| CPC B60W 30/0956 (2013.01) [B60W 50/14 (2013.01); B60W 2050/146 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/4049 (2020.02)] | 14 Claims |
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1. A moving body control system for controlling a moving body, the moving body control system comprising one or more processors configured to:
control the moving body to travel along a roadway during an execution of a remote operation of the moving body;
control one or more sensors of the moving body to sense driving environment information indicating a driving environment for the moving body during the execution of the remote operation of the moving body and, during the execution of the remote operation, determine whether a predetermined condition is satisfied based on the driving environment information;
based on determining that the predetermined condition is satisfied, control the moving body to maintain a speed of the moving body and issue a notification to rearward of the moving body, the notification prompting to pass the moving body and representing that passing the moving body is being legally permitted and with safety ensured;
based on determining that the predetermined condition is not satisfied, control the moving body to maintain a speed of the moving body and prohibit issuance of the notification as lacking at least one of being legally permitted and with safety ensured; and
control the moving body to travel along the roadway during an execution of an autonomous driving state of the moving body and, during the execution of the autonomous driving state of the moving body, control the moving body to stop on a shoulder of the roadway, issue the notification from a first time to a second time, the first time being one of when the moving body is stopped on the shoulder and a combination of the moving body being stopped on the shoulder and requesting the remote operation, and the second time being one of when the moving body accepts the remote operation and the moving body is controlled to resume travel on the road by the remote operation, wherein
the predetermined condition includes at least:
a first condition that the moving body is in an environment where passing is legally permitted; and
a second condition that safety when the moving body is passed is ensured.
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