Apparatus and method for managing travel of vehicle having autonomous travel function, and non-transitory computer-readable storage medium

1 . An apparatus that manages travel of a vehicle having an autonomous travel function, the apparatus comprising:

one or more memories storing one or more programs; and

one or more processors coupled with the one or more memories,

wherein the one or more programs are configured to cause the one or more processors to execute:

acquiring sensor information at a first time from a recognition sensor mounted on the vehicle, including a position of a peripheral object, the peripheral object being an object existing around the vehicle;

generating prediction information showing a predicted position of the peripheral object at a future time point based on the sensor information acquired at the first time;

transmitting a remote support request to a remote support operator based on the sensor information acquired at the first time;

receiving a remote support given in response to the remote support request by the remote support operator at a determination time after the first time;

acquiring sensor information at the determination time, including a second position of the peripheral object;

determining that the received remote support is effective based on the second position of the peripheral object at the determination time corresponding to the predicted position of the peripheral object based on the sensor information acquired at the first time; and

making the vehicle autonomously travel in accordance with the remote support in response to determining that the remote support is effective.

2 . The apparatus according to claim 1 , wherein the prediction information that is a target of determining that the received remote support is effective is prediction information generated at a time point at which the remote support request is transmitted.

3 . The apparatus according to claim 1 , wherein

the determination time is a time point at which predetermined time has elapsed since the remote support request has been transmitted.

4 . The apparatus according to claim 1 , wherein the sensor information acquired at the first time includes the position of the peripheral object and a velocity of the peripheral object.

5 . The apparatus according to claim 4 , wherein the generating the prediction information comprises generating a probability distribution corresponding to a range of predicted positions of the peripheral object at the future time point based on the velocity and the position of the peripheral object at the first time, and

wherein the determining that the received remote support is effective comprises:

obtaining a degree of correspondence based on the position of the peripheral object at the determination time compared to the probability distribution, and

determining that the received remote support is effective based on the degree of correspondence being equal to or greater than a predetermined threshold.

6 . A method for managing travel of a vehicle having an autonomous travel function, the method comprising:

acquiring sensor information at a first time from a recognition sensor mounted on the vehicle, including a position of a peripheral object, the peripheral object being an object existing around the vehicle;

generating prediction information showing a predicted position of the peripheral object at a future time point based on the sensor information acquired at the first time;

transmitting a remote support request to a remote support operator based on the sensor information acquired at the first time;

receiving a remote support given in response to the remote support request by the remote support operator at a determination time after the first time;

acquiring sensor information at the determination time, including a second position of the peripheral object;

determining that the received remote support is effective based on the second position of the peripheral object at the determination time corresponding to the predicted position of the peripheral object based on the sensor information acquired at the first time; and

making the vehicle autonomously travel in accordance with the remote support in response to determining that the remote support is effective.

7 . A non-transitory computer-readable storage medium storing a program for managing travel of a vehicle having an autonomous travel function, the program being configured to cause a processor to execute:

acquiring sensor information at a first time from a recognition sensor mounted on the vehicle, including a position of a peripheral object, the peripheral object being an object existing around the vehicle;

generating prediction information showing a predicted position of the peripheral object at a future time point based on the sensor information acquired at the first time;

transmitting a remote support request to a remote support operator based on the sensor information acquired at the first time;

receiving a remote support given in response to the remote support request by the remote support operator at a determination time after the first time;

acquiring sensor information at the determination time, including a second position of the peripheral object;

determining that the received remote support is effective based on the second position of the peripheral object at the determination time corresponding to the predicted position of the peripheral object based on the sensor information acquired at the first time; and

making the vehicle autonomously travel in accordance with the remote support in response to determining that the remote support is effective.