Vehicle Remote Control Method and Vehicle Remote Control Device

Abstract

A vehicle remote control method causes a vehicle (V) with an autonomous driving control function to perform autonomous driving control. Among them, in a touch panel (211) of a remote operator (21), an input position where an operator (U) performs a touch operation is detected. According to the input position, a gesture determination area (Ga1) that receives a gesture (G4b) for remotely controlling the vehicle (V) is made variable. A gesture (G4b) is detected according to the gesture determination area (Ga1). It is determined whether the detected gesture (G4b) is a preset command gesture (G4). When the gesture (G4b) is the command gesture (G4), the vehicle (V) is caused to perform autonomous driving control.

Description

Technical Field

[0001] The present invention relates to a vehicle remote control method and a vehicle remote control device for causing a vehicle having an autonomous driving control function to autonomously drive through remote operation. Background Art

[0002] A known vehicle remote control method is as follows. A gesture is input on a touch panel of a vehicle remote control device, and when the input gesture matches a pre-determined gesture, the vehicle is caused to execute a prescribed function assigned to the gesture (see Patent Document 1).

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: U.S. Patent Publication No. 2016 / 0170494

[0006] In the above prior art, the input position of the gesture relative to the touch panel is pre-specified. Therefore, if the input position of the gesture is offset from the prescribed input position, it is not determined as a proper gesture, and the vehicle cannot execute the prescribed function. Summary of the Invention

[0007] The problem to be solved by the present invention is to provide a vehicle remote control method and a remote control device capable of inputting a gesture at an arbitrary position on a touch panel.

[0008] The present invention solves the above problem by detecting the input position of a touch operation relative to the touch panel of a remote operator and making the gesture determination area for receiving the gesture variable according to the input position.

[0009] Advantages of the Invention

[0010] According to the present invention, since a gesture can be input at an arbitrary position on the touch panel, the vehicle can execute a prescribed function regardless of the input position of the gesture. Brief Description of the Drawings

[0011] Figure 1 is a block diagram of a remote parking system showing a vehicle remote control method and a vehicle remote control device to which the present invention is applied.

[0012] Figure 2 is showing in Figure 1 a plan view of an example of reverse remote parking executed in the remote parking system.

[0013] Figure 3 is showing the detection Figure 1 a state explanatory diagram of the relative position of the slave machine with respect to the host vehicle.

[0014] Figure 4 is a block diagram showing the structure of a remote manipulator Figure 1 .

[0015] Figure 5A is an explanatory diagram showing an example of an instruction gesture of a remote manipulator input to Figure 4 .

[0016] Figure 5B is an explanatory diagram showing another example of an instruction gesture of a remote manipulator input to Figure 4 .

[0017] Figure 6A is an explanatory diagram showing the state of an input guidance of a gesture displayed on a touch panel in Figure 4 .

[0018] Figure 6B is an explanatory diagram showing the first gesture determination area set on a remote manipulator in Figure 4 .

[0019] Figure 6C is an explanatory diagram showing the state of a gesture input to the first gesture determination area of Figure 6B .

[0020] Figure 7 is a curve graph showing the detection value of a touch operation detected by a touch panel in Figure 4 and the moving average value of the detection value.

[0021] Figure 8 is an explanatory diagram showing the state of setting a gesture determination area according to a gesture input at an arbitrary position of a touch panel in Figure 4 .

[0022] Figure 9 is an explanatory diagram showing the state of a gesture extending from a touch panel in Figure 4 .

[0023] Figure 10 is a flowchart showing an example of a control sequence executed in a remote parking system in Figure 1 .

[0024] Figure 11 is a flowchart showing the sequence of remote operations of Figure 10 .

[0025] Figure 12 is a flowchart showing the sequence of setting a gesture determination area when a gesture cannot be detected temporarily.

[0026] Figure 13 is a flowchart showing the sequence of remote operations of the second embodiment.

[0027] Figure 14It is a flowchart showing the order of remote operation of the third embodiment.

[0028] Figure 15 It is a flowchart showing the order of remote operation of the fourth embodiment.

[0029] Figure 16 It is a flowchart showing the order of remote operation of the fifth embodiment. Detailed Embodiments

[0030] (First Embodiment)

[0031] Hereinafter, embodiments of the present invention will be described based on the drawings. Figure 1 It is a block diagram of a remote parking system 1 of a vehicle remote control method and a remote control device to which the present invention is applied. In this specification, "autonomous driving control" means that the vehicle travels by automatic control of an in-vehicle driving control device without relying on the driving operation of the driver. "Autonomous parking control" is a type of autonomous driving control, which means that the vehicle parks (enters or exits the garage) by automatic control of an in-vehicle driving control device without relying on the driving operation of the driver. In addition, "parking (stopping)" means that the vehicle continuously stops at a parking space, but in the case of a "driving path", it includes not only the parking path when entering the parking space but also the path for exiting the garage from the parking space. In this sense, the "vehicle driving control method and vehicle driving control device during parking" include both the driving control of the vehicle when entering the parking space and the driving control of the vehicle when exiting the parking space. In addition, entering the garage is also called "inward movement", and exiting the garage is also called "outward movement". In the following embodiments, an example of a remote parking system in which the remote control method and remote control device of the present invention are applied to park a remotely controlled vehicle by autonomous driving control will be given to illustrate a specific example of the present invention. The remote parking system 1 of this embodiment performs autonomous driving control in an assist mode, in which an operator such as a driver can enter the vehicle and the operator can intervene in the operation. After that, the operator gets out of the vehicle and performs autonomous driving control from the outside of the vehicle through a remote control mode (remote control mode) using a remote operator.

[0032] The remote parking system 1 of this embodiment is a system that performs garage entry or exit to / from a parking space through autonomous driving control. More specifically, during garage entry, the driver gets out of the vehicle midway, and while confirming safety, continuously sends an execution command signal to the vehicle through a remote operator, whereby the vehicle continues to perform autonomous parking control. Also, when there is a possibility of the vehicle colliding with an obstacle, the autonomous parking control is stopped by aborting the execution command signal sent by the remote operator. Hereinafter, the autonomous driving control mode in which an operator such as the driver rides in the vehicle and the operator can perform an intervention operation is called the assist mode, and the autonomous driving control mode in which the operator gets out of the vehicle and performs garage entry or exit using remote operation is called the remote control mode (remote operation mode).

[0033] For example, in a narrow garage or a parking lot with other vehicles parked on both sides, etc., in a narrow parking space where the side door does not have enough width to open fully, it becomes difficult for the driver to get in and out of the vehicle. Since parking can be performed even in such a case, the remote control mode using remote operation can be utilized. When performing garage entry in the remote control mode, if the remote control mode is started and the autonomous parking control is started by calculating the entry path to the selected parking space, the driver gets out of the vehicle while holding the remote operator. The driver who has gotten out of the vehicle continuously sends an execution command signal to the vehicle through the remote operator, thereby completing garage entry. Also, when exiting from this parking space, when the driver turns on the internal combustion engine or the drive electric motor of the vehicle using the remote operator held, and then starts the remote exit mode, and calculates the exit path to the selected exit position and starts the autonomous exit control, the driver continues to send an execution command through the remote operator, thereby completing the exit and then getting back in the vehicle. The remote parking system 1 of this embodiment is a system having a remote control mode using such remote operation. Also, as an example of autonomous parking control, the reverse autonomous parking control shown in Figure 2 is illustrated, but the present invention can also be applied to exiting the garage, tandem parking, and other autonomous parking.

[0034] The remote parking system 1 of this embodiment includes a target parking space setter 11, a vehicle position detector 12, an object detector 13, a parking path generation unit 14, an object deceleration calculation unit 15, a path following control unit 16, a target vehicle speed generation unit 17, a steering angle control unit 18, a vehicle speed control unit 19, a host computer 20, a remote operator 21, and a slave unit 22. The target parking space setter 11, the vehicle position detector 12, the object detector 13, the parking path generation unit 14, the object deceleration calculation unit 15, the path following control unit 16, the target vehicle speed generation unit 17, the steering angle control unit 18, the vehicle speed control unit 19, and the host computer 20 are mounted on the vehicle. The remote operator 21 and the slave unit 22 are held by an operator such as the driver. Hereinafter, each structure will be described.

[0035] The target parking space setter 11 searches for parking spaces existing around the host vehicle in the remote control mode, and enables the operator to select a desired parking space from the available parking spaces. In addition, the target parking space setter 11 outputs the position information (relative position coordinates from the current position of the host vehicle, latitude / longitude, etc.) of the selected parking space to the parking path generation unit 14.

[0036] To achieve the above functions, the target parking space setter 11 includes an input switch, multiple cameras, a parking space detection unit, and a touch panel type display (none of which are shown). The input switch selectively selects the remote control mode and the assist mode. The multiple cameras capture the surroundings of the vehicle. In addition, the cameras of the target parking space setter 11 can also be used as the cameras of the object detector 13 described later. The parking space detection unit is a computer installed with a software program for detecting parking spaces that can be parked from the image data captured by the multiple cameras. The touch panel type display is used for the display of the detected parking spaces and the selection of parking spaces.

[0037] When the driver or other operator selects the remote control mode through the input switch, the target parking space setter 11 acquires the image data around the host vehicle through the multiple cameras, analyzes the image data to detect parking spaces that can be parked. In addition, the target parking space setter 11 displays an image including the parking spaces that can be parked on the touch panel type display, prompting the operator to select the parking space where the vehicle is to be parked. When the operator selects a desired parking space from the displayed parking spaces, the target parking space setter 11 outputs the position information of this parking space to the parking path generation unit 14. In addition, when searching for parking spaces that can be parked, when the parking lot information with detailed position information is included in the map information of the navigation device, this parking lot information can also be used.

[0038] The vehicle position detector 12 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc. The GPS unit detects the radio waves sent from multiple communication satellites and periodically acquires the position information of the host vehicle. The vehicle position detector 12 detects the current position of the host vehicle based on the position information of the host vehicle acquired by the GPS unit, the angular change information acquired from the gyro sensor, and the vehicle speed acquired from the vehicle speed sensor. The position information of the host vehicle detected by the vehicle position detector 12 is output to the parking path generation unit 14 and the path following control unit 16 at a prescribed time interval.

[0039] The object detector 13 is a device that searches for objects such as obstacles around the present vehicle, and includes a camera, a radar (millimeter-wave radar, lidar, ultrasonic radar, etc.), or a sonar, or a device that combines them. These cameras, radars, sonars, or their combinations are installed on the outer panel portion around the present vehicle. As the installation position of the object detector 13, there is no particular limitation, and for example, it can be installed at all parts or some of them such as the center and both sides of the front bumper, the center and both sides of the rear bumper, and the outside of the sill at the lower part of the left and right center pillars.

[0040] In addition, the object detector 13 includes a computer on which a software program for determining the position of an object detected by a camera or a radar, etc. is installed. This computer outputs the determined object information (object target information) and its position information (relative position coordinates, latitude, longitude, etc. with respect to the current position of the present vehicle) to the parking path generation unit 14 and the object deceleration operation unit 15. Before the start of the autonomous parking control, these object information and position information are used by the parking path generation unit 14 to generate a parking path. In addition, when the object deceleration operation unit 15 detects an unexpected object such as an obstacle during the autonomous parking control, the object information and position information are used for the control to decelerate or stop the present vehicle.

[0041] The parking path generation unit 14 calculates a parking path from the current position of the present vehicle to the target parking position (in the case of the remote control mode, it refers to the storage path. The same applies hereinafter), and a parking path that does not collide with or interfere with an object. In the calculation of the parking path, the size of the present vehicle (vehicle width, vehicle length, minimum turning radius, etc.) stored in advance, the target parking position from the target parking position setter 11 (in the case of the remote control mode, it refers to the position information of the parking space. The same applies hereinafter), the current position information of the present vehicle from the vehicle position detector 12, and the position information of the object (obstacle) from the object detector 13 are used.

[0042] Figure 2 It is a plan view showing an example of the remote control mode. At Figure 2 the current position P1 of the present vehicle V shown, when an operator U such as a driver operates an input switch in the vehicle to select the remote control mode, the target parking position setter 11 searches for a parking space TPS where parking is possible, and displays an image including the parking space TPS on the display. On the contrary, when the operator U selects the parking space TPS, the parking path generation unit 14 calculates a parking path R1 from the current position P1 to the turning-back position P3, and a parking path R2 from the turning-back position P3 to the target parking space TPS. Then, this series of parking paths R1, R2 are output to the path following control unit 16 and the target vehicle speed generation unit 17.

[0043] The object deceleration operation unit 15 inputs the position information of obstacles and other objects from the object detector 13, and calculates the time until collision with the object (TTC: Time to Collision) based on the distance to the object and the vehicle speed, and calculates the deceleration start time of the own vehicle. For example, in Figure 2 In the remote control mode shown, the wall W on the right side of the road at the turning-back position P3, the houses H1 and H2 on the left and right sides of the parking path R2 to the target parking space TPS, and the plants WD, etc. become objects as obstacles. When the object deceleration operation unit 15 determines that the distance to these obstacles is equal to or greater than a specified value, the vehicle speed is set to the initial set value, and when the time TTC until the own vehicle V collides with the obstacle is equal to or less than a specified value, the vehicle speed of the own vehicle V is decelerated. In addition, when performing Figure 2 In the series of autonomous parking controls shown, the same applies when an unexpected obstacle is detected in the parking paths R1 and R2. When the time TTC until the own vehicle V collides with the obstacle becomes equal to or less than a specified value, the vehicle speed of the own vehicle V is decelerated or stopped. The deceleration start time is output to the target vehicle speed generation unit 17.

[0044] The path following control unit 16 calculates a target steering angle for following the own vehicle along the parking path at a specified time interval based on the parking path from the parking path generation unit 14 and the current position of the own vehicle from the vehicle position detector 12. For Figure 2 the parking paths R1 and R2, the path following control unit 16 calculates the target steering angle of the parking path R1 that goes straight and turns right from the current position P1 to the turning-back position P3 for each current position of the own vehicle V at a specified time interval. Similarly, the path following control unit 16 calculates the target steering angle of the parking path R2 that turns left and goes straight from the turning-back position P3 to the target parking space TPS for each current position of the own vehicle V at a specified time interval. The path following control unit 16 outputs the calculated target steering angle to the steering angle control unit 18.

[0045] The target vehicle speed generation unit 17 calculates the target vehicle speed for following the own vehicle along the parking path at a specified time interval based on the parking path from the parking path generation unit 14 and the deceleration start time from the object deceleration operation unit 15. For Figure 2For the parking paths R1 and R2, for each current position of the vehicle V, the target vehicle speeds when starting from the current position P1, going straight, turning right, and stopping at the turning-back position P3 are calculated at a prescribed time interval and output to the vehicle speed control unit 19. Similarly, the target vehicle speed generation unit 17 calculates, at a prescribed time interval, for each current position of the vehicle V, the target vehicle speeds when starting again (reversing) from the turning-back position P3 and turning left to the middle of the target parking space TPS, and when approaching the target parking space TPS and stopping, and outputs them to the vehicle speed control unit 19. In addition, when the target vehicle speed generation unit 17 executes Figure 2 In the series of autonomous parking controls shown, when an unexpected obstacle is detected in the parking paths R1 and R2, the deceleration or stop time is output from the object deceleration calculation unit 15, and thus the corresponding target vehicle speed is output to the vehicle speed control unit 19.

[0046] The steering angle control unit 18 generates a control signal for operating the steering actuator provided in the steering system of the vehicle V based on the target steering angle from the path following control unit 16. In addition, the vehicle speed control unit 19 generates a control signal for operating the accelerator actuator provided in the drive system of the vehicle V based on the target vehicle speed from the target vehicle speed generation unit 17. The autonomous parking control is executed by simultaneously controlling the steering angle control unit 18 and the vehicle speed control unit 19.

[0047] Next, the slave unit 22 and the master unit 20 will be described. In international standards related to the autonomous driving control of vehicles, as a condition for allowing the remote operation of a vehicle, it is stipulated that the distance between the vehicle and the operator is within a prescribed remote operation distance (for example, within 6 m). Therefore, in the remote parking system 1 of the present embodiment, by using the slave unit 22 held by the operator U and the master unit 20 mounted on the vehicle V, the relative position of the slave unit 22 with respect to the vehicle V, that is, the relative position of the operator U holding the slave unit 22 with respect to the vehicle V is detected. The slave unit 22 and the master unit 20 constitute a so-called keyless entry system. The keyless entry system is a system in which, when an operator U such as a driver approaches within a prescribed distance of the vehicle V while holding the slave unit 22, wireless communication is performed between the master unit 20 provided in the vehicle V and the slave unit 22, and the automatic unlocking of the door lock is executed.

[0048] In the present embodiment, for example, as Figure 3As shown, antennas 202a to 202d connected to the host 20 are provided at predetermined positions around the vehicle V. The host 20 sends a slave unit search signal from antennas 202a to 202d. When the slave unit 22 is within a predetermined distance close to the vehicle V, the slave unit 22 receives the slave unit search signal sent from antennas 202a to 202d, and measures the radio wave intensity of the slave unit search signal of antennas 202a to 202d. The radio wave intensity of the slave unit search signal varies according to the distance between the slave unit 22 and each antenna 202a to 202d. That is, when the slave unit 22 is near the antenna 202b on the left side of the front bumper, the radio wave intensity of the slave unit search signal received from the antenna 202b is the strongest, but the radio wave intensity of the slave unit search signal received from the antenna 202c near the right side of the rear bumper is the weakest.

[0049] The slave unit 22 sends the measured radio wave intensity of the slave unit search signal of antennas 202a to 202d to the host 20. The position detector 201 of the host 20 is, for example, a computer installed with a software program. This software program calculates the position of the slave unit 22 using triangulation or the like based on the radio wave intensity of each antenna 202a to 202d received from the slave unit 22. The position detector 201 detects the relative position of the slave unit 22 with respect to the vehicle V based on the radio wave intensity of antennas 202a to 202d received from the slave unit 22, that is, the relative position of the operator U holding the slave unit 22 with respect to the vehicle V. The position detector 201 outputs the detected relative position of the slave unit 22 to the path following control unit 16 and the target vehicle speed generation unit 17 (or the steering angle control unit 18 and the vehicle speed control unit 19 can be used instead), and sends it to the remote operator 21.

[0050] The remote operator 21 is a device for the operator U to command from outside the vehicle whether to continue or stop the execution of the autonomous parking control set by the target parking space setter 11. Therefore, the remote operator 21 has a wireless communication function for sending an execution instruction signal to the path following control unit 16 and the target vehicle speed generation unit 17 (or the steering angle control unit 18 and the vehicle speed control unit 19 can be used instead), and communicates with the wireless communication function provided on the vehicle V.

[0051] The remote operator 21 is composed of a portable information terminal such as a smartphone with an application software for remote control (hereinafter referred to as an application). The smartphone installed with the application functions as the remote operator 21 of the remote parking system 1 by starting the application.

[0052] In international standards related to the autonomous driving control of a vehicle, it is stipulated that the vehicle performs autonomous driving control only during the period when the operator continuously operates the remote operator. Therefore, in the remote parking system 1 of the present embodiment, an execution instruction signal is continuously sent from the remote operator 21 to the host vehicle V only during the period when a prescribed instruction gesture is continuously input to the touch panel 211 of the remote operator 21. In addition, the host vehicle V performs autonomous parking control only during the period when it receives the execution instruction signal sent from the remote operator 21. That is, when the input of the instruction gesture to the remote operator 21 is interrupted, the execution instruction signal is not sent from the remote operator 21 to the vehicle, and the execution of the autonomous parking control of the vehicle is interrupted or stopped. In addition, the remote operator 21 has a function of starting a drive source such as an engine or a motor of the vehicle by remote operation in order to take out the vehicle parked in a narrow parking space by remote operation from outside the vehicle.

[0053] As Figure 4 shown, the remote operator 21 includes a touch panel 211, a gesture determination unit 212, a storage unit 213, an instruction unit 214, and a communication unit 215. The touch panel 211 detects the touch operation of the operator U. The gesture determination unit 212 sets a gesture determination area for accepting gesture input in the touch panel 211. In addition, the gesture determination unit 212 detects a gesture through the gesture determination area, and determines whether the detected gesture is a preset instruction gesture and whether the input speed of the gesture is within a prescribed range. The storage unit 213 stores various information related to the gesture determination of the gesture determination unit 212. The instruction unit 214 generates an execution instruction signal for causing the host vehicle V to perform autonomous parking control based on the autonomous driving control function when it is determined that the detected gesture is an instruction gesture and the input speed of the gesture is within a prescribed range. The communication unit 215 sends the execution instruction signal generated by the instruction unit 214 to the host vehicle V.

[0054] Hereinafter, each part of the remote operator 21 will be described. The touch panel 211 uses the touch panel display of a smart phone that functions as the remote operator 21. The gesture input in the remote control mode is a preset prescribed instruction gesture. The form and size of the prescribed instruction gesture are stored in the storage unit 213 of the remote operator 21 in association with the application program. The instruction gesture is, for example, a touch operation in which the coordinates of the input position of the touch operation continuously change on at least one of the X axis and the Y axis when the horizontal direction of the touch panel 211 is set as the X axis and the vertical direction is set as the Y axis. In Figure 5A the examples shown in (A), (B), and (C) below, a gesture G1 in which a finger slides in the vertical direction on the touch panel 211, a gesture G2 in which a finger slides in the horizontal direction, or a gesture G3 in which a finger slides in an inclined direction may also be used as the instruction gesture.

[0055] In addition, in a monotonous gesture where a finger slides linearly, it is possible to misjudge it as an input operation other than an instruction gesture. In addition, when certain objects come into contact with and move on the touch panel 211, it is also possible to judge it as an instruction gesture. To prevent such misjudgments of instruction gestures, for example, a touch operation of the trajectory of a figure formed by overlapping and closing the starting point of a single input of a starting gesture drawn on the touch panel and the ending point of a single input of the gesture can be used as an instruction gesture. As such a closed figure, as shown in (A) of Figure 5B , a gesture G4 formed by a circular ring-shaped figure can be used. As shown in (B) and (C) of this figure, gestures G5 and G6 formed by a triangle, a quadrilateral, or other polygons can also be used. In addition, as shown in (D) of this figure, a gesture G7 formed by a figure such as an 8-shaped figure can be used. In Figure 5B , the shaded part shows the starting point and the ending point of the gesture as an example. In addition, in the present embodiment, the gesture G4 formed by the circular ring-shaped figure shown in (A) of Figure 5B is used as a prescribed instruction gesture.

[0056] The gesture determination unit 212 functions according to an application by the CPU (Central Processing Unit) of the smartphone that functions as the remote controller 21. The gesture determination unit 212 sets a gesture determination area based on the input position of the touch operation performed by the operator U on the touch panel 211. In addition, the gesture determination unit 212 makes the size of the gesture determination area variable with respect to the touch panel 211. That is, the position and size of the gesture determination area set in the touch panel 211 are variable according to the input position of the touch operation, so that a prescribed instruction gesture can be input at any position and with any size on the touch panel 211. Thus, compared with the prior art in which the input position and input size of the gesture are always fixed, it is possible to suppress the situation where the autonomous parking control of the present vehicle V is aborted due to an input error of the instruction gesture.

[0057] When starting to input a gesture, the gesture determination unit 212, as shown in Figure 6A , uses a preset position of the touch panel 211, for example, the center position Ip0 (coordinates x0, y0), as a reference to display an input guide 212a indicating the shape of the prescribed-size instruction gesture G4. A message such as "Please touch and operate the displayed input guide in the direction of the arrow" is displayed near the input guide 212a.

[0058] In addition, when starting to input a gesture, the gesture determination unit 212 sets a first gesture determination area Ga0 at a preset position of the touch panel 211 regardless of the input position of the touch operation on the touch panel 211. Specifically, as shown in Figure 6BAs shown, a first gesture determination area Ga0 corresponding to the input guide 212a is set with reference to the center position Ip0 of the input guide 212a. When the width direction of the touch panel 211 is set as the X-axis and the longitudinal direction is set as the Y-axis, the first gesture determination area Ga0 is defined by the center coordinates (x0, y0) of the specified center position Ip0 and the radius R. As Figure 6B shown by the dashed line in the figure, the radius R has a range from the minimum input size rmin obtained by reducing the radius r of the command gesture G4 of a specified size by a specified ratio (e.g., 30%) and the maximum input size rmax obtained by expanding the radius r by a specified ratio (e.g., 150%). Regarding the specified size of the command gesture G4, values corresponding to the size and resolution of the touch panel 211 are pre-stored in the storage unit 213. The gesture determination unit 212 sets the specified size, the minimum input size, and the maximum input size of the command gesture G4 based on the size and resolution of the touch panel 211 of the smartphone on which the application is installed.

[0059] In this way, the reason for displaying the input guide 212a and temporarily fixing the first gesture determination area Ga0 when starting to input a gesture is to notify the operator U of the form of the command gesture G4 to improve the determination rate of the gesture after starting the input. In addition, when starting to remotely operate the vehicle V, the operator U is likely to direct their eyes towards the remote controller 21 to operate the remote controller 21. Therefore, by setting the first gesture determination area Ga0 by displaying the input guide 212a at a preset position, the required operation can be prompted to the operator U, and thus, the discomfort of the operator U can be suppressed. On the contrary, after starting the autonomous parking control of the vehicle V, the operator U is likely to turn their eyes away from the remote controller 21 and monitor the vehicle V. Therefore, the possibility of the touch operation deviating from the first gesture determination area Ga0 becomes high, so by setting a new gesture determination area according to the input position of the touch operation, the autonomous driving control of the vehicle V can be continued. In addition, the first gesture determination area Ga0 is defined by the minimum input size rmin and the maximum input size rmax because it is determined as the command gesture not only when the input gesture is the same size as the command gesture G4 of the specified size but also when the size is within the specified range, that is, smaller or larger than the specified size.

[0060] The gesture determination unit 212 determines whether the input gesture is a circular ring-shaped gesture such as the specified command gesture G4 and whether the size converges within the first gesture determination area Ga0. In addition, the gesture determination unit 212 determines whether the input speed of the gesture is within a preset specified range. The gesture determination unit 212 determines that the command gesture G4 has been input when the input gesture is a circular ring-shaped gesture such as the command gesture G4, the size converges within the first gesture determination area Ga0, and the input speed is within the specified range. Therefore, asFigure 6C As shown, even when the input gesture G4a is bent and deformed into an oval shape in the first gesture determination area Ga0, the gesture determination unit 212 determines it as the command gesture G4. In addition, the input speed of the gesture is used for the determination of the command gesture in order to distinguish a gesture input when some object touches the touch panel 211 from the gesture of the operator U.

[0061] When the gesture determination unit 212 determines that the input gesture is the command gesture G4, or when a new gesture determination area is set according to the change in the input position of the gesture, the input guide 212a is not displayed. When it is detected that the command gesture is continuously input along the input guide 212a, the gesture determination unit 212 can continue to display the input guide 212a. In addition, when a new gesture determination area is set, the gesture determination unit 212 can display the input guide 212a at the position of the new gesture determination area.

[0062] Since the gesture input to the touch panel 211 is performed by the touch operation of the operator U, the input position of the gesture necessarily moves. Therefore, the gesture determination unit 212 sets a new gesture determination area according to the movement of the input position of the gesture relative to the touch panel 211. In addition, when the operator U who pre-understands that the input position and input size of the gesture are variable inputs a gesture while ignoring the input guide 212a, a new gesture determination area is set according to the input position. In the setting of the new gesture determination area, the detection values xraw, yraw of the touch operation detected by the touch panel 211 and the moving average values xmean, ymean of the detection values are used.

[0063] Figure 7 The shown curve graph shows an example of the detection values of the touch operation detected by the touch panel 211 when the operator U inputs a gesture on the touch panel 211. The curve graph in FIG. (A) shows that the horizontal axis is time and the vertical axis is the detection value xraw of the touch operation in the X-axis direction and the moving average value xmean of the detection value xraw. The positive side of the vertical axis of the curve graph in (A) represents the right side of the center line of the X-axis of the touch panel 211, and the negative side represents the left side of the center line of the X-axis. In addition, the curve graph in FIG. (B) shows that the horizontal axis is time and the vertical axis is the detection value yraw of the touch operation in the Y-axis direction and the moving average value ymean of the detection value yraw. The positive side of the vertical axis of the curve graph in (B) represents the upper side of the center line of the Y-axis of the touch panel 211, and the negative side represents the lower side of the center line of the Y-axis. The detection values xraw, yraw of the touch panel 211 are stored in the storage unit 213 at any time. In addition, the moving average values xmean, ymean are calculated by the gesture determination unit 212 and stored in the storage unit 213.

[0064] For example, as Figure 8As shown, when a gesture G4b is input to the touch panel 211 through the touch operation of the operator U, the gesture determination unit 212 obtains the coordinates (xb, yb) of the current touch position Tp1 of the operator U relative to the touch panel 211 from the storage unit 213. In addition, the gesture determination unit 212 obtains the moving average values (xmean, ymean) of the touch position in the past several seconds (hereinafter referred to as the radius determination time T) up to Tp1 from the storage unit 213. The gesture determination unit 212 uses the following formulas 1 and 2 to calculate the radius rb of the gesture G4b when the touch position moves to Tp1 and the angle θ between the touch position Tp1 and the X-axis of the touch panel 211. Then, the gesture determination unit 212 calculates the coordinates (x1, Y1) of the center position Ip1 of the gesture G4b based on the radius rb and the angle θ, and sets a new gesture determination area Ga1 based on the center position Ip1. In this way, the gesture determination unit 212 always sets a new gesture determination area according to the movement of the gesture input position.

[0065] [Formula 1]

[0066]

[0067] [Formula 2]

[0068]

[0069] However, during the process of inputting a gesture to the touch panel 211, the gesture determination unit 212 may temporarily fail to detect the gesture. The situations where the gesture determination unit 212 fails to detect the gesture include: the case where the finger of the operator U leaves the touch panel 211, the case where the input gesture cannot be determined as a command gesture, or the case where the operator U ends the gesture input halfway, etc. In addition, when the finger of the operator U leaves the touch panel 211, it also includes the case where the finger of the operator U extends from the touch panel 211. When the gesture cannot be detected during the process of inputting a gesture to the touch panel 211, the gesture determination unit 212 switches the setting process of the gesture determination area based on the time when the gesture cannot be detected (undetected time) and the above radius determination time T.

[0070] For example, in the case where the finger of the operator U temporarily leaves the touch panel 211 during the input of a gesture and the gesture determination unit 212 cannot detect the gesture, or in the case where the finger of the operator U extends from the touch panel 211 and the gesture determination unit 212 cannot detect the gesture, considering that the undetected time is relatively short. Thus, the gesture determination unit 212 compares the undetected time with the radius determination time T. When it is determined that the undetected time is less than the radius determination time T, the moving average value is calculated using the coordinates of the touch position detected before the gesture cannot be detected, and the new gesture determination area is set using the calculation result. That is, the new gesture determination area is set without using the touch positions during the undetected time. For example, if it is Figure 9 As shown in the example, in the case where it is detected that the finger of the operator U temporarily extends from the touch panel 211 during the input of a gesture, the gesture determination unit 212 calculates the moving average value using the coordinates of the touch position detected before extending from the touch panel 211, and sets the new gesture determination area Ga2 using the calculation result. When the undetected time of the gesture is less than the radius determination time T, even if the new gesture determination area is set without using the touch positions during the undetected time, there will be no large deviation in the set position of the gesture determination area. Therefore, it will not have a large impact on the gesture determination result.

[0071] In addition, in the case where the gesture determination unit 212 cannot determine the input gesture as an instruction gesture due to an input error of the operator U, considering that the undetected time of the gesture is relatively long compared to the case where the finger leaves the touch panel 211. Therefore, when it is determined that the undetected time of the gesture is equal to or greater than the radius determination time T, the gesture determination unit 212 stores the gesture determination area set before the gesture cannot be detected as the second gesture determination area in the storage unit 213. And when the gesture determination unit 212 detects the input of a gesture again, the gesture determination unit 212 reads the second gesture determination area from the storage unit 213 to perform the gesture determination. For example, if it is Figure 9 As shown in the example, the gesture determination unit 212 stores the gesture determination area Ga2 set before the gesture G4c becomes undetected as the second gesture determination area in the storage unit 213. Then, when the gesture determination unit 212 detects the input of a gesture again, the gesture determination area Ga2 is read from the storage unit 213 to perform the gesture determination. In the case of continuously inputting gestures, the operator U is highly likely to continue inputting at the same input position. Therefore, in the case where the gesture cannot be detected due to an input error, by using the gesture determination area set before that, the gesture determination rate can be improved.

[0072] In addition, when the operator U finishes inputting the gesture midway, the undetected time of the gesture becomes even longer compared to the case where the finger leaves the touch panel 211 or the input gesture is not determined as a command gesture. Then, when the gesture determination unit 212 determines that the undetected time of the gesture is equal to or longer than a preset re-input standby time, the gesture determination unit 212 displays an input guide 212a on the touch panel 211 and sets a first gesture determination area Ga0 based on a preset center position Ip0. Additionally, it is preferable that the re-input standby time is longer than the radius determination time T, for example, set to a time of several seconds. When the undetected time of the gesture extends to a certain extent, by displaying the input guide 212a and setting the first gesture determination area Ga0, the determination rate of the restarted gesture can be improved.

[0073] Next, the instruction unit 214 and the communication unit 215 of the remote operator 21 will be described. When the gesture detected by the touch panel 211 is determined as a command gesture G4 by the gesture determination unit 212, the instruction unit 214 generates an execution instruction signal for causing the host vehicle V to execute autonomous parking control based on the autonomous driving control function. The instruction unit 214 inputs the generated execution instruction signal into the communication unit 215. The instruction unit 214 functions by the CPU of the smartphone that functions as the remote operator 21 operating according to an application program.

[0074] The communication unit 215 utilizes the communication function that the smartphone, which functions as the remote operator 21, already has. The communication unit 215 is, for example, a wireless communication unit such as Bluetooth (registered trademark), and in the remote control mode, it connects to a wireless communication unit (not shown) mounted on the host vehicle V and sends the execution instruction signal to the host vehicle V. Additionally, as the communication unit 215, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) or a mobile phone line can also be used.

[0075] As Figure 1As shown, the execution instruction signal sent to the present vehicle V is input to the path following control unit 16 and the target vehicle speed generation unit 17. In addition, as described above, the relative position between the present vehicle V and the slave unit 22 is input to the path following control unit 16 and the target vehicle speed generation unit 17 from the position detector 201. When the distance between the present vehicle V and the slave unit 22 is within the remote operation distance and an execution instruction signal from the remote operator 21 is input, the path following control unit 16 outputs a target steering angle to the steering angle control unit 18. Similarly, when the distance between the present vehicle V and the slave unit 22 is within the remote operation distance and an execution instruction signal from the remote operator 21 is input, the target vehicle speed generation unit 17 outputs the target vehicle speed to the vehicle speed control unit 19. The steering angle control unit 18 generates a control signal for operating the steering actuator provided in the steering system of the present vehicle V based on the target steering angle from the path following control unit 16. In addition, the vehicle speed control unit 19 generates a control signal for operating the accelerator actuator provided in the drive system of the present vehicle V based on the target vehicle speed from the target vehicle speed generation unit 17.

[0076] In addition, when the distance between the present vehicle V and the slave unit 22 is farther than the remote operation distance, even if an execution instruction signal from the remote operator 21 is input, the path following control unit 16 does not output a target steering angle to the steering angle control unit 18. Similarly, when the distance between the present vehicle V and the slave unit 22 is farther than the remote operation distance, even if an execution instruction signal from the remote operator 21 is input, the target vehicle speed generation unit 17 does not output the target vehicle speed to the vehicle speed control unit 19. That is, when the distance between the present vehicle V and the slave unit 22 is farther than the remote operation distance, even if a command gesture is input from the remote operator 21, the autonomous parking control is not executed.

[0077] Next, with reference to Figure 10 、 Figure 11 and Figure 12 the control flow of the remote parking system 1 of the present embodiment will be described. Here, a scenario of performing Figure 2 the reverse parking shown in Figure 10 by the autonomous parking control will be described. Figure 11 is a flowchart showing the control sequence executed in the remote parking system 1 of the present embodiment. Figure 12 is a flowchart showing the sequence of gesture detection, determination, and transmission of the execution instruction signal in the remote operator 21.

[0078] First, when the present vehicle V reaches the position P1 near the target parking space TPS, at Figure 10In step S1 shown above, the operator U such as the driver turns on the start switch of the remote parking of the in-vehicle target parking space setter 11 and selects the remote parking mode. In step S2, the target parking space setter 11 searches for a parking space where the vehicle V can park using multiple in-vehicle cameras and the like. In step S3, it determines whether there is a parking space where the vehicle can park. If there is a parking space where the vehicle can park, it proceeds to step S4. If there is no parking space where the vehicle can park, it returns to step S1. In the case where no parking space where the vehicle can park is detected in step S2, the operator can also be notified by text display or voice of "no parking space" to end this process.

[0079] In step S4, the target parking space setter 11 displays the parking spaces where the vehicle can park on the in-vehicle display, prompting the operator U to select the desired parking space. If the operator U selects a specific parking space TPS, the target parking position information is output to the parking path generation unit 14. In step S5, the parking path generation unit 14 generates Figure 2 the parking paths R1 and R2 shown above based on the current position P1 of the vehicle V and the parking space TPS as the target parking position. The object deceleration calculation unit 15 calculates the deceleration start time during autonomous parking control based on the object information detected by the object detector 13. The parking paths R1 and R2 generated by the parking path generation unit 14 are output to the path following control unit 16, and the deceleration start time calculated by the object deceleration calculation unit 15 is output to the target vehicle speed generation unit 17.

[0080] As described above, since the autonomous parking control is in a standby state, in step S6, the operator is prompted to agree to start the autonomous parking control. When the operator agrees to start the autonomous parking control, the autonomous driving control based on the assist mode is started. In Figure 2 the reverse parking shown above, from Figure 2 the current position P1 shown above, it first moves forward to the right and then, after reaching the turning-back position P3, moves backward to the left to the intermediate parking position P4.

[0081] In step S7, since the position of the vehicle V has reached the intermediate parking position P4, the vehicle V is stopped and the operator U is prompted to get out of the vehicle. When the operator is prompted to get out of the vehicle in step S7 and leaves the vehicle while holding the remote controller 21, in step S8, the operator U activates the remote controller 21. Thereby, the remote operation is started. In addition to the start of the application installed in the remote controller 21, the start input of the remote operation based on the remote controller 21 can also include, for example, the door unlocking operation, the door locking and unlocking operations, and combinations thereof with the start of the application. In addition, during the period from step S7 to step S9, the vehicle V is in a parked state.

[0082] In step S9, pairing processing is performed between the remote operator 21 and the vehicle V. When the vehicle V authenticates the remote operator 21 through the pairing processing in step S9 and is able to receive instructions, remote operation starts in step S10.

[0083] When remote operation starts by the remote operator 21, as Figure 11 shown, the gesture determination unit 212 performs initial setting in step S101. In this initial setting, as Figure 6A shown, an input guide 212a and a message such as "Please touch and operate the displayed input guide along the arrow direction" are displayed on the touch panel 211. Further, as Figure 6B shown, the gesture determination unit 212 sets a first gesture determination area Ga0 based on the center position Ip0 of the input guide 212a.

[0084] The operator U performs a touch operation along the input guide 212a and inputs a circular gesture to the touch panel 211. Additionally, in the remote parking system 1 of the present embodiment, since the position and size of the gesture determination area are variable, the operator U can input a gesture at any position and of any size on the touch panel 211 regardless of the input guide 212a. Detection values xraw, yraw of the touch operation detected by the touch panel 211 are stored in the storage unit 213 at any time. Further, moving averages xmean, ymean are calculated by the gesture determination unit 212 and stored in the storage unit 213.

[0085] In step S102, the touch panel 211 detects a gesture input through the touch operation of the operator U. When a gesture is detected on the touch panel 211, the gesture determination unit 212 determines in step S103 whether the detected gesture is input to the first gesture determination area Ga0. In the case where the detected gesture is input to the first gesture determination area Ga0, the gesture determination unit 212 determines in step S104 whether the detected gesture is a circular gesture such as the instruction gesture G4 and whether it is input at an input speed within a preset specified range.

[0086] In the case where the detected gesture is not the instruction gesture G4, or in the case where the input speed is outside the specified range, step S106 is entered to detect the next gesture. On the contrary, in the case where the detected gesture is the instruction gesture G4 and the input speed is within the specified range, step S105 is entered, and an execution instruction signal is generated by the instruction unit 214 and sent from the communication unit 215 to the own vehicle V. In the case where gesture detection continues in the subsequent step S106, it returns to step S103, and gesture determination and execution instruction signal transmission are repeated.

[0087] Return to step S103. When the detected gesture is not input to the first gesture determination area Ga0, the gesture determination unit 212 proceeds to step S107 and sets a new gesture determination area based on the current input position of the gesture. As described above, the gesture determination unit 212 sets a new gesture determination area based on the coordinates of the current touch position of the operator U relative to the touch panel 211 and the moving average of the touch position up to the current touch position.

[0088] In the subsequent step S108, the gesture determination unit 212 uses the newly set gesture determination area to determine whether the detected gesture is a circular gesture such as the command gesture G4 and whether it is input at an input speed within a preset specified range. If the detected gesture is not the command gesture G4 or the input speed is outside the specified range, it proceeds to step S110 to detect the next gesture. On the contrary, if the detected gesture is the command gesture G4 and the input speed is within the specified range, it proceeds to step S109, where the command unit 214 generates an execution instruction signal and sends the execution instruction signal from the communication unit 215 to the own vehicle V. If the gesture is continuously detected in the subsequent step S110, it returns to step S107 and repeats the setting of the new gesture determination area, the determination of the gesture, and the sending of the execution instruction signal.

[0089] Return again to Figure 10 In step S11, the relative position of the slave unit 22 with respect to the vehicle V, that is, the relative position of the operator U holding the slave unit 22 with respect to the vehicle V, is detected by the slave unit 22 and the host unit 20. The host unit 20 outputs the detected relative position to the path following control unit 16 and the target vehicle speed generation unit 17. When the distance between the own vehicle V and the slave unit 22 is within the remote operation distance and an execution instruction signal is input from the remote operator 21, the path following control unit 16 outputs a target steering angle to the steering angle control unit 18. Similarly, when the distance between the own vehicle V and the slave unit 22 is within the remote operation distance and an execution instruction signal is input from the remote operator 21, the target vehicle speed generation unit 17 outputs the target vehicle speed to the vehicle speed control unit 19. The steering angle control unit 18 generates a control signal for operating the steering actuator provided in the steering system of the own vehicle V based on the target steering angle from the path following control unit 16. In addition, the vehicle speed control unit 19 generates a control signal for operating the accelerator actuator provided in the drive system of the own vehicle V based on the target vehicle speed from the target vehicle speed generation unit 17. Thereby, autonomous parking control is executed in the subsequent step S12.

[0090] In addition, during the period before the host vehicle V reaches the target parking space TPS in step S13, the processes from step S10 to step S13 described later are executed at a predetermined time interval. In step S13, it is determined whether the host vehicle V has reached the target parking space TPS. If not, the process returns to step S10. If the host vehicle V has reached the target parking space TPS, the host vehicle V is parked and the process ends. According to the above, autonomous driving control based on the assist mode is executed for the driving path from the current position P1 of the host vehicle V to the intermediate parking position P4, and autonomous driving control based on the remote control mode is executed for the driving path from the intermediate parking position P4 to the target parking space TPS.

[0091] In step S10, when performing remote operation via the remote operator 21, sometimes a gesture cannot be detected temporarily. When Figure 12 a gesture input cannot be detected temporarily in step S20 as shown, the gesture determination unit 212 measures the non-detection time, and in the subsequent step S21, the non-detection time is compared with the radius determination time T for the input position for detecting a gesture. When the non-detection time is less than the radius determination time T, it may be considered that the operator U's finger has temporarily left the touch panel 211, or the operator U's finger has temporarily extended from the touch panel 211, etc. Therefore, the gesture determination unit 212 proceeds to the subsequent step S22, calculates the moving average using the coordinates of the touch position detected before the gesture could not be detected, and sets a new gesture determination area using the calculation result. When the non-detection time of the gesture is less than the radius determination time T, even if the new gesture determination area is set without using the touch positions during the non-detection time, the set position of the gesture determination area will not shift significantly. Therefore, it will not have a significant impact on the gesture determination result.

[0092] In addition, in step S21, when the non-detection time of the gesture is equal to or greater than the radius determination time T, the process proceeds to step S23, and the non-detection time of the gesture is compared with a preset re-input standby time. When the non-detection time is less than the re-input standby time, it may be considered that the input gesture has not been determined as a command gesture, etc. Therefore, when setting the gesture determination area based on a gesture that has not been determined as a command gesture, the set position of the gesture determination area may shift. In this case, the gesture determination unit 212 proceeds to the subsequent step S24, and stores the gesture determination area set before the gesture could not be detected as the second gesture determination area in the storage unit 213. And when a gesture input is detected, the second gesture determination area is read from the storage unit 213 for gesture determination.

[0093] Return to step S23. If the undetected time of the gesture is longer than the input standby time, then proceed to step S25. When the undetected time of the gesture is longer than the input standby time, it can be considered that the operator U has aborted the gesture input midway. Therefore, the gesture determination unit 212 displays an input guide 212a on the touch panel 211 and sets a first gesture determination area Ga0 based on a preset center position Ip0. Thus, the determination rate of the restarted gesture can be improved.

[0094] As described above, according to the remote parking system 1 of the vehicle remote control method and remote control device applying the present invention, in the touch panel 211 of the remote operator 21, the input position where the operator U performs a touch operation is detected, and according to the input position, the position of the gesture determination area set by the gesture determination unit 212 is made variable. In addition, a gesture is detected through the gesture determination area, and it is determined by the gesture determination unit 212 whether the detected gesture is a preset command gesture. And, when the gesture is a command gesture, as autonomous driving control, the vehicle V having an autonomous driving control function is made to execute autonomous parking control. Thus, a gesture can be input at any position on the touch panel 211, and therefore, the present vehicle V can be made to execute autonomous parking control regardless of the gesture input position. In addition, since a gesture can be input without considering the input position, the operability of the remote operator 21 is improved. Furthermore, compared with the case where the entire touch panel 211 is used as the gesture determination area, the gesture can be determined in a smaller gesture determination area. Thus, the processing load required for gesture determination can be reduced.

[0095] In addition, the size of the gesture determination area is made variable with respect to the touch panel 211. Thus, a gesture of any size can be input to the touch panel 211, and the present vehicle V can be made to execute autonomous parking control regardless of the size of the gesture. Furthermore, since the size of the gesture determination area is variable between a preset minimum input size and a maximum input size, the input of gestures with extremely different sizes can be suppressed.

[0096] In addition, a first gesture determination area Ga0 is set at a preset position, and a new gesture determination area is set according to the input position of the touch operation on the touch panel 211. Therefore, the determination rate of the gesture at the start of input can be improved, and the present vehicle V can quickly start the autonomous parking control. Furthermore, since a new gesture determination area is set according to the change in the input position of the touch operation, even when the input position of the gesture deviates from the first gesture determination area, the present vehicle V can continue the autonomous parking control. In particular, when starting the remote operation of the vehicle V, the operator U is likely to direct the eyes toward the remote controller 21. Therefore, by displaying the input guide 212a at a preset position to set the first gesture determination area Ga0, the operation required by the operator U can be prompted, and thus the discomfort of the operator U can be suppressed. On the contrary, after starting the autonomous parking control of the vehicle V, the operator U is likely to turn the eyes away from the remote controller 21 and monitor the vehicle V. Therefore, the possibility that the touch operation deviates from the first gesture determination area Ga0 becomes high. Therefore, by setting a new gesture determination area according to the input position of the touch operation, the autonomous driving control of the present vehicle V can be continued.

[0097] In addition, in the case where a gesture cannot be detected temporarily, the gesture determination area set before the detection failure is stored as a second gesture determination area, and when the input of the gesture is detected, the gesture is determined through the second gesture determination area. When the input of the gesture is temporarily suspended and restarted, the possibility of restarting the input of the gesture is high with respect to the input position before the suspension. Therefore, by using the second gesture determination area in the determination when restarting the input of the gesture, the determination rate of the gesture can be improved.

[0098] In addition, in the case where a gesture is detected again after a gesture cannot be detected, the gesture can be determined through the first gesture determination area. For example, in the case where the input of the gesture is temporarily suspended and then restarted after a relatively long time, by setting the first gesture determination area, the determination rate of the gesture can be improved.

[0099] In addition, the case where a gesture cannot be detected means a case where the finger of the operator U leaves the touch panel 211, a case where the gesture is not determined as a command gesture, or a case where the operator U ends the input of the gesture halfway. Therefore, according to the present embodiment, in any of the cases where the finger of the operator U leaves the touch panel 211, the gesture is not determined as a command gesture, or the operator U ends the input of the gesture halfway, the previously set gesture determination area can be stored and used, or the first gesture determination area can be used.

[0100] In addition, in the present embodiment, the command gesture is a touch operation in which, when the horizontal direction of the touch panel 211 is set as the X-axis and the vertical direction is set as the Y-axis, the coordinates of the input position based on the touch operation of the operator continuously change on at least one of the X-axis and the Y-axis. Therefore, even an operator who is not used to the touch operation on the touch panel 211 can simply input the command gesture.

[0101] In addition, as the command gesture, it can be a touch operation in which a graphic trajectory overlapping the starting point of one input of the start gesture and the ending point of one input of the gesture is drawn on the touch panel 211. As such a command gesture, a touch operation of drawing a trajectory of a circular ring-shaped graphic on the touch panel 211 can be applied. Thereby, the command gesture can be input while being distinguished from other monotonous and simple gestures, and thus, misjudgment of the gesture can be suppressed.

[0102] In addition, when the command gesture is a touch operation of drawing a trajectory of a circular ring-shaped graphic on the touch panel 211, the gesture determination area can be defined by the center coordinates and the radius of the circular ring-shaped graphic. Therefore, compared with a gesture composed of a complex graphic, the gesture determination area can be set by relatively simple processing.

[0103] In addition, in the present embodiment, when no gesture is detected, the autonomous parking control of the present vehicle V is aborted. Therefore, no operation for aborting the autonomous parking control of the present vehicle V is required, and thus, the remote operation of the present vehicle V becomes easy.

[0104] In addition, in the present embodiment, as the autonomous driving control, the autonomous parking control for parking the present vehicle V is executed. Therefore, the present vehicle V can be remotely operated to park from a position far away from the present vehicle V.

[0105] (Second Embodiment)

[0106] Next, a second embodiment of the remote parking system of the vehicle remote control method and the vehicle remote control device to which the present invention is applied will be described. In addition, for the same structure as that of the first embodiment, the same reference numerals as those in the first embodiment are used and the detailed description is omitted.

[0107] In the first embodiment, at the start of the input of a gesture, regardless of the input position of the touch operation on the touch panel 211, a first gesture determination area Ga0 is set at a preset position on the touch panel 211. Then, when the input position of the touch operation is not within the first gesture determination area Ga0, a new gesture determination area is set according to the input position. In contrast, in the present embodiment, before the start of the autonomous driving control of the present vehicle V, a first gesture determination area Ga0 is set at a preset position on the touch panel 211. And after the start of the autonomous driving control of the present vehicle V, a new gesture determination area is set according to the input position of the touch operation. That is, in the present embodiment, the setting of the gesture determination area is switched before and after the start of the autonomous driving control of the present vehicle V.

[0108] As Figure 13 shown in the process of, in step S10 related to the remote operation of the present embodiment, in step S101a before the start of the autonomous driving control of the present vehicle V, regardless of the input position of the touch operation on the touch panel 211, the gesture determination unit 212 sets a first gesture determination area Ga0 at a preset position on the touch panel 211. The input guide 212a can be displayed on the touch panel 211 corresponding to the first gesture determination area Ga0. In the subsequent step S102a, when a gesture is detected through the first gesture determination area Ga0, in the subsequent step S103a, the gesture determination unit 212 determines whether the detected gesture is an instruction gesture G4 and whether it is input at an input speed within a preset specified range.

[0109] When the detected gesture is not the instruction gesture G4 or the input speed is outside the specified range, it returns to step S102a, and the gesture determination unit 212 detects the subsequent gesture. On the contrary, when the detected gesture is the instruction gesture G4 and the input speed is within the specified range, it enters step S104a, the instruction unit 214 generates an execution instruction signal, and the execution instruction signal is sent from the communication unit 215 to the present vehicle V. Thereby, the autonomous driving control starts in the present vehicle V. In the subsequent step S105a, when the detection of the gesture continues, it enters step S106a, and the gesture determination unit 212 sets a new gesture determination area according to the input position of the touch operation on the touch panel 211. After setting the new gesture determination area, it returns to step S103a and repeats the determination of the gesture.

[0110] When the vehicle V does not start autonomous driving control when starting the remote operation of the vehicle V, in order to start the operation of the remote controller 21, it is highly likely that the operator U turns his / her eyes toward the remote controller 21. Therefore, by displaying the input guide 212a at a preset position on the touch panel 211 and setting the first gesture determination area Ga0, the operation required by the operator U can be prompted, thereby suppressing the discomfort of the operator U. On the contrary, after starting the autonomous parking control of the vehicle V, it is highly likely that the operator U turns his / her eyes away from the remote controller 21 and monitors the vehicle V. Therefore, the situation where the touch operation deviates from the first gesture determination area Ga0 becomes more frequent. Therefore, by setting a new gesture determination area according to the input position of the touch operation, the autonomous driving control of the present vehicle V can be continued.

[0111] (Third Embodiment)

[0112] Next, a third embodiment of a remote parking system using the vehicle remote control method and the vehicle remote control device of the present invention will be described. In addition, for the same structure as that of the first embodiment, the same reference numerals as those in the first embodiment are used and the detailed description is omitted.

[0113] In the second embodiment, before the start of the autonomous driving control of the present vehicle V, the first gesture determination area Ga0 is set at a preset position on the touch panel 211. And, after the start of the autonomous driving control of the present vehicle V, a new gesture determination area is set according to the input position of the touch operation. In contrast, in the present embodiment, before the start of the autonomous driving control of the present vehicle V, a new gesture determination area is set according to the input position of the touch operation. Then, after the start of the autonomous driving control of the present vehicle V, the first gesture determination area Ga0 is set at a preset position on the touch panel 211. That is, in the present embodiment, the switching of the gesture determination area is performed in the opposite way to that in the second embodiment before and after the start of the autonomous driving control of the present vehicle V.

[0114] As Figure 14 shown in the process, in step S10 related to the remote operation of the present embodiment, in step S101b before the start of the autonomous driving control of the present vehicle V, the gesture determination unit 212 sets a new gesture determination area according to the input position of the touch operation on the touch panel 211. In the following step S102b, when a gesture input to the touch panel 211 is detected, in the following step S103b, the gesture determination unit 212 determines whether the detected gesture is the command gesture G4 and whether it is input at an input speed within a preset specified range.

[0115] When the detected gesture is not the command gesture G4 or the input speed is outside the specified range, the process returns to step S102b to detect the next gesture. On the contrary, when the detected gesture is the command gesture G4 and the input speed is within the specified range, the process proceeds to step S104b, where the command unit 214 generates an execution command signal and sends the execution command signal from the communication unit 215 to the own vehicle V. Thereby, autonomous driving control starts in the own vehicle V. In the subsequent step S105b, if a gesture is continuously detected, the process proceeds to step S106b. In step S106b, regardless of the input position of the touch operation on the touch panel 211, the gesture determination unit 212 sets a first gesture determination area Ga0 at a preset position on the touch panel 211. The input guide 212a can be displayed on the touch panel 211 corresponding to the first gesture determination area Ga0. After setting the first gesture determination area Ga0, the process returns to step S103b to repeat the gesture determination.

[0116] When starting the remote control of the vehicle V, when the vehicle V has not started autonomous driving control, in order to confirm the start of autonomous driving control of the vehicle V, the operator U sometimes turns his eyes toward the vehicle V. Therefore, by setting a new gesture determination area according to the input position of the touch operation, it is possible to easily start the autonomous driving control of the own vehicle V. In addition, after starting the autonomous parking control of the own vehicle V, the operator U sometimes turns his eyes toward the remote controller 21 in order to correctly operate the remote controller 21. Therefore, by displaying the input guide 212a at a preset position and setting the first gesture determination area Ga0, the operator U can be urged to correctly operate the remote controller 21.

[0117] (Fourth Embodiment)

[0118] Next, a fourth embodiment of a remote parking system for a vehicle remote control method and a vehicle remote control device to which the present invention is applied will be described. In addition, for the same structure as that of the first embodiment, the same reference numerals as those in the first embodiment are used and the detailed description is omitted.

[0119] In the first to third embodiments, the change in the input position of the touch operation and the start and end of the autonomous driving control of the own vehicle V are used as triggers to switch the gesture determination area. In contrast, in the present embodiment, when performing the autonomous driving control of the own vehicle V, it is determined whether the own vehicle V goes straight by the autonomous driving control. If it goes straight, a new gesture determination area is set according to the input position on the touch panel 211. If it does not go straight, the first gesture determination area Ga0 is set at a preset position.

[0120] As Figure 15As shown in the process of , in step S10 related to the remote operation of the present embodiment, the gesture determination unit 212 determines in step S101c whether the host vehicle V is performing autonomous driving control. When the host vehicle V is performing autonomous driving control, the gesture determination unit 212 determines in step S102c whether the host vehicle V is going straight. When the host vehicle V is going straight, the process proceeds to the next step S103c, and the gesture determination unit 212 sets a new gesture determination area according to the input position of the touch operation on the touch panel 211. Further, in step S102c, when the host vehicle V is not going straight, the process proceeds to the next step S104c, and regardless of the input position of the touch operation on the touch panel 211, the gesture determination unit 212 sets a first gesture determination area Ga0 at a preset position on the touch panel 211. The input guide 212a can be displayed on the touch panel 211 corresponding to the first gesture determination area Ga0.

[0121] When the host vehicle V goes straight by autonomous driving control, especially when the host vehicle V goes straight in a direction away from the operator U, the operator U may direct his eyes towards the host vehicle V so that the host vehicle V does not collide with an obstacle or the like. Therefore, by setting a new gesture determination area according to the input position of the touch operation, it is possible to easily perform the autonomous driving control of the host vehicle V. Further, when the host vehicle V does not go straight but makes a turn or the like, the autonomous driving control of the host vehicle V is sometimes performed at a position relatively close to the operator U. In such a case, the operator U sometimes directs his eyes towards the remote controller 21 in order to correctly operate the remote controller 21. Therefore, by displaying the input guide 212a at a preset position and setting the first gesture determination area Ga0, the operator U can be urged to correctly operate the remote controller 21.

[0122] (Fifth Embodiment)

[0123] Next, a fifth embodiment of a remote parking system to which the vehicle remote control method and the vehicle remote control device according to the present invention are applied will be described. Further, for the same structure as that of the first embodiment, the same reference numerals as those in the first embodiment are used and the detailed description thereof is omitted.

[0124] In the fourth embodiment, when the host vehicle V goes straight by autonomous driving control, the gesture determination area is set according to the input position on the touch panel 211, and when it does not go straight, the first gesture determination area Ga0 is set at a preset position. In contrast, in the present embodiment, contrary to the fourth embodiment, when the host vehicle V goes straight, the first gesture determination area Ga0 is set at a preset position, and when the host vehicle V does not go straight, the gesture determination area is set according to the input position on the touch panel 211.

[0125] AsFigure 16 As shown in the process of Figure 16 , in step S10 related to the remote operation of the present embodiment, the gesture determination unit 212 determines in step S101d whether the vehicle V is performing autonomous driving control. When the vehicle V is performing autonomous driving control, the gesture determination unit 212 determines in step S102d whether the vehicle V is going straight. When the vehicle V is going straight, it proceeds to the next step S103d. Regardless of the input position of the touch operation on the touch panel 211, the gesture determination unit 212 sets a first gesture determination area Ga0 at a preset position on the touch panel 211. The input guide 212a can be displayed on the touch panel 211 corresponding to the first gesture determination area Ga0. In addition, in step S102d, when the vehicle V is not going straight, in the next step S104d, the gesture determination unit 212 sets a new gesture determination area according to the input position on the touch panel 211.

[0126] When the vehicle V goes straight through autonomous driving control, since the operator U starts the operation of the remote controller 21 after pre-checking the traveling direction of the vehicle V, the possibility of looking at the remote controller 21 is high. Therefore, by displaying the input guide 212a at a predetermined position on the touch panel 211 and setting the first gesture determination area Ga0, the required operation can be prompted to the operator U, thereby suppressing the discomfort of the operator U. On the contrary, when the vehicle V does not go straight but makes a turn or the like, the operator U is likely to look at the vehicle V to confirm that there are no obstacles around. Therefore, by setting a new gesture determination area according to the input position of the touch operation, the autonomous driving control of the vehicle V can be easily performed.

[0127] In addition, in the above embodiment, an example of providing the gesture determination unit 212 and the instruction unit 214 in the remote controller 21 has been described. However, instead of this structure, the gesture determination unit 212 and the instruction unit 214 can be provided in the vehicle V. In this case, the detection value of the touch panel 211 is sent from the remote controller 21 to the vehicle V, and the gesture determination unit 212 of the vehicle V determines whether the input gesture is an instruction gesture, and an execution instruction signal is output from the instruction unit 214 of the vehicle V to the path following control unit 16 and the target vehicle speed generation unit 17.

[0128] Symbol Explanation

[0129] 1: Remote parking system

[0130] 11: Target parking space setter

[0131] 12: Vehicle position detector

[0132] 13: Object detector

[0133] 14: Parking path generation unit

[0134] 15: Object deceleration operation unit

[0135] 16: Path following control unit

[0136] 17: Target vehicle speed generation unit

[0137] 18: Steering angle control unit

[0138] 19: Vehicle speed control unit

[0139] 20: Main unit

[0140] 22: Sub unit

[0141] 21: Remote operator

[0142] 211: Touch panel

[0143] 212: Gesture determination unit

[0144] 212a: Input guidance

[0145] 213: Storage unit

[0146] 214: Command unit

[0147] 215: Communication unit

[0148] G1~G7: Command gestures

[0149] Ip0: Center position

[0150] Ga0, Ga1, Ga2: Gesture determination areas

[0151] V: This vehicle

[0152] TPS: Target parking space

[0153] R1, R2: Parking paths

[0154] W: Wall (obstacle)

[0155] H1, H2: House (obstacle)

[0156] WD: Plant (obstacle)

Claims

1. A vehicle remote control method, In a touch panel of a remote operator, detect an input position where an operator has performed a touch operation, According to the input position, make a gesture determination area that receives a gesture for remotely controlling the vehicle variable, Detect the gesture through the gesture determination area, Determine whether the detected gesture is a preset command gesture, When the gesture is the command gesture, cause the vehicle having an autonomous driving control function to execute autonomous driving control, where Before starting the autonomous driving control, set a first gesture determination area at a preset position, Determine whether the command gesture has been input to the first gesture determination area, When it is determined that the command gesture has been input to the first gesture determination area, start the autonomous driving control, After starting the autonomous driving control, set a new gesture determination area according to the input position.

2. The vehicle remote control method according to claim 1, wherein When the gesture is not detected, store the gesture determination area set before it becomes not detected as a second gesture determination area, When restarting the input of the gesture, determine whether the gesture is the command gesture through the second gesture determination area.

3. The vehicle remote control method according to claim 1, wherein When restarting the input of the gesture after the gesture is not detected, determine whether the gesture is the command gesture through the first gesture determination area.

4. The vehicle remote control method according to claim 2 or 3, wherein The situation where the gesture is not detected means that the operator's finger leaves the touch panel, the gesture is not determined to be the command gesture, or the operator ends the input of the gesture halfway.

5. A vehicle remote control method, In a touch panel of a remote operator, detect an input position where an operator has performed a touch operation, According to the input position, make a gesture determination area that receives a gesture for remotely controlling the vehicle variable, Detect the gesture through the gesture determination area, Determine whether the detected gesture is a preset command gesture, When the gesture is the command gesture, cause the vehicle having an autonomous driving control function to execute autonomous driving control, where Before starting the autonomous driving control, variably set the gesture determination area according to the input position, Determine whether the command gesture has been input to the gesture determination area variably set according to the input position, When it is determined that the command gesture has been input to the gesture determination area variably set according to the input position, start the autonomous driving control, After the autonomous driving control starts, set the gesture determination area at a preset position.

6. The vehicle remote control method according to any one of claims 1 to 3, 5, wherein The size of the gesture determination area relative to the touch panel is variable.

7. The vehicle remote control method according to claim 6, wherein The size of the gesture determination area is variable between a preset minimum input size and a maximum input size.

8. The vehicle remote control method according to any one of claims 1 to 3, 5, and 7, wherein when performing the autonomous driving control, it is determined whether the vehicle goes straight through the autonomous driving control, when going straight, the gesture determination area is set according to the input position, when not going straight, the gesture determination area is set at a preset position.

9. The vehicle remote control method according to any one of claims 1 to 3, 5, and 7, wherein the command gesture is a touch operation in which the coordinates of the input position of the operator's touch operation continuously change on at least one of the X-axis and the Y-axis when the horizontal direction of the touch panel is set as the X-axis and the vertical direction is set as the Y-axis.

10. The vehicle remote control method according to claim 9, wherein the command gesture is a touch operation of drawing a graphic trajectory on the touch panel, and the graphic trajectory is a graphic trajectory in which the starting point of the first input of the gesture coincides with the ending point of the first input of the gesture.

11. The vehicle remote control method according to claim 10, wherein the command gesture is a touch operation of drawing a trajectory of a graphic in a circular ring shape on the touch panel.

12. The vehicle remote control method according to claim 11, wherein the gesture determination area is defined by the center coordinates and radius of the graphic in the circular ring shape.

13. The vehicle remote control method according to any one of claims 1 to 3, 5, 7, and 10 to 12, wherein when the gesture is not detected, the vehicle aborts the autonomous driving control.

14. The vehicle remote control method according to any one of claims 1 to 3, 5, 7, and 10 to 12, wherein the autonomous driving control is a parking control for parking the vehicle.

15. The vehicle remote control method according to any one of claims 1 to 3, 5, 7, and 10 to 12, wherein an input guide indicating the shape of the gesture is displayed on the touch panel, and the gesture determination area is set at a position corresponding to the input guide.

16. A vehicle remote control device, comprising: a remote operator of the vehicle, which has a touch panel for detecting the input position of the operator's touch operation; a gesture determination unit, which makes the gesture determination area for receiving a gesture for remotely controlling the vehicle variable according to the input position, and determines whether the gesture detected through the gesture determination area is a preset command gesture; a command unit, which, when the gesture is the command gesture, causes the vehicle having an autonomous driving control function to perform autonomous driving control, wherein Before starting the autonomous driving control, the gesture determination unit sets a first gesture determination area at a preset position, determines whether the command gesture has been input to the first gesture determination area, starts the autonomous driving control when it is determined that the command gesture has been input to the first gesture determination area, and sets a new gesture determination area according to the input position after starting the autonomous driving control.

17. A vehicle remote control device includes: A remote operator of the vehicle, which has a touch panel for detecting the input position of the touch operation of the operator; A gesture determination unit that variably sets a gesture determination area for receiving a gesture for remotely controlling the vehicle according to the input position, and determines whether the gesture detected through the gesture determination area is a preset command gesture; A command unit that causes the vehicle having an autonomous driving control function to execute autonomous driving control when the gesture is the command gesture, where Before starting the autonomous driving control, the gesture determination unit variably sets the gesture determination area according to the input position, determines whether the command gesture has been input to the gesture determination area variably set according to the input position, starts the autonomous driving control when it is determined that the command gesture has been input to the gesture determination area variably set according to the input position, and sets the gesture determination area at a preset position after the autonomous driving control starts.

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