point where remote control of the target vehicle is required. .

The autonomous driving maintenance control command may include a replenishment promotion control command for causing the non-target vehicle to travel autonomously so as to promote replenishment of fuel or electricity for driving the non-target vehicle.

According to this configuration, when the specified target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, replenishment of fuel or electricity for running the non-target vehicle is promoted. A replenishment promotion control command is created to allow non-target vehicles to run autonomously, and the created replenishment promotion control command is sent to the non-target vehicles, so when the target vehicle is remotely controlled, the non-target vehicle can be refueled with fuel or electricity. In addition, the non-target vehicle can be brought to a stopped state.

The remote control avoidance control command is a remote control command for causing the non-target vehicle to travel autonomously so that immediate remote control of the non-target vehicle is possible when the non-target vehicle requires remote control. It may also include a standby control command.

According to this configuration, when the specified target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the non-target vehicle is A remote control standby control command is created to make the non-target vehicle run autonomously so that immediate remote control is possible, and the created remote control standby control command is sent to the non-target vehicle. When maneuvering, a non-target vehicle can be brought into a state where immediate remote control is possible.

When the non-target vehicle is traveling on a road with multiple lanes, the remote control standby control command is for causing the non-target vehicle to autonomously travel in a lane on the opposite side of the center line among the multiple lanes. It may also include a side road side travel control command.

According to this configuration, when the specified target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, and the non-target vehicle is traveling on a multi-lane road, A side road side running control command is created to make the non-target vehicle autonomously drive in the lane opposite to the center line, and the created side road side running control command is sent to the non-target vehicle. , When remote controlling the target vehicle, even if the non-target vehicle is driving on a multi-lane road, the non-target vehicle can be made to drive in the lane opposite to the center line, and the non-target vehicle can be stopped immediately. be able to.

When the non-target vehicle is traveling on a road whose width is narrower than a predetermined value, the remote control standby control command causes the non-target vehicle to run on a road whose width is equal to or greater than the predetermined value. It may also include a width expansion control command for autonomous driving.

According to this configuration, when the specified target vehicle is controlled to travel in the remote control mode according to the operation of the remote control device, if the non-target vehicle is traveling on a road whose width is narrower than a predetermined value, A width expansion control command is created to make the non-target vehicle drive autonomously on a road with a width greater than a predetermined value, and the created width expansion control command is sent to the non-target vehicle. When remotely controlling a target vehicle, even if the non-target vehicle is driving on a road whose width is narrower than a predetermined value, the non-target vehicle can be made to drive on a wider road, and the non-target vehicle can be stopped immediately. I can do it.

The remote control device includes a plurality of remote control devices, and when the number of unused remote control devices that are not used for remote control among the plurality of remote control devices becomes a predetermined first threshold value or less, A remote control avoidance control command may also be created.

According to this configuration, a remote control avoidance control command is created when the number of unused remote control devices that are not used for remote control among the plurality of remote control devices becomes less than or equal to a predetermined first threshold. Therefore, if there is a surplus of unused remote control devices and the next remote control is possible, smooth running of the non-target vehicle can be achieved without sending a remote control avoidance control command. In addition, only when there is not enough unused remote control devices and it is difficult to handle the next remote control, a remote control avoidance control command is sent, and when a target vehicle is remotely controlled, a non-target vehicle is It is possible to reduce the possibility of falling into a situation that requires remote control, and it is also possible to reduce the possibility of falling into a situation where a non-target vehicle waits for remote control while traveling.

If the number of unused remote control devices is equal to or less than the first threshold and exceeds a second threshold that is less than the first threshold, the remote control avoidance control command indicates that the non-target vehicle requires remote control. A remote control suppression control command for causing the non-target vehicle to autonomously travel is created so that the possibility is lower than the current possibility, and the number of the unused remote control devices is equal to or less than the second threshold. In this case, the remote control avoidance control command causes the non-target vehicle to travel autonomously so that immediate remote control of the non-target vehicle is possible when the non-target vehicle requires remote control. A remote control standby control command may be created for this purpose.

According to this configuration, when the number of unused remote control devices is equal to or less than the first threshold and exceeds the second threshold which is less than the first threshold, the remote control avoidance control command is issued to indicate that the non-target vehicle requires remote control. If a remote control suppression control command is created to make the non-target vehicle autonomously run so that the possibility that the vehicle will be used is lower than the current possibility, and the number of unused remote control devices falls below the second threshold. In addition, as a remote control avoidance control command, remote control standby control is provided to allow the non-target vehicle to run autonomously so that immediate remote control of the non-target vehicle is possible when the non-target vehicle requires remote control. Since the command is being created, the number of unused remote control devices is less than the first threshold and exceeds the second threshold, and there is a certain amount of leeway in the number of unused remote control devices, which can be used for the next remote control to some extent. In such a situation, the non-target vehicle can be driven to reduce the possibility of requiring remote control, and the number of unused remote control devices becomes less than the second threshold, and the number of unused remote control devices is If there is a limited number of vehicles, a non-target vehicle can be driven so that immediate remote control is possible.

The remote control device includes a plurality of remote control devices, and the remote control device transmits the remote control avoidance control command according to the number of unused remote control devices that are not used for remote control among the plurality of remote control devices. The target vehicle may be changed.

According to this configuration, the non-target vehicles to which the remote control avoidance control command is sent are changed according to the number of unused remote control devices that are not used for remote control among the plurality of remote control devices. If there is a certain amount of margin in the number of remote control devices, the remote control avoidance control command is sent only to non-target vehicles that are suitable for executing the remote control avoidance control command, reducing the need for remote control of non-target vehicles to some extent. In addition, it is possible to realize smooth running of other non-target vehicles, and if there is not enough unused remote control devices, remote control avoidance can be applied to all non-target vehicles. Control commands can be transmitted to ensure that the need for remote control of non-target vehicles is reduced.

When the number of unused remote control devices is within a predetermined range, the remote control avoidance control command is preferentially transmitted to a non-task vehicle that is not executing a predetermined task among the non-target vehicles. You can do it like this.

According to this configuration, when the number of unused remote control devices is within a predetermined range, a remote control avoidance control command is given priority to non-task vehicles that are not executing a predetermined task among non-target vehicles. As a result, the task efficiency of the non-target vehicle can be maintained as a whole, and the need for remote control of the non-target vehicle can be reduced.

When the number of unused remote control devices is within a predetermined range, the remote control avoidance control command is issued to a vehicle located in an area where there is a higher possibility than usual of requiring remote control among the non-target vehicles. may be preferentially transmitted.

According to this configuration, when the number of unused remote control devices is within a predetermined range, remote control is performed for a vehicle located in an area where there is a higher possibility of requiring remote control among non-target vehicles. Since avoidance control commands are sent preferentially, remote control avoidance control commands can be issued preferentially to non-target vehicles located in areas where remote control is likely to be necessary, and It is possible to issue remote control avoidance control commands to avoid reducing the running efficiency of non-target vehicles.

When the number of unused remote control devices is within a predetermined range, the remote control avoidance control command may be preferentially transmitted to non-manually operated vehicles that cannot be manually operated among the non-target vehicles. .

According to this configuration, when the number of unused remote control devices is within a predetermined range, a remote control avoidance control command is preferentially transmitted to non-manually operated vehicles that cannot be manually operated among non-target vehicles. Therefore, it is possible to issue fewer remote control avoidance control commands for vehicles that can be driven manually than for non-manually driven vehicles, and to issue more remote control avoidance control commands than necessary to prevent non-target vehicles from running. It is possible to avoid reducing efficiency.

Further, the present disclosure can be implemented not only as a control method that executes the above-described characteristic processing, but also as a control device or control device that has a characteristic configuration corresponding to the characteristic processing that the control method executes. It can also be realized as a system. Further, the characteristic processing included in such a control method can be realized as a computer program that causes a computer to execute it. Therefore, the following other aspects can also produce the same effects as the above control method.

A control device according to another aspect of the present disclosure is for remotely monitoring a plurality of autonomous vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which remote control is performed by a remote control device. The control device used includes a specifying unit that identifies a non-target vehicle other than the target vehicle to be remotely controlled among the plurality of automated driving vehicles when a predetermined event occurs, and the target vehicle is the remote control device. remote control avoidance control for causing the non-target vehicle to travel autonomously so as to avoid a situation in which the non-target vehicle requires remote control when the non-target vehicle is controlled to run in the remote control mode in accordance with the operation of the non-target vehicle; The vehicle includes a creation unit that creates a command, and a communication unit that transmits the remote control avoidance control command to at least some of the non-target vehicles.

A control system according to another aspect of the present disclosure includes a plurality of automated vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which the remote control mode is remotely controlled by a remote control device; The control device includes a control device used to remotely monitor a driving vehicle, and a remote control device that remotely controls a target vehicle to be remotely controlled from among the plurality of automated driving vehicles, and the control device has a predetermined control device. an identification unit that identifies a non-target vehicle other than the target vehicle to be remotely controlled among the plurality of automated driving vehicles when an event occurs; and the target vehicle runs in the remote control mode in response to operation of the remote control device; a creation unit that creates a remote control avoidance control command for causing the non-target vehicle to travel autonomously so as to avoid a situation in which the non-target vehicle requires remote control; and a communication unit that transmits an avoidance control command to at least some of the non-target vehicles.

A control program according to another aspect of the present disclosure is for remotely monitoring a plurality of autonomous vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which remote control is performed by a remote control device. A control program for operating a computer as a control device used, the computer being configured to control a non-target vehicle other than a target vehicle to be remotely controlled among the plurality of autonomous vehicles when a predetermined event occurs. and when the target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the non-target vehicle is controlled to avoid a situation in which the non-target vehicle requires remote control. A process is executed to create a remote control avoidance control command for causing the vehicle to travel autonomously, and to transmit the remote control avoidance control command to at least some of the non-target vehicles.

It goes without saying that the computer program as described above can be distributed via a computer-readable non-transitory recording medium such as a CD-ROM or a communication network such as the Internet. Further, some of the components of the device or system according to an embodiment of the present disclosure and other components may be configured as a system distributed over multiple computers.

Note that all the embodiments described below are for showing one specific example of the present disclosure. The numerical values, shapes, components, steps, order of steps, etc. shown in the following embodiments are merely examples, and do not limit the present disclosure. Further, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the most significant concept will be described as arbitrary constituent elements. Moreover, in all embodiments, the contents of each can be combined. Furthermore, the present disclosure also includes various modified examples in which changes are made to each embodiment of the present disclosure within the range that a person skilled in the art would conceive of, as long as they do not depart from the gist of the present disclosure.

Embodiments of the present disclosure will be described below with reference to the drawings.

(Embodiment 1)
FIG. 1 is a block diagram illustrating an example of the configuration of a control system in Embodiment 1 of the present disclosure. The control system shown in FIG. positive integer). In this embodiment, a plurality of automatic driving vehicles 21 to 2i, a plurality of remote control devices 31 to 3j, and a plurality of display devices 41 to 4k will be described as an example, but the present invention is not particularly limited to this example. One autonomous vehicle, one remote control device, and one display device may be used.

The control device 1, the plurality of automatic driving vehicles 21 to 2i, the plurality of remote control devices 31 to 3j, and the plurality of display devices 41 to 4k are connected via a predetermined wired or wireless network 5 such as the Internet or a dedicated line, are connected to each other so that they can communicate with each other.

Each of the plurality of automated driving vehicles 21 to 2i performs, for example, level 4 (High Driving Automation) or level 5 (Full Driving Automation) automated driving according to the definition of J3016 defined by SAE International in the United States, and is unmanned. drive in the condition of The automatic driving vehicles 21 to 2i are not particularly limited to the above examples, and include, for example, automatic driving vehicles that perform automatic driving at levels 1 to 3, and normal vehicles that operate at level 0 (manual vehicles operated manually by the driver). driving vehicle).

The automatic driving vehicles 21 to 2i are configured to be able to switch between an autonomous driving mode in which they run autonomously and a remote control mode in which they are remotely controlled by remote control devices 31 to 3j. The automatic driving vehicles 21 to 2i are vehicles that execute predetermined tasks in an autonomous driving mode. Examples of the predetermined tasks include tasks for goods delivery services such as home delivery, tasks for people's delivery services such as taxi services, and the like.

In a normal task execution state, the automatic driving vehicles 21 to 2i are set to an autonomous driving mode and are traveling autonomously. The self-driving vehicles 21 to 2i take images of their own driving states.

The plurality of display devices 41 to 4k display images taken by autonomous vehicles 21 to 2i located in remote locations. When the plurality of remote control operators P1 to Pl (here, l is any positive integer) are not performing remote control using the plurality of remote control devices 31 to 3j, the automatic control displayed on the display devices 41 to 4k While viewing images of the driving vehicles 21 to 2i, the running states of the autonomous vehicles 21 to 2i located in remote locations are remotely monitored. Note that the number of remote operators P1 to Pl is not particularly limited to the above example, and may be one. Furthermore, it is not always necessary to perform remote monitoring while viewing images of the automated driving vehicles 21 to 2i; for example, remote monitoring may be performed by displaying information mapping the vehicle position on a map. Any display may be used as long as it is for remotely monitoring the 2i.

On the other hand, when a predetermined event occurs, the automatically driven vehicles 21 to 2i transmit a remote control request to the control device 1 requesting switching from the autonomous driving mode to the remote control mode. The control device 1 accepts the remote control request when the remote operators P1 to Pl can perform remote control using the remote control devices 31 to 3j, and changes the driving mode of the automatic driving vehicles 21 to 2i to autonomous driving. mode to remote control mode.

Note that the method of transmitting the remote control request is not particularly limited to the above example; for example, the remote control operators P1 to Pl remotely monitor the running states of the automatically driven vehicles 21 to 2i displayed on the display devices 41 to 4k. The remote pilots P1 to Pl determine the necessity of remote control, and use the display devices 41 to 4k or the remote control devices 31 to 3j to remotely control the autonomous vehicle for which remote control is determined to be necessary. Various changes such as sending a request to the control device 1 are possible.

After the automatic driving vehicles 21 to 2i are switched to the remote control mode, the automatic driving vehicles 21 to 2i store vehicle status information regarding the vehicle itself such as vehicle speed, current position, steering angle, etc. so that remote operators P1 to Pl can remotely control the automatic driving vehicle. Vehicle information including surrounding environment information obtained by photographing the surrounding environment of 21 to 2i is transmitted to the control device 1 and the remote control devices 31 to 3j periodically or at a predetermined timing. Further, the automatic driving vehicles 21 to 2i transmit task information indicating the task currently being performed to the control device 1, and the vehicle information storage unit 132 (see FIG. 2), which will be described later, stores the task information as vehicle information. . The vehicle information storage unit 132 also includes, as vehicle information, map information regarding the roads on which the automated driving vehicles 21 to 2i travel, and information indicating whether the automated driving vehicles 21 to 2i are non-manually driven vehicles that cannot be driven manually. Information etc. are stored in advance.

The control device 1 includes, for example, a cloud server and the like including a processor, a memory, an external storage device, a communication device, and the like. The control device 1 receives and stores vehicle information from the automatic driving vehicles 21 to 2i.

The remote control devices 31 to 3j receive and display vehicle information from the automated driving vehicles 21 to 2i, and the remote control devices P1 to Pl remotely control the automated driving vehicles 21 to 2i using the remote control devices 31 to 3j. Steer. The remote control devices 31 to 3j transmit remote control commands input by the remote operators P1 to Pl to the automatic driving vehicles 21 to 2i. When the automatic driving vehicles 21 to 2i receive a remote control command from the remote control devices 31 to 3j, they drive in the remote control mode in accordance with the command.

Here, the time when the above-mentioned predetermined event occurs is when a situation occurs in which the automated driving vehicles 21 to 2i require remote control, and specifically, when an accident occurs in the automated driving vehicles 21 to 2i. This applies to cases where the automatic driving vehicles 21 to 2i are no longer able to travel in the autonomous driving mode. For example, when the environmental condition worsens due to bad weather such as snow, rain, or wind, when the road is crowded with many people, when there are many obstacles such as garbage scattered on the road, or when the sensor unit described below 214 (see Figure 3) malfunctions, the autonomous vehicles 21 to 2i may misrecognize objects such as road signs or obstacles, or become unable to determine their own position, so the autonomous vehicles 21 to 2i may switch to autonomous driving mode. This makes it impossible to drive.

If the above event occurs in the automatic driving vehicle 21 and, for example, the remote operator P1 is the only remote operator capable of remote control, the remote operator P1 uses the remote control device 31 to control the automatic driving vehicle 21. When remote control is started, the remote control operator P1 can no longer see the display devices 41 to 4k displaying the driving states of the other automatically driven vehicles 22 to 2i, and cannot perform remote monitoring using the display devices 41 to 4k. become unable to do so. Furthermore, in this state, if the above-described event occurs in another automated driving vehicle 22 to 2i and a remote control request is sent, the other automated driving vehicle 22 to 2i cannot be remotely controlled.

Therefore, when a predetermined event occurs, the control device 1 identifies a target vehicle to be remotely controlled from among the plurality of automatic driving vehicles 21 to 2i, and controls whether the target vehicle is controlled by the remote control devices 31 to 3j. When controlled to run in the remote control mode, the non-target vehicles other than the target vehicle among the plurality of automatic driving vehicles 21 to 2i are caused to travel autonomously so as to avoid a situation where remote control is required. A remote control avoidance control command is created for the remote control avoidance control command, and the created remote control avoidance control command is transmitted to at least some of the non-target vehicles.

Specifically, the control device 1 transmits the created remote control avoidance control command to all non-target vehicles, and the non-target vehicles determine whether or not to execute the received remote control avoidance control command, and If the maneuvering avoidance control command is suitable for the own situation, the remote maneuvering avoidance control command is executed; if the remote maneuvering avoidance control command is not suitable for the own situation, the remote maneuvering avoidance control command is not executed. In this case, it is preferable that the remote control avoidance control command includes information indicating a condition as to which non-target vehicle is targeted by the remote control avoidance control command.

For example, if the remote control avoidance control command is a width expansion control command (command to move from a narrow road to a wide road), which will be described later, the control device 1 transmits the width expansion control command to all non-target vehicles, and Among the vehicles, non-target vehicles traveling on narrow roads execute the width expansion control command, and non-target vehicles traveling on wide roads do not execute the width expansion control command.

Further, the control device 1 may specify a non-target vehicle to which the created remote control avoidance control command is to be transmitted, and transmit the remote control avoidance control command only to the specified non-target vehicle. For example, when the remote control avoidance control command is a width expansion control command described later, the control device 1 refers to the vehicle information storage unit 132 (see FIG. 2) described later and uses the vehicle position and map information of the non-target vehicle. Alternatively, a vehicle traveling on a narrow road may be identified among the non-target vehicles, and the width expansion control command may be transmitted only to that vehicle.

FIG. 2 is a block diagram showing an example of the configuration of the control device 1 shown in FIG. 1, FIG. 3 is a block diagram showing an example of the configuration of the automatic driving vehicle 21 shown in FIG. 1 is a block diagram showing an example of the configuration of a remote control device 31 shown in FIG. In addition, in FIG. 3 and FIG. 4, illustration is simplified and only the automatic driving vehicle 21 and the remote control device 31 are illustrated among the plurality of automatic driving vehicles 21 to 2i and the plurality of remote control devices 31 to 3j. , the other automatic driving vehicles 22 to 2i and the other remote control devices 32 to 3j are also configured and operate in the same manner as the automatic driving vehicle 21 and the remote control device 31, so in the following explanation, the automatic driving vehicle 21 The configuration and operation of the plurality of automatic driving vehicles 21 to 2i and the plurality of remote control devices 31 to 3j will be explained using the remote control device 31 and the remote control device 31.

The control device 1 shown in FIG. 2 includes a communication section 11, a control section 12, and a storage section 13, and the control section 12 includes a request reception section 121, a vehicle specification section 122, and a control command generation section 123, and the control section 12 includes a 13 includes a device information storage section 131, a vehicle information storage section 132, and a control program storage section 133.

The automatic driving vehicle 21 shown in FIG. The storage unit 217 includes a map information storage unit 271, a route information storage unit 272, and an automatic driving program storage unit 273.

The remote control device 31 shown in FIG. 4 includes a communication section 311, an output section 312, an input section 313, a control section 314, and a storage section 315. Note that the configuration of the remote control device 31 is not particularly limited to this example, and may include a part or all of the functions of the control device 1 in the remote control device 31.

The control unit 216 of the automatic driving vehicle 21 includes, for example, a CPU (central processing unit), and functions as a communication control unit 261 and a travel control unit 262. The storage unit 217 is composed of, for example, a semiconductor memory, and functions as a map information storage unit 271, a route information storage unit 272, and an automatic driving program storage unit 273. The communication control unit 261 controls the communication unit 211, the imaging unit 212, the position measurement unit 213, the sensor unit 214, and the like.

The photographing unit 212 includes, for example, a plurality of cameras for photographing the surroundings of the automatic driving vehicle 21, and is attached to each of the front, rear, right side, and left side of the automatic driving vehicle 21. The photographing unit 212 outputs photographic information obtained by photographing the surroundings of the automatic driving vehicle 21 to the control unit 216 and the communication unit 211 as surrounding environment information.

Note that the photographing unit 212 is not particularly limited to the above example, and as long as it has a configuration that can photograph the surroundings of the automatic driving vehicle 21, the mounting position of the camera, the number of cameras, etc. may be changed. For example, the configuration may be such that the right side (or left side) camera is mounted at two locations, one on the right front (or left front) and the right rear (or left rear) of the vehicle. Further, as another example of the configuration, a configuration may be adopted in which one omnidirectional camera is mounted in the center of the vehicle.

The photographic information photographed by the photographing section 212 is transmitted as surrounding environment information to the remote control device 31 via the communication section 211, and the remote control operator P1 remotely controls the automatic driving vehicle 21 using the remote control device 31. When doing so, check the surrounding environment information and perform remote control. Note that the photographic information photographed by the photographing unit 212 is preferably photographic information in which not only visual information but also auditory information is recorded. In this case, the photographing unit 212 includes, for example, a camera and a microphone.

The position measuring unit 213 includes, for example, a GPS (Global Positioning System) receiver, etc., and periodically measures and acquires vehicle position information indicating the current position of the automated driving vehicle 21, and converts the vehicle position information into vehicle status information. It is output to the control section 216 and the communication section 211 as a. Vehicle position information is expressed, for example, in latitude and longitude.

The sensor unit 214 senses information about the surrounding environment of the automated driving vehicle 21 and information about the state of the automated driving vehicle 21, and outputs the sensed sensor information to the control unit 216 and the communication unit 211 as surrounding environment information. As the sensor unit 214 that senses information about the surrounding environment of the automated driving vehicle 21, for example, LIDAR (Light Detection and
Ranging) or millimeter wave radar can be used.

LIDAR emits an infrared laser, measures the time it takes for it to bounce off an object and return, and detects the distance and relative speed of things in the surrounding area. This makes it possible to read the three-dimensional structure of the surrounding environment.

Furthermore, millimeter wave radar performs measurements similar to LIDAR, but uses radio waves instead of infrared lasers. LIDAR, which uses infrared rays, can be used at night, but its functionality deteriorates in bad weather.Although the resolution of millimeter-wave radar, which uses radio waves, is lower than LIDAR, it can be detected regardless of the weather. It can supplement cases where measurement is not possible.

The sensor information sensed by the sensor unit 214 that senses information about the surrounding environment of the automated driving vehicle 21 is used when the automated driving vehicle 21 runs autonomously when the driving mode is the autonomous driving mode, and is used when the automated driving vehicle 21 is in the autonomous driving mode. When the driving mode of 21 is the remote control mode, the information is sent to the remote control device 31 together with the photographic information photographed by the photographing unit 212 as surrounding environment information.

The sensor unit 214 that senses the state of the automatic driving vehicle 21 includes a steering angle sensor, a vehicle speed sensor, an odometer, an inertial sensor, and the like. The steering angle sensor detects the angle of the front wheels. The vehicle speed sensor detects the moving speed of the automatic driving vehicle 21. The odometer measures the number of rotations of the tires to measure the distance traveled by the automatic driving vehicle 21. The inertial sensor is a sensor that detects inertial momentum and includes a 3-axis angular velocity sensor and a 3-direction acceleration sensor, and detects the behavior of the automatic driving vehicle 21.

Note that the sensor information sensed by the sensor unit 214 is used for autonomous driving when the driving mode of the automatic driving vehicle 21 is the autonomous driving mode, and is used when the driving mode of the automatic driving vehicle 21 is the remote control mode. , is transmitted to the remote control device 31 as vehicle status information regarding the vehicle body of the automatic driving vehicle 21.

The communication unit 211 performs wireless communication with the control device 1 and the remote control device 31 under the control of the communication control unit 261, and transmits information such as the vehicle speed, current position, and Vehicle information including vehicle status information regarding the vehicle body, such as the steering angle, and surrounding environment information obtained by photographing the surrounding environment of the automatic driving vehicle 21 is transmitted. The communication unit 211 also receives a remote control command from the remote control device 31 instructing the automatic driving vehicle 21 to run in a remote control mode. Note that the communication unit 211 is configured to use a wireless LAN (local
Area Network), a mobile phone, a PHS (personal handyphone system), or the like may be used.

If the automatic driving vehicle 21 is an engine vehicle, the drive unit 215 includes, for example, an engine, a transmission, and the like. Furthermore, when the automatic driving vehicle 21 is an electric vehicle (battery vehicle) in the narrow sense, the drive unit 215 is configured of, for example, a travel motor, a transmission, and the like. Both the engine and the travel motor are started and stopped via an ignition switch. Furthermore, the drive unit 215 also includes an accelerator device and a brake device, and accelerates and decelerates the vehicle.

The map information storage unit 271 stores map information in advance. The map information includes, for example, road data regarding road links, intersection data regarding intersections, data regarding facilities, and feature data indicating displays installed or formed on roads. The map information is used when generating route information to be used when the automatic driving vehicle 21 autonomously travels in the autonomous driving mode.

The route information storage unit 272 stores route information indicating the route from the departure point to the destination of the automatic driving vehicle 21. The route information can be generated using an existing route generation program, and the automatic driving vehicle 21 can obtain the route information by receiving route information generated by, for example, an external server from the server. . Further, the automatic driving vehicle 21 may have a predetermined route generation program, and may generate route information and store it in the route information storage unit 272 by executing the route generation program.

The automatic driving program storage unit 273 stores in advance various programs for driving the automatic driving vehicle 21 in an autonomous driving mode and a remote control mode.

The travel control unit 262 executes the automatic driving program stored in the automatic driving program storage unit 273. The driving control unit 262 collects photographic information taken by the photographing unit 212, vehicle position information indicating the vehicle position of the automatic driving vehicle 21 measured by the position measuring unit 213, sensor information sensed by the sensor unit 214, etc. according to the automatic driving program. The drive section 215 is controlled based on the following.

Specifically, the travel control unit 262 controls the drive unit 215 and the like to cause the automatic driving vehicle 21 to travel autonomously in an autonomous driving mode, or remotely controls the automatic driving vehicle 21 according to remote control by the remote control device 31. The drive unit 215 and the like are controlled to run in the maneuver mode.

Further, the driving control unit 262 detects that the above-mentioned predetermined event has occurred in the autonomous driving vehicle 21 from the vehicle status information and surrounding environment information, and uses the communication unit 211 to switch from the autonomous driving mode to the remote control mode. A remote control request requesting switching is sent to the control device 1.

The communication unit 311 of the remote control device 31 communicates with the automated driving vehicle 21 , and receives vehicle status information regarding the vehicle body such as the vehicle speed, current position, and steering angle of the automated driving vehicle 21 from the automated driving vehicle 21 . The vehicle information including the surrounding environment information obtained by photographing the surrounding environment of the vehicle is received. Note that the communication unit 311 may use a WAN (Wide Area Network), a wireless LAN, a mobile phone, a PHS, or the like in addition to a general communication device.

The output unit 312 includes, for example, a liquid crystal display, and displays vehicle status information regarding the vehicle itself, such as the vehicle speed, current position, and steering angle of the autonomous vehicle 21, received from the autonomous vehicle 21 via the communication unit 311. Surrounding environment information obtained by photographing the surrounding environment of the automatic driving vehicle 21 is displayed. A known display method can be used to display the vehicle status information and the surrounding environment information, and for example, the information may be displayed simultaneously on one display, or each piece of information may be displayed on separate displays. Furthermore, if the surrounding environment information is information taken by multiple cameras, the information taken by each camera may be displayed separately, or the information taken by each camera may be integrated, Integrated shooting information may be displayed. Note that the output section 312 may be used as the display devices 41 to 4k, and in this case, the output section 312 and the display devices 41 to 4k are the same device.

When the control device 1 accepts the remote control request, it transmits an instruction to accept the remote control request to the remote control device 31 capable of remote control, and the communication unit 311 receives the instruction to accept the remote control request and sends an instruction to accept the remote control request to the control unit. 314. The control unit 314 reads the identification information of the remote control device 31 from the storage unit 315 and transmits the read identification information to the control device 1 using the communication unit 311.

The input unit 313 includes, for example, a keyboard, a mouse, a joystick, etc., and is used by the remote operator P1 to perform various operations. The remote operator P1 inputs, via the input unit 313, a command operation amount that specifies the vehicle speed, steering amount, etc. of the automated driving vehicle 21 as a travel instruction for remotely controlling the automated driving vehicle 21. Note that the input unit 313 may be configured from the same operating environment as when actually operating the vehicle, such as a steering wheel, brakes, accelerator, etc. In this case, the remote operator P1 can input driving instructions as if he were actually driving the vehicle.

The storage unit 315 is composed of, for example, a semiconductor memory, and stores various information such as a remote control application program for remotely controlling the automatic driving vehicle 21, information received from the automatic driving vehicle 21, and information input from the remote operator P1. The information is stored. The control unit 314 is composed of, for example, a CPU, and executes the remote control application program in the storage unit 315 to control the communication unit 311, the output unit 312, the input unit 313, etc., thereby controlling various functions of the remote control device 31. Take control.

The remote operator P1 remotely controls the automatic driving vehicle 21 using the input unit 313 while checking the information displayed on the output unit 312. The communication unit 311 , under the control of the control unit 314 , sends a remote control command to the automated driving vehicle 21 for remotely controlling the automated driving vehicle 21 , including a travel instruction for the automated driving vehicle 21 inputted through the input unit 313 . Send.

The storage unit 13 of the control device 1 is composed of, for example, a semiconductor memory, and functions as a device information storage unit 131, a vehicle information storage unit 132, and a control program storage unit 133.

The device information storage unit 131 stores in advance the identification number of each remote control device 31 to 3j. Here, as the identification number, various information can be used as long as each remote control device 31 to 3j can be individually identified, such as the IP address (Internet Protocol address) of each remote control device 31 to 3j. can be used. The communication unit 11 receives identification information for identifying the remote control device used for remote control, and stores it in the device information storage unit 131.

The vehicle information storage unit 132 stores in advance the identification numbers of each of the automatic driving vehicles 21 to 2i. Here, as the identification number, various information can be used as long as each automatic driving vehicle 21 to 2i can be individually identified. For example, the IP address of each automatic driving vehicle 21 to 2i can be used. . The communication unit 11 receives vehicle information from the automatic driving vehicles 21 to 2i and stores it in the vehicle information storage unit 132.

The control unit 12 includes, for example, a CPU, and executes a predetermined control program stored in a control program storage unit 133 to function as a request receiving unit 121, a vehicle specifying unit 122, and a control command creating unit 123. Function.

The communication unit 11 receives a remote control request from one of the automatic driving vehicles 21 to 2i and outputs it to the request receiving unit 121.

The request acceptance unit 121 determines whether it is possible to accept a remote control request from one automated driving vehicle. Specifically, the request receiving unit 121 refers to the device information storage unit 131 and identifies any identification number other than the identification number of the remote control device currently being used for remote control among the identification numbers of all the remote control devices 31 to 3j. It is determined whether or not there is an identification number. If there is an identification number other than the identification number of the remote control device currently being used for remote control, that is, an identification number of a remote control device that is not used for remote control, the request acceptance unit 121 will not accept the remote control request. If it is determined that it is possible and there is no identification number of a remote control device that is not used for remote control, it is determined that the remote control request cannot be accepted.

When the request acceptance unit 121 determines that the remote control request cannot be accepted, the request acceptance unit 121 uses the communication unit 11 to transmit a stop control command instructing the automatic driving vehicle that has transmitted the remote control request to stop, and The driving vehicle stops according to the stop control command. Note that the method of dealing with the case where the remote control request cannot be accepted is not particularly limited to the above example, and other methods of dealing with the case may be used.

On the other hand, if the request acceptance unit 121 determines that the remote control request can be accepted, the request acceptance unit 121 uses the communication unit 11 to send a remote control instruction to remotely control the autonomous vehicle that has transmitted the remote control request. Sends to an unused remote control device that is not used for control, and accepts the remote control request. The communication unit 311 of the unused remote control device receives the remote control instruction and outputs it to the output unit 312 . The output unit 312 displays a remote control instruction, and the operator uses the input unit 313 to remotely control the automated driving vehicle that has transmitted the remote control request.

In addition, the request acceptance unit 121 also includes automatic driving vehicles that have been determined to be capable of accepting remote control requests;
That is, the identification number of the target vehicle to be remotely controlled is stored in the vehicle information storage section 132, and the vehicle specifying section 122 is notified of the result of determining that the remote control request can be accepted.

When the above-mentioned predetermined event occurs, that is, when one automated driving vehicle in which the predetermined event has occurred transmits a remote control request and the remote control request is accepted, the vehicle identification unit 122 identifies the plurality of automated driving vehicles 21. -2i, non-target vehicles other than the target vehicle to be remotely controlled are identified, and the control command generation unit 123 is notified of the identified non-target vehicles. Specifically, the vehicle identification unit 122 refers to the vehicle information storage unit 132 and selects an automated driving vehicle having an identification number other than the identification number of the target vehicle from among the identification numbers of all automated driving vehicles 21 to 2i. The vehicle is identified as a non-target vehicle, and the identification number of the non-target vehicle is notified to the control command generation unit 123.

When the target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the control command creation unit 123 controls the non-target vehicle so as to avoid a situation in which the non-target vehicle requires remote control. A remote control avoidance control command for autonomously driving is created and output to the communication unit 11.

The communication unit 11 transmits the created remote control avoidance control command to the non-target vehicle. Note that the timing for transmitting the remote control avoidance control command is not particularly limited to this example, and any timing can be used as long as the request acceptance unit 121 determines that the remote control request can be accepted.

Among the plurality of autonomous driving vehicles 21 to 2i, the target vehicle runs in remote control mode according to the operation of the remote control device, and the remaining non-target vehicles run in autonomous driving mode according to the remote control avoidance control command. to avoid situations requiring remote control.

Next, the remote control avoidance control command created by the control command creation unit 123 described above will be specifically explained.

For example, the remote control avoidance control command may include a remote control suppression control command to cause the non-target vehicle to travel autonomously such that the probability that the non-target vehicle requires remote control is lower than the current possibility. , the remote control suppression control command includes a speed suppression control command for causing the non-target vehicle to travel autonomously so that the non-target vehicle travels at a speed lower than the current speed.

In this case, the control command creation unit 123 creates a speed restraint control command as an example of a remote control restraint control command, and the non-target vehicle follows the speed restraint control command at a speed lower than the current speed, for example, lower than the legal speed. Drive at a slower speed of 5 km/h. Note that the remote control suppression control command is not particularly limited to the above example, and may include reducing the acceleration by a predetermined value when accelerating, reducing the speed by a predetermined value when turning on the road, or reducing the speed of other vehicles when turning by a predetermined value. Various changes are possible, such as prohibiting overtaking.

In addition, the remote control suppression control command includes an autonomous driving maintenance control command to make the non-target vehicle run autonomously so that the possibility that the non-target vehicle becomes unable to drive autonomously is lower than the current possibility, and When a non-target vehicle is traveling on a road with multiple lanes, the driving maintenance control command is a center-side travel control command that causes the non-target vehicle to autonomously travel in the lane on the center line side of the multiple lanes. include. In this case, the control command creation unit 123 creates a center side travel control command as an example of an independent travel maintenance control command, and the non-target vehicle is directed to the center line side of the plurality of lanes (in the case of three or more lanes, Drive in any lane other than the far left lane.

There is a high possibility that there are parked vehicles, bicycles and motorcycles traveling in the left lane, and there are also cases where pedestrians walk on the roadway. Detect objects. As a result, the sensor unit 214 may not be able to accurately sense objects or may not be able to accurately recognize objects from sensing data, which may make it impossible to drive in autonomous driving mode, and remote control may not be possible. The possibility of making a request is relatively high. Therefore, by driving in the lane on the center line side of the plurality of lanes, it is possible to reduce the possibility that the non-target vehicle will not be able to travel autonomously.

In addition, if the non-target vehicle is running on a road whose width is narrower than a predetermined value, the autonomous driving maintenance control command causes the non-target vehicle to autonomously run on a road whose width is greater than or equal to the predetermined value. Contains width expansion control instructions for In this case, the control command creation unit 123 creates a width expansion control command as an example of the independent running maintenance control command, and the non-target vehicle travels by changing its route to a road whose width is equal to or greater than a predetermined value.

When driving on a narrow road, it is difficult to make various avoidance maneuvers when driving compared to a wide road, so even if a small obstacle is detected, non-target vehicles can make autonomous decisions and drive. There is a relatively high possibility that this will become difficult and require remote control. Therefore, by changing the route to a road whose width is equal to or greater than a predetermined value and driving, it is possible to reduce the possibility that the non-target vehicle will not be able to autonomously travel. Note that the width expansion control command is not particularly limited to the above example, and may use the road type instead of the width. For example, various changes can be made, such as instructing a non-target vehicle traveling on a community road to change its route so that it travels on a main road.

In addition, the autonomous driving maintenance control command causes the non-target vehicle to autonomously run so that the non-target vehicle does not run in a travel avoidance area within a predetermined range that includes the point where the target vehicle's driving mode was switched from autonomous driving mode to remote control mode. Contains route change control instructions to In this case, the control command generation unit 123 refers to the vehicle information storage unit 132, detects the point where the driving mode of the target vehicle is switched from the autonomous driving mode to the remote control mode, and detects an example of the autonomous driving maintenance control command. A route change control command is created, and the non-target vehicle changes its route so that it does not travel in the travel avoidance area that includes the point where the target vehicle's driving mode was switched from the autonomous driving mode to the remote control mode.

Note that the control command creation unit 123 may determine whether or not to transmit the route change control command depending on the factor that caused the target vehicle's driving mode to be switched from the autonomous driving mode to the remote control mode. For example, if the above-mentioned factor is a failure of the sensor unit 214 of the target vehicle, the control command creation unit 123 does not transmit the route change control command. This is because if the sensor unit 214 of the non-target vehicle is not malfunctioning, there is no need to switch to the remote control mode even if the vehicle travels in this location.

On the other hand, if the above-mentioned factor is not a failure of the sensor unit 214 of the target vehicle but an inability to perform accurate sensing, the control command creation unit 123 transmits a route change control command. This is because even non-target vehicles are likely to be switched to remote control mode. In addition, since accurate sensing may not be possible due to the type and arrangement of each sensor in the sensor section 214, the control command creation section 123 uses a non-target vehicle in which the target vehicle and the sensor section 214 are the same or similar, for example, The route change control command may be sent only to vehicles of the same model number, the same type of vehicle, vehicles with the same sensing method, etc.

Further, the vehicle information storage unit 132 stores remote control switching point history information indicating a history of points where the driving mode of the target vehicle was switched from autonomous driving mode to remote control mode in the past, and the control command creation unit 123 A route change control command for changing the route may be transmitted based on the remote control switching point history information in the vehicle information storage unit 132. Further, when receiving a remote control request from another non-target vehicle, the control command creation unit 123 may transmit a route change control command to change the route so as not to include the location of that vehicle.

Furthermore, the autonomous driving maintenance control command includes a replenishment promotion control command for causing the non-target vehicle to travel autonomously so as to promote replenishment of fuel or electricity for driving the non-target vehicle. In this case, the control command creation unit 123 creates a replenishment promotion control command as an example of an independent running maintenance control command, and the non-target vehicle runs to promote replenishment of fuel or electricity. do. This is because non-target vehicles will have to stop to replenish fuel or electricity, and rather than increasing the number of stopped non-target vehicles, it is possible to reduce the number of non-target vehicles that may require remote control. be. For example, when the non-target vehicle is an electric vehicle, the non-target vehicle stores the threshold value of the remaining battery capacity for charging in the storage unit 217, and when receiving the replenishment promotion control command, the travel control unit 262 The threshold value of the remaining battery capacity may be increased to perform charging more actively.

Further, the control command generation unit 123 may select a specific vehicle from among the non-target vehicles and transmit the replenishment promotion control command. For example, you may select a non-target vehicle with a low remaining battery capacity, select a non-target vehicle with a nearby charging location, or select a non-target vehicle with a charging location near the planned route. . Note that the number of non-target vehicles to be selected may be all of the vehicles that meet the above conditions, an arbitrary number of vehicles, or the top few vehicles may be selected.

In addition, the remote control avoidance control command is a remote control standby control that allows the non-target vehicle to run autonomously so that immediate remote control is possible for the non-target vehicle when the non-target vehicle requires remote control. Contains instructions. If the non-target vehicle is driving on a road with multiple lanes, the remote control standby control command is used to cause the non-target vehicle to autonomously drive in the lane opposite to the center line of the multiple lanes. Contains driving control commands.

In this case, the control command creation unit 123 creates a frontage road side travel control command as an example of a remote control standby control command, and when the non-target vehicle is traveling on a road with multiple lanes, Drive in the opposite lane of the line. For example, if the non-target vehicle is traveling on a road with multiple lanes, it is controlled to travel in the left lane. Therefore, even if you have to stop and wait when remote control is required, you can immediately stop on the shoulder of the road and prevent the vehicle from stopping behind you. be able to.

Additionally, if the non-target vehicle is traveling on a road whose width is narrower than a predetermined value, the remote control standby control command causes the non-target vehicle to autonomously drive on a road whose width is greater than or equal to the predetermined value. Contains width expansion control instructions for In this case, the control command creation unit 123 creates a width expansion control command as an example of a remote control standby control command, and the non-target vehicle changes its route to a road with a width equal to or greater than a predetermined value and runs. This means that if a non-target vehicle stops on a narrow road, it may be a nuisance to other vehicles by blocking the progress of the vehicle behind, but on a wide road, it may cause a nuisance to other vehicles. This is because the possibility of this happening is low.

Note that the control command creation unit 123 may transmit each of the above-mentioned remote control avoidance control commands individually depending on the situation of the non-target vehicle, or may arbitrarily transmit a plurality of remote control avoidance control commands. You can also send it.

Next, remote control avoidance control processing by the control device 1 configured as described above will be explained. FIG. 5 is a flowchart showing an example of remote control avoidance control processing by the control device 1 shown in FIG.

First, when the above-mentioned predetermined event occurs in one of the plurality of automatic driving vehicles 21 to 2i and the automatic driving vehicle transmits a remote control request, the communication unit 11 of the control device 1
A remote control request is received and output to the request receiving unit 121 (step S11).

Next, the request accepting unit 121 refers to the device information storage unit 131 and determines whether the remote control request can be accepted (step S12). If the remote control request cannot be accepted (NO in step S12), the request accepting unit 121 transmits a stop control command from the communication unit 11 to the target vehicle that has transmitted the remote control request (step S17), and ends the process. At this time, the target vehicle that has transmitted the remote control request stops in accordance with the stop control command.

On the other hand, if the remote control request can be accepted (YES in step S12), the request acceptance unit 121 accepts the remote control request from the target vehicle, and uses the communication unit 11 to issue an instruction to remotely control the target vehicle. A remote control instruction is sent to the unused remote control device, and the result of determining that the remote control request can be accepted is notified to the vehicle specifying unit 122 (step S13).

At this time, the output unit 312 of the unused remote control device that has received the remote control instruction displays the remote control instruction, and after the operator confirms the remote control instruction, the input unit 313 outputs the remote control input by the operator. The command is sent to the target vehicle, and the target vehicle that sent the remote control request is remotely controlled.

Next, the vehicle identification unit 122 refers to the vehicle information storage unit 132 to identify non-target vehicles other than the target vehicle to be remotely controlled among the plurality of automatically driven vehicles 21 to 2i, and The control command generation unit 123 is notified of the vehicle (step S14).

Next, the control command creation unit 123 creates a remote control avoidance control command for causing the non-target vehicle to travel autonomously so as to avoid a situation in which the non-target vehicle requires remote control, and outputs it to the communication unit 11. (Step S15).

Next, the communication unit 11 transmits the created remote control avoidance control command to the non-target vehicle (step S16), and ends the process. At this time, the non-target vehicle travels in autonomous driving mode in accordance with the remote control avoidance control command to avoid situations requiring remote control.

Through the above-mentioned remote control avoidance control processing, in this embodiment, when a predetermined event occurs, non-target vehicles other than the target vehicle to be remotely controlled are identified among the plurality of automatic driving vehicles 21 to 2i, and the target vehicle is When the remote control device 31 to 3j is controlled to run in the remote control mode, the remote controller is used to cause the non-target vehicle to travel autonomously so as to avoid a situation in which the non-target vehicle requires remote control. A maneuver avoidance control command is created, and the created remote maneuver avoidance control command is sent to non-target vehicles.

Therefore, when the target vehicle is remotely controlled, it is possible to reduce the possibility that the non-target vehicle will be in a situation where remote control is required, and the possibility that the non-target vehicle will be in a situation where the target vehicle is waiting for remote control while driving can be reduced. can be reduced. As a result, when the remote operator is remotely monitoring the plurality of automated driving vehicles 21 to 2i using the display devices 41 to 4k, the remote operating person concentrates on remotely controlling the automated driving vehicle that is the target of remote control. It is possible to realize a situation where it is easier to do so.

(Embodiment 2)
FIG. 6 is a block diagram illustrating an example of a configuration of a control device of a control system in Embodiment 2 of the present disclosure. The control system of this embodiment differs from the control system shown in FIG. 1 in that the control device 1 shown in FIG. 2 is changed to the control device 1a shown in FIG. 6, and other points are the same. , the same parts are given the same reference numerals and detailed explanations are omitted.

Furthermore, since the control system of this embodiment also uses a plurality of automatic driving vehicles 21 to 2i and a plurality of remote control devices 31 to 3j shown in FIGS. 1, 3, and 4, illustrations and detailed explanations will be omitted. 1, 3, and 4 as needed.

The control device 1a shown in FIG. 6 includes a communication section 11, a control section 12a, and a storage section 13a. 124, and the storage section 13a includes a device information storage section 131, a vehicle information storage section 132, and a control program storage section 133a.

The storage section 13a is composed of, for example, a semiconductor memory, and functions as a device information storage section 131, a vehicle information storage section 132, and a control program storage section 133a.

The control unit 12a is composed of, for example, a CPU, and executes a predetermined control program stored in the control program storage unit 133a, thereby controlling the request receiving unit 121, the vehicle specifying unit 122, the control command generating unit 123a, and the like. It functions as the device number calculation unit 124.

The communication unit 11 receives a remote control request from one of the automatic driving vehicles 21 to 2i and outputs it to the request receiving unit 121 and the number of devices calculating unit 124. The communication unit 11 receives identification information for identifying the remote control device used for remote control, and stores it in the device information storage unit 131. The communication unit 11 receives vehicle information from the automatic driving vehicles 21 to 2i and stores it in the vehicle information storage unit 132.

The device number calculation unit 124 calculates the number of unused remote control devices that are not used for remote control among the plurality of remote control devices 31 to 3j. Specifically, the device number calculation unit 124 refers to the device information storage unit 131 and calculates the identification number of the remote control device currently being used for remote control from among the identification numbers of all the remote control devices 31 to 3j. The number of unused remote control devices is calculated by calculating the number of other identification numbers.

Further, the device number calculation unit 124 determines whether the number of unused remote control devices is less than or equal to a predetermined first threshold, for example, four or less. If the number of unused remote control devices is not less than the first threshold, the device number calculation unit 124 instructs the request acceptance unit 121 to only process the remote control request; The control command creation unit 123a does not create a remote control avoidance control command. On the other hand, if the number of unused remote control devices is less than or equal to the first threshold, the device number calculation unit 124 notifies the request acceptance unit 121 of the number of unused remote control devices.

The request acceptance unit 121 determines whether the remote control request can be accepted based on the notified number of unused remote control devices. For example, if the number of unused remote control devices is 0, the request acceptance unit 121 determines that the remote control request cannot be accepted, and if the number of unused remote control devices is 1 or more, the request acceptance unit 121 determines that the remote control request cannot be accepted. We judge that it is possible.

When the request acceptance unit 121 determines that the remote control request cannot be accepted, the request acceptance unit 121 uses the communication unit 11 to transmit a stop control command instructing the automatic driving vehicle that has transmitted the remote control request to stop, and The driving vehicle stops according to the stop control command. Note that the method of dealing with the case where the remote control request cannot be accepted is not particularly limited to the above example, and other methods of dealing with the case may be used.

On the other hand, if the request acceptance unit 121 determines that the remote control request can be accepted, the request receiving unit 121 uses the communication unit 11 to send an unused remote control instruction to remotely control the autonomous vehicle that has transmitted the remote control request. The remote control request is sent to one of the remote control devices to accept the remote control request. The communication unit 311 of one remote control device that is not used for remote control receives the remote control instruction and outputs it to the output unit 312. The output unit 312 displays a remote control instruction, and the remote operator uses the input unit 313 to remotely control the automated driving vehicle that has transmitted the remote control request.

Further, the request acceptance unit 121 stores the identification number of the automated driving vehicle determined to be capable of accepting the remote control request, that is, the target vehicle to be remotely controlled, in the vehicle information storage unit 132, and also stores the identification number of the target vehicle to be remotely controlled, and The vehicle specifying unit 122 and the control command creating unit 123a are notified of the result of determining that this is possible, and the number of unused remote control devices is notified to the control command creating unit 123a.

When the above-mentioned predetermined event occurs, that is, when one automated driving vehicle in which the predetermined event has occurred transmits a remote control request and the remote control request is accepted, the vehicle identification unit 122 identifies the plurality of automated driving vehicles 21. -2i, non-target vehicles other than the target vehicle to be remotely controlled are identified, and the identified non-target vehicles are notified to the control command generation unit 123a. Specifically, the vehicle identification unit 122 refers to the vehicle information storage unit 132 and selects an automated driving vehicle having an identification number other than the identification number of the target vehicle from among the identification numbers of all automated driving vehicles 21 to 2i. The vehicle is identified as a non-target vehicle, and the identification number of the non-target vehicle is notified to the control command generation unit 123a. Note that if there is an automatically operated vehicle that is already being remotely controlled, the vehicle identifying unit 122 preferably identifies vehicles other than the target vehicle to be remotely controlled and the automatically operated vehicle that is already being remotely controlled as non-target vehicles.

When the target vehicle is controlled to run in remote control mode according to the operation of the remote control device, the control command creation unit 123a determines whether non-target vehicles require remote control according to the number of unused remote control devices. A remote control avoidance control command for causing the non-target vehicle to travel autonomously so as to avoid such a situation is created and output to the communication unit 11.

The communication unit 11 transmits the created remote control avoidance control command to the non-target vehicle. Note that the timing for transmitting the remote control avoidance control command is not particularly limited to this example, and any timing can be used as long as the request acceptance unit 121 determines that the remote control request can be accepted.

Among the plurality of autonomous driving vehicles 21 to 2i, the target vehicle runs in remote control mode according to the operation of the remote control device, and the non-target vehicles that have received a remote control avoidance control command run in autonomous driving mode to avoid remote control. Drive according to control commands and avoid situations that require remote control.

Next, the remote control avoidance control command created by the control command creation unit 123a according to the number of unused remote control devices will be specifically explained.

First, the control command generation unit 123a generates a command when the number of unused remote control devices that are not used for remote control among the plurality of remote control devices 31 to 3j becomes a predetermined first threshold, for example, 4 or less. , a remote control avoidance control command is created, and the created remote control avoidance control command is transmitted from the communication unit 11 to the non-target vehicle. As this remote control avoidance command, various remote control avoidance commands according to the first embodiment can be used.

In addition, when the number of unused remote control devices is equal to or less than a first threshold and exceeds a second threshold that is less than the first threshold, the control command creation unit 123a issues a remote control avoidance control command to a vehicle that is not subject to remote control. A remote control suppression control command is created to make the non-target vehicle autonomously run so that the possibility of requiring remote control is lower than the current possibility, and the number of unused remote control devices is less than or equal to a second threshold. If the non-target vehicle requires remote control as a remote control avoidance control command, the remote control command is used to make the non-target vehicle run autonomously so that immediate remote control is possible for the non-target vehicle. A control standby control command may be created, and the created remote control avoidance control command may be transmitted from the communication unit 11 to the non-target vehicle.

For example, if the number of unused remote control devices is 5 or more, the control command generation unit 123a does not transmit the remote control avoidance control command, and if there are 2 to 4 unused remote control devices, the control command generation unit 123a transmits the remote control avoidance control command as a remote control suppression control command. A side road side running control command is created and transmitted, and in the case of one vehicle, a side road side running control command is created and transmitted as a remote control standby control command.

The control command creation unit 123a also changes the non-target vehicle to which the remote control avoidance control command is to be transmitted according to the number of unused remote control devices, and sends the remote control avoidance control command to the changed non-target vehicle from the communication unit 11. You may also send it.

In addition, when the number of unused remote control devices is within a predetermined range, the control command generation unit 123a reads task information from the vehicle information storage unit 132, and determines that among the non-target vehicles, the predetermined task is not executed. The vehicle not executing the task may be specified, and the remote control avoidance control command may be preferentially transmitted from the communication unit 11 to the specified vehicle not executing the task. Here, the predetermined tasks include tasks for goods delivery services such as the above-mentioned home delivery, tasks for human delivery services such as taxi services, and the like.

For example, if the number of unused remote control devices is 5 or more, the control command generation unit 123a does not transmit the remote control avoidance control command, and if there are 2 to 4 unused remote control devices, the control command generation unit 123a executes the task of delivering goods or people. A remote control avoidance control command is not sent to the executing vehicle, and a remote control avoidance control command is created and sent to the non-executing vehicle that is not executing the task of delivering goods or people. Create and send remote control avoidance control commands to all non-target vehicles. In this case, overall task efficiency can be maintained while reducing the possibility that remote control will be required.

Note that when creating and transmitting a remote control avoidance control command to a non-executing vehicle, the control command creation unit 123a may also create and transmit a remote maneuver avoidance control command to the executing vehicle. In this case, the executing vehicle may temporarily ignore the remote control avoidance control command and follow the remote control avoidance control command after completing the task. In addition, when creating and transmitting a remote control avoidance control command to the execution vehicle, the control command creation unit 123a sends the command to a person related to the task, such as a passenger in the case of a taxi, or a recipient at the delivery destination in the case of home delivery. may be notified that the remote control avoidance control command has been transmitted.

In addition, when the number of unused remote control devices is within a predetermined range, the control command generation unit 123a sends a command to a vehicle located in an area where there is a higher possibility of requiring remote control among non-target vehicles. The communication unit 11 may preferentially transmit the remote control avoidance control command. This is because community roads are narrower and have more people and bicycles than arterial roads or expressways, so there is a high possibility that non-target vehicles will be in a complex situation where they have to detect many objects, so remote control is not possible. This is to preferentially transmit the remote control avoidance control command to non-target vehicles traveling in the area, since there is a high possibility that the request will be made. Here, the control command generation unit 123a refers to the vehicle information storage unit 132 as an area where the possibility of requiring remote control is higher than usual, and for example, the history of the past position of the target vehicle where remote control has occurred. Based on this, it is possible to determine areas where there is a high possibility of requiring remote control, and to identify vehicles located in areas where the possibility of requiring remote control is higher than usual among non-target vehicles.

For example, the control command generation unit 123a does not transmit a remote control avoidance control command if the number of unused remote control devices is 5 or more, and if there are 2 to 4, remote control is likely to be required. Create and send a remote control avoidance control command only to non-target vehicles driving in the area (for example, community roads), and if there is only one vehicle, create a remote control avoidance control command for all non-target vehicles. and send. In this case, by transmitting remote control avoidance control commands preferentially from areas where remote control is likely to be necessary, the running efficiency of non-target vehicles will not be reduced by issuing more remote control avoidance control commands than necessary. You can do it like this.

Furthermore, when the number of unused remote control devices is within a predetermined range, the control command creation unit 123a refers to the vehicle information storage unit 132 to identify non-manually operated vehicles that cannot be manually operated among the non-target vehicles. The communication unit 11 may preferentially transmit the remote control avoidance control command to the specified non-manually operated vehicle. This is because a manually driven vehicle that can be driven manually can be driven by a driver even if it cannot be remotely controlled, but a non-manually driven vehicle that cannot be driven manually cannot be driven by a driver.

For example, if the number of unused remote control devices is 5 or more, the control command generation unit 123a does not transmit the remote control avoidance control command, and if the number of unused remote control devices is 2 to 4, the control command creation unit 123a does not transmit the remote control avoidance control command, and if the number of unused remote control devices is 2 to 4, the control command generation unit 123a does not transmit the remote control avoidance control command. A remote control avoidance control command is created and transmitted only to the driving vehicle, and in the case of one vehicle, a remote control avoidance control command is created and transmitted to all non-target vehicles. In this case, since fewer remote control avoidance control commands are sent to manually operated vehicles than to non-manually operated vehicles, more remote control avoidance control commands are sent than necessary to improve the driving efficiency of manually operated vehicles. can be prevented from lowering.

Note that among non-target vehicles, for vehicles that also have a manual driving function and have a driver, the control command generation unit 123a does not transmit a remote control avoidance control command, but instead immediately performs remote control. You may also send a message stating that this is not possible. Further, the control command generation unit 123a may inquire of the driver whether or not to drive according to the remote control avoidance control command. In addition, when it becomes necessary to switch to remote control, the control command creation unit 123a notifies the driver to wait until remote control becomes possible, or notifies the driver to switch to manual operation. You may also do something like this.

Next, remote control avoidance control processing by the control device 1a configured as described above will be explained. FIG. 7 is a flowchart showing an example of remote control avoidance control processing by the control device 1a shown in FIG.

First, when the above-mentioned predetermined event occurs in one of the plurality of automatic driving vehicles 21 to 2i and the automatic driving vehicle transmits a remote control request, the communication unit 11 of the control device 1a transmits the remote control request. The request is received and output to the request accepting unit 121 and the device number calculating unit 124 (step S21).

Next, the device number calculation unit 124 refers to the device information storage unit 131 and calculates the number of unused remote control devices that are not used for remote control among the plurality of remote control devices 31 to 3j (step S22). .

Next, the device number calculation unit 124 determines whether the number of unused remote control devices is less than or equal to a predetermined first threshold (step S23). If the number of unused remote control devices is not less than the first threshold (NO in step S23), that is, if there is a surplus in the number of usable remote control devices, the device number calculation unit 124 only processes the remote control request. The request receiving unit 121 accepts the remote control request from the target vehicle, and uses the communication unit 11 to issue a remote control instruction to remotely control the target vehicle. The command is sent to one unused remote control device (step S30), and the process ends without transmitting the remote control avoidance control command.

At this time, the output unit 312 of the remote control device that has received the remote control instruction displays the remote control instruction, and after the operator confirms the remote control instruction, the input unit 313 outputs the remote control instruction input by the operator. The remote control request is sent to the target vehicle, and the target vehicle that transmitted the remote control request is remotely controlled.

On the other hand, if the number of unused remote control devices is less than or equal to the first threshold (YES in step S23), the device number calculation unit 124 notifies the request acceptance unit 121 of the number of unused remote control units, and 121 determines whether the remote control request can be accepted based on the number of unused remote control devices (step S24). For example, if the number of unused remote control devices is 0, the request acceptance unit 121 determines that the remote control request cannot be accepted, and if the number of unused remote control devices is 1 or more, the request acceptance unit 121 determines that the remote control request cannot be accepted. We judge that it is possible.

If the remote control request cannot be accepted (NO in step S24), the request accepting unit 121 transmits a stop control command from the communication unit 11 to the target vehicle that has transmitted the remote control request (step S29), and ends the process. At this time, the target vehicle that has transmitted the remote control request stops in accordance with the stop control command.

On the other hand, if the remote control request can be accepted (YES in step S24), the request acceptance unit 121 accepts the remote control request from the target vehicle, and uses the communication unit 11 to issue an instruction to remotely control the target vehicle. It sends a remote control instruction to one unused remote control device, and also notifies the vehicle identification unit 122 and the control command generation unit 123a of the result that it is determined that the remote control request can be accepted, and also sends a remote control instruction to one unused remote control device. The number is notified to the control instruction creation unit 123a (step S25).

At this time, the output unit 312 of the remote control device that has received the remote control instruction displays the remote control instruction, and after the operator confirms the remote control instruction, the input unit 313 outputs the remote control instruction input by the operator. The remote control request is sent to the target vehicle, and the target vehicle that transmitted the remote control request is remotely controlled.

Next, the vehicle identification unit 122 identifies non-target vehicles other than the target vehicle to be remotely controlled among the plurality of automatically driven vehicles 21 to 2i, and notifies the control command creation unit 123a of the identified non-target vehicles. (Step S26).

Next, the control command creation unit 123a performs remote control avoidance control to cause the non-target vehicle to travel autonomously so as to avoid a situation in which the non-target vehicle requires remote control, depending on the number of unused remote control devices. A command is created and output to the communication unit 11, and a non-target vehicle to which the remote control avoidance control command is to be transmitted is specified and notified to the communication unit 11 (step S27).

Next, the communication unit 11 transmits the created remote control avoidance control command to the designated non-target vehicle (step S28), and ends the process. At this time, the non-target vehicle that has received the remote control avoidance control command travels in autonomous driving mode in accordance with the remote control avoidance control command to avoid a situation that requires remote control.

As a result of the above-mentioned remote control avoidance control processing, in this embodiment, when the number of unused remote control devices that are not used for remote control among the plurality of remote control devices 31 to 3j becomes equal to or less than a predetermined first threshold value Since the remote control avoidance control command is created in advance, if there are enough unused remote control devices and the situation is such that the next remote control can be carried out, the remote control avoidance control command can be used without sending the remote control avoidance control command. , it is possible to realize smooth running of non-target vehicles, and to send remote control avoidance control commands only when there is not enough unused remote control devices and it is difficult to handle the next remote control. When remotely controlling a target vehicle, it is possible to reduce the possibility that a non-target vehicle will be in a situation where remote control is required, and it is also possible to reduce the possibility that a non-target vehicle will be in a situation where the target vehicle is waiting for remote control while driving. can do.

A control device, a control method, a control program, and a control system according to the present disclosure provide a control device, a control method, a control program, and a control system that allow a remote operator to remotely monitor a plurality of automatic driving vehicles when the remote operator remotely monitors a plurality of automatic driving vehicles. Since it is possible to realize a situation in which it is easy to concentrate on driving, multiple self-driving vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is carried out and a remote control mode in which remote control is performed by a remote control device. It is useful as a control device, control method, control program, and control system used for remote monitoring.

1, 1a control device 11 communication unit 12, 12a control unit 13, 13a storage unit 121 request acceptance unit 122 vehicle identification unit 123, 123a control command generation unit 124 device number calculation unit 131 device information storage unit 132 vehicle information storage unit 133, 133a Control program storage unit 21-2i Automatic driving vehicle 211 Communication unit 212 Photographing unit 213 Position measurement unit 214 Sensor unit 215 Drive unit 216 Control unit 217 Storage unit 261 Communication control unit 262 Travel control unit 271 Map information storage unit 272 Route information storage Section 273 Automatic operation program storage section 31-3j Remote control device 311 Communication section 312 Output section 313 Input section 314 Control section 315 Storage section 41-4k Display device

Claims (25)

A control method for a control device used for remotely monitoring a plurality of autonomous vehicles configured to be switchable between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which remote control is performed by a remote control device, the method comprising:
Identifying a non-target vehicle other than the target vehicle to be remotely controlled among the plurality of autonomous vehicles when a predetermined event occurs;
When the target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the non-target vehicle is autonomously controlled so as to avoid a situation in which the non-target vehicle requires remote control. Create remote control avoidance control commands for driving,
transmitting the remote control avoidance control command to at least some of the non-target vehicles;
Control method. The remote control avoidance control command includes a remote control suppression control command for causing the non-target vehicle to travel autonomously so that the possibility that the non-target vehicle requires remote control is lower than the current possibility. include,
The control method according to claim 1. The remote control suppression control command includes a speed suppression control command for causing the non-target vehicle to travel autonomously so that the non-target vehicle travels at a speed lower than the current speed.
The control method according to claim 2. The remote control suppression control command includes an autonomous driving maintenance control command for causing the non-target vehicle to travel autonomously so that the possibility that the non-target vehicle will be unable to travel autonomously is lower than the current possibility.
The control method according to claim 2. When the non-target vehicle is traveling on a road with multiple lanes, the autonomous driving maintenance control command is a central control command for causing the non-target vehicle to autonomously travel on a lane on the center line side of the multiple lanes. Including side running control commands,
The control method according to claim 4. When the non-target vehicle is traveling on a road whose width is narrower than a predetermined value, the autonomous driving maintenance control command causes the non-target vehicle to travel on a road whose width is equal to or larger than the predetermined value. Including width expansion control commands for autonomous driving.
The control method according to claim 4. The autonomous driving maintenance control command is configured to prevent the non-target vehicle from running in a travel avoidance area within a predetermined range that includes a point where the driving mode of the target vehicle is switched from the autonomous driving mode to the remote control mode. Including route change control commands to make the vehicle run autonomously,
The control method according to claim 4. The autonomous driving maintenance control command is a route for causing the non-target vehicle to travel autonomously so that the non-target vehicle does not run in a predetermined travel avoidance area that includes a point where another non-target vehicle has transmitted a remote control request. including change control instructions;
The control method according to claim 4. The autonomous driving maintenance control command includes a replenishment promotion control command for causing the non-target vehicle to travel autonomously so as to promote replenishment of fuel or electricity for driving the non-target vehicle.
The control method according to claim 4. The remote control avoidance control command is a remote control command for causing the non-target vehicle to travel autonomously so that immediate remote control of the non-target vehicle is possible when the non-target vehicle requires remote control. including standby control instructions;
The control method according to claim 1. When the non-target vehicle is traveling on a road with multiple lanes, the remote control standby control command is for causing the non-target vehicle to autonomously travel in a lane on the opposite side of the center line among the multiple lanes. including side road side travel control commands,
The control method according to claim 10. When the non-target vehicle is traveling on a road whose width is narrower than a predetermined value, the remote control standby control command causes the non-target vehicle to run on a road whose width is equal to or greater than the predetermined value. Including width expansion control commands for autonomous driving.
The control method according to claim 10. The predetermined event occurs when a situation occurs in which the plurality of autonomous vehicles require remote control;
The control method according to claim 1. It is determined whether or not to transmit the route change control command depending on a factor in which the driving mode of the target vehicle is switched from the autonomous driving mode to the remote control mode.
The control method according to claim 7. The route change control command is not transmitted when the cause is a failure of a sensor unit of the target vehicle.
The control method according to claim 14. The route change control command is not transmitted if the cause is not a failure of the sensor unit of the target vehicle but the inability of the sensor unit to perform sensing;
The control method according to claim 14. The route change control command is transmitted to the non-target vehicle having the same model number, vehicle type, and at least one of the sensing method of the sensor unit as the target vehicle.
The control method according to claim 15. The non-target vehicle that has received the replenishment promotion control command increases a threshold value of remaining battery capacity;
The control method according to claim 9. The replenishment promotion control command is transmitted to the non-target vehicle with low remaining battery capacity;
The control method according to claim 9. The replenishment promotion control command is transmitted to the non-target vehicle where a charging location is nearby.
The control method according to claim 9. The replenishment promotion control command is transmitted to the non-target vehicle where a charging location is nearby.
The control method according to claim 9. The replenishment promotion control command is transmitted to the non-target vehicle whose charging location is near the scheduled travel route.
The control method according to claim 9. A control device used for remotely monitoring a plurality of autonomous vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which remote control is performed by a remote control device,
an identification unit that identifies a non-target vehicle other than the target vehicle to be remotely controlled among the plurality of automated driving vehicles when a predetermined event occurs;
When the target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the non-target vehicle is autonomously controlled so as to avoid a situation in which the non-target vehicle requires remote control. a creation unit that creates remote control avoidance control commands for driving;
a communication unit that transmits the remote control avoidance control command to at least some of the non-target vehicles;
Control device. A plurality of self-driving vehicles configured to be able to switch between an autonomous driving mode in which autonomous driving is performed and a remote control mode in which remote control is performed by a remote control device;
a control device used to remotely monitor the plurality of autonomous vehicles;
A remote control device that remotely controls a target vehicle to be remotely controlled from among the plurality of autonomous vehicles,
The control device includes:
an identification unit that identifies a non-target vehicle other than the target vehicle to be remotely controlled among the plurality of automated driving vehicles when a predetermined event occurs;
When the target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the non-target vehicle is autonomously controlled so as to avoid a situation in which the non-target vehicle requires remote control. a creation unit that creates remote control avoidance control commands for driving;
a communication unit that transmits the remote control avoidance control command to at least some of the non-target vehicles;
control system. To make the computer function as a control device used to remotely monitor multiple autonomous vehicles that are configured to be able to switch between an autonomous driving mode in which autonomous driving occurs and a remote control mode in which remote control is performed by a remote control device. A control program,
to the computer;
Identifying a non-target vehicle other than the target vehicle to be remotely controlled among the plurality of autonomous vehicles when a predetermined event occurs;
When the target vehicle is controlled to run in the remote control mode according to the operation of the remote control device, the non-target vehicle is autonomously controlled so as to avoid a situation in which the non-target vehicle requires remote control. Create remote control avoidance control commands for driving,
transmitting the remote control avoidance control command to at least some of the non-target vehicles;
A control program that executes processing.