Drive handover system, drive handover method

Abstract

A driving handover system according to the present disclosure is configured to execute: a detection process of detecting an obstruction article that causes an obstruction to a handover to manual driving when it exists in a vehicle; and a determination process of determining whether to allow or not to allow a handover to manual driving upon receiving a request for a handover to manual driving. The driving handover system is configured to, in the determination process, not to allow the handover to manual driving when the obstruction article is detected in the detection process.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a drive handover system and a drive handover method that manage handover of a vehicle from remote driving or autonomous driving to manual driving. BACKGROUND

[0002] In remote driving technology and autonomous driving technology of a vehicle, there can be a case where a system is configured to allow handover from remote driving or autonomous driving to manual driving when a driver who is seated in the vehicle performs a predetermined operation for the sake of improved convenience and as an emergency measure. In such a case, in the related art, a technology for performing appropriate handover to manual driving has been disclosed. For example, Japanese Laid-Open Patent Application No. 2018-180689 (JP 2018-180689 A) discloses a drive change control system that determines whether to allow or not to allow handover (switching) from autonomous driving to manual driving based on a driver’s degree of alertness and an amount of operation guidance. SUMMARY

[0003] It is desirable that remote driving technology and autonomous driving technology be utilized without requiring a driver to be seated in a vehicle. For example, there is a case where a child who is unable to drive is picked up and dropped off by remote driving or autonomous driving while the vehicle is carrying only the child. In such a case, when the person who is unable to drive performs a predetermined operation (for handover to manual driving) by mistake or as a prank, the safety of the vehicle can be threatened. The technology disclosed in JP 2018-180689 A assumes that the person who performs the predetermined operation is the driver.

[0004] The present disclosure has been made in view of the above problem, and an object of the present disclosure is to disclose a drive handover system and a drive handover method that can avoid inappropriate handover to manual operation.

[0005] A first disclosure relates to a drive handover system that manages handover of a vehicle from remote driving or autonomous driving to manual driving. The drive handover system according to the first disclosure includes at least one memory in which a program is stored, and at least one processor coupled to the at least one memory. Then, by execution of the program, the at least one processor is configured to perform: a detection process of detecting an obstructing article that causes obstruction of handover to manual driving when it is present in the vehicle; and a determination process of determining whether to allow or not to allow handover to manual driving upon receiving a request for handover to manual driving. The at least one processor is configured to, in the determination process, not to allow handover to manual driving when the obstructing article is detected in the detection process.

[0006] The second disclosure relates to a drive handover system having the following feature in addition to the drive handover system according to the first disclosure. The hindering article is a specific mobile terminal capable of communicating via a communication line, and the at least one processor is configured to, in the detection processing, detect the hindering article by communicating with the mobile terminal in the vehicle.

[0007] The third disclosure relates to a drive handover system having the following feature in addition to the drive handover system according to the first disclosure or the second disclosure. The at least one processor is configured to, in the detection processing, detect a safeguard article that safeguards handover to manual driving when it is present in the vehicle, and in the determination processing, not disallow handover to manual driving when the safeguard article is detected even if the hindering article is detected in the detection processing.

[0008] The fourth disclosure relates to a drive handover method for managing handover of a vehicle from remote driving or automatic driving to manual driving. The drive handover method according to the fourth disclosure includes: detection processing of detecting a hindering article that causes hindrance to handover to manual driving when it is present in the vehicle; and determination processing of determining whether to allow or disallow handover to manual driving when a request for handover to manual driving is received. The determination processing includes disallowing handover to manual driving when the hindering article is detected in the detection processing.

[0009] The fifth disclosure relates to a drive handover method having the following feature in addition to the drive handover method according to the fourth disclosure. The hindering article is a specific mobile terminal capable of communicating via a communication line, and the detection processing includes detecting the hindering article by communicating with the mobile terminal in the vehicle.

[0010] The sixth disclosure relates to a drive handover method having the following feature in addition to the drive handover method according to the fourth disclosure or the fifth disclosure. The detection processing includes detecting a safeguard article that safeguards handover to manual driving when it is present in the vehicle, and the determination processing includes not disallowing handover to manual driving when the safeguard article is detected even if the hindering article is detected in the detection processing.

[0011] With the drive handover system and the drive handover method according to the present disclosure, detection of the hindering article makes it possible to avoid inappropriate handover to manual driving such as when a person who is not capable of driving performs a predetermined operation. Furthermore, detection of the safeguard article makes it possible to suppress unnecessary disallowance of handover to manual driving when the driver is seated in the vehicle, and the like. BRIEF DESCRIPTION OF DRAWINGS

[0012] Features, advantages, and technical and industrial significance of exemplary embodiments of the present application will be described below with reference to the accompanying drawings, in which like numerals denote like elements, and wherein:

[0013] Figure 1 is a conceptual diagram for explaining an outline of functions implemented by the drive handover system according to the present embodiment;

[0014] Figure 2 is a conceptual diagram for explaining an outline of functions implemented by the drive handover system according to the present embodiment;

[0015] Figure 3 is a block diagram for explaining a schematic configuration of the drive handover system according to the first embodiment;

[0016] Figure 4 is a block diagram for explaining a schematic configuration of the drive handover system according to the second embodiment; and

[0017] Figure 5 is a flowchart showing a drive handover method implemented by the drive handover system according to the present embodiment. DETAILED DESCRIPTION

[0018] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, the idea of the present disclosure is not limited to the number mentioned herein when referring to the number, quantity, amount, range, etc. of each element in the embodiments shown below, unless explicitly stated or clearly specified in principle by the number. In addition, the configuration, etc. described in the embodiments shown below is not necessarily essential to the idea of the present disclosure, unless explicitly stated or clearly specified in principle. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and the description thereof is appropriately simplified or omitted.

[0019] 1. Outline

[0020] The drive handover system according to the present embodiment manages handover of a vehicle from remote driving or automatic driving to manual driving. Hereinafter, an outline of functions implemented by the drive handover system according to the present embodiment will be described.

[0021] Figure 1 and Figure 2 is a conceptual diagram for explaining an outline of functions implemented by the drive handover system according to the present embodiment. Figure 1 The situation of the vehicle 1 in a case where the drive handover system according to the present embodiment does not allow handover to manual driving is shown. Here, the vehicle 1 is a remote driving vehicle or an automatic driving vehicle that can be driven by remote driving or automatic driving.

[0022] The vehicle 1 is configured to be able to request handover from remote driving or automatic driving to manual driving when a predetermined operation is performed. The predetermined operation is, for example, input of an operation amount equal to or greater than a predetermined value to the driving operation device 200 (steering wheel 200a, pedal 200b, etc.), selective operation using a human-machine interface (HMI) device 300 (switch, touch panel, etc.), or the like.

[0023] In Figure 1 , the child 2a who is not able to drive is seated in the vehicle 1. For example, Figure 1 A case in which the child 2a is picked up and dropped off using the vehicle 1 is shown. At this time, when a request for handover to manual driving is made due to the child 2a performing a predetermined operation, it is appropriate not to allow handover to manual driving.

[0024] Therefore, in the driving handover system according to the present embodiment, a specific article related to the child 2a is set as such an obstacle article, and an obstacle article in the vehicle 1 is detected: when the obstacle article exists in the vehicle 1, the obstacle article causes an obstacle to handover to manual driving. Then, when the obstacle article is detected, handover to manual driving is not allowed.

[0025] In Figure 1 , the obstacle article is a specific mobile terminal 3 that is able to communicate via a communication line (typically wireless). The specific mobile terminal 3 is, for example, a smartphone in which the child 2a is registered as a user. In Figure 1 , the terminal detection device 400 detects the obstacle article in the vehicle 1 by communicating with the mobile terminal 3 in the vehicle 1.

[0026] By configuring the driving handover system as described above, when only the child 2a who is not able to drive is seated in the vehicle 1, by detecting the obstacle article, inappropriate handover to manual driving can be avoided.

[0027] On the other hand, when a driver is seated in the vehicle 1, it is desirable to allow handover to manual driving. Figure 2 A situation of the vehicle 1 in which the driving handover system according to the present embodiment does not allow handover to manual driving is shown. In Figure 2 , the driver 2b is seated in the vehicle 1 in Figure 1 contrast to the child 2a. The driver 2b is, for example, the parent of the child 2a.

[0028] In the drive handover system according to the present embodiment, a specific article related to the driver 2b is set as such a safeguard article, and the safeguard article is detected in the vehicle 1: when the safeguard article exists in the vehicle 1, the safeguard article safeguards the handover to the manual driving. When the safeguard article is further detected, even if the hindering article is detected, the handover to the manual driving is not disallowed.

[0029] In Figure 2 the safeguard article is a specific mobile terminal 4 that can communicate via a communication line, like the hindering article. The specific mobile terminal 4 is, for example, a smartphone in which the driver 2b is registered as a user. However, the mobile terminal 3 and the mobile terminal 4 can be distinguished from each other in communication. For example, the mobile terminal 3 and the mobile terminal 4 are each assigned unique identification (ID) information, and the terminal detection device 400 is configured to acquire the ID information through communication.

[0030] By configuring the drive handover system as described above, when the driver 2b also rides in the vehicle 1, and the like, by detecting the safeguard article, it is possible to suppress the unnecessary disallowance of the handover to the manual driving.

[0031] 2、Configuration

[0032] Hereinafter, a schematic configuration of the drive handover system according to the present embodiment will be described. Here, the first embodiment is a case where the vehicle 1 performs remote driving, and the second embodiment is a case where the vehicle 1 performs automatic driving.

[0033] 2-1、First Embodiment

[0034] Figure 3 is a block diagram for explaining a schematic configuration of the drive handover system 10 according to the first embodiment.

[0035] The drive handover system 10 according to the first embodiment includes a drive management device 100, a drive operation device 200, an HMI device 300, a terminal detection device 400, a travel control device 500, and a remote driving device 600. In the following description, it is assumed that the hindering article and the safeguard article are specific mobile terminals.

[0036] The drive operation device 200 is provided in the vehicle 1, and denotes a device that receives a drive operation related to the manual driving of the vehicle 1. The drive operation device 200 includes an acceleration operation device 210, a brake operation device 220, and a steering operation device 230. Information on the drive operation (manual driving information) received by the drive operation device 200 is transmitted to the drive management device 100. The manual driving information includes, for example, an operation amount of the drive operation.

[0037] The acceleration operation device 210 is a driving operation device 200 for accelerating the vehicle 1. The acceleration operation device 210 is typically an accelerator pedal. In this case, for example, information on an accelerator operation amount is transmitted to the driving management device 100 as manual driving information.

[0038] The brake operation device 220 is a driving operation device 200 for braking the vehicle 1. The brake operation device 220 is typically a brake pedal. In this case, for example, information on a depression amount of the brake pedal is transmitted to the driving management device 100 as manual driving information.

[0039] The steering operation device 230 is a driving operation device 200 for steering the vehicle 1. The steering operation device 230 is typically a steering wheel. In this case, for example, information on a steering angle of the steering wheel is transmitted to the driving management device 100 as manual driving information.

[0040] The HMI device 300 denotes a device having an HMI function. The HMI device 300 outputs various HMI information (turning on and off of control functions, adjustment of control amounts, etc.) and notifies various types of processing information (display, sound, etc.) by performing a specific operation. The HMI information output by the HMI device 300 is transmitted to the driving management device 100. Further, the processing information acquired by the HMI device 300 includes management information acquired from the driving management device 100. The management information will be described later.

[0041] The HMI device 300 is, for example, a switch, a display, an automobile meter, or a combination thereof. In particular, the HMI device 300 can include a device for performing handover from remote driving to manual driving. This is, for example, a switch that requests handover from remote driving to manual driving by being depressed. In this case, the HMI information includes information on a request for handover from remote driving to manual driving.

[0042] The terminal detection device 400 is a device that detects a mobile terminal present in the vehicle 1 through communication. The terminal detection device 400 outputs information on the detected mobile terminal (detection information). The detection information output by the terminal detection device 400 is transmitted to the driving management device 100.

[0043] The terminal detection device 400 is, for example, a device that functions as an access point within the range of the vehicle 1. In this case, a mobile terminal connected to the terminal detection device 400 as an access point is regarded as a detected mobile terminal, and the detection information is output.

[0044] Here, the mobile terminal is, for example, a smartphone or a wearable terminal capable of communicating via a communication line. However, the driving handover system 10 according to the present embodiment can be configured such that a mobile terminal on which a predetermined application is installed or a mobile terminal that has performed a predetermined connection process is the mobile terminal to be detected. Alternatively, the terminal detection device 400 can be a device that communicates in accordance with a specific communication standard, and the mobile terminal can be a dedicated terminal configured to be communicable with the terminal detection device 400.

[0045] The detection information includes information that can be used to identify whether the mobile terminal detected by the terminal detection device 400 is an obstruction article or a safety article. This is, for example, unique ID information assigned to each mobile terminal. However, the terminal detection device 400 can be configured to detect only a mobile terminal that is an obstruction article or a safety article. In this case, the detection information can include information on whether each of the obstruction article and the safety article is detected.

[0046] For example, the terminal detection device 400 is configured to store ID information of the obstruction article or the safety article in advance and determine whether the mobile terminal connected to the terminal detection device 400 is the obstruction article or the safety article. In this case, at least the terminal detection device 400 includes a memory that stores the ID information and a processor that performs a process of determining whether the mobile terminal is the obstruction article or the safety article.

[0047] Alternatively, the terminal detection device 400 is configured to be able to acquire position information of each of the vehicle 1, the obstruction article, and the safety article and configured to determine that the obstruction article or the safety article exists in the vehicle 1 when the position of the vehicle 1 is the same as the position of the obstruction article or the safety article. This can be achieved by employing, for example, a configuration in which the terminal detection device 400 provided in the vehicle 1 functions as a Global Positioning System (GPS) receiver and can acquire the position information of the obstruction article or the safety article via the Internet.

[0048] The remote driving device 600 is a device that provides information related to driving (travel video, driving environment, and the like) to a remote driving operator and receives a driving operation related to remote driving performed by the operator. The remote driving device 600 is configured to be able to exchange information with the vehicle 1. For example, the vehicle 1 and the remote driving device 600 each include a communication device that can communicate via a communication network (typically, the Internet) and exchange information with each other by communication.

[0049] The information on the driving operation (manual driving information) received by the remote driving device 600 is transmitted to the driving management device 100. The remote driving information, for example, includes an operation amount of the driving operation. In addition, the remote driving device 600 acquires the management information from the driving management device 100.

[0050] The driving management device 100 is a device that determines whether to allow manual driving by the driving operation device 200 and remote driving by the remote driving device 600 and manages driving of the vehicle 1. Specifically, in the driving management device 100, a process of managing handover from remote driving to manual driving is executed. The driving management device 100 is configured to be able to mutually exchange information with the driving operation device 200, the HMI device 300, the terminal detection device 400, and the remote driving device 600.

[0051] The driving management device 100 transmits information on whether to allow manual driving by the driving operation device 200 and remote driving by the remote driving device 600 as management information to the HMI device 300 and the remote driving device 600. The HMI device 300 and the remote driving device 600 notify an occupant of the vehicle 1 and a remote driving operator of whether to allow manual driving and remote driving on the basis of the management information.

[0052] When the vehicle 1 is driven by manual driving by the driving operation device 200, the driving management device 100 transmits manual driving information acquired from the driving operation device 200 as driving information to the travel control device 500. On the other hand, when the vehicle 1 is driven by remote driving by the remote driving device 600, the driving management device 100 transmits remote driving information acquired from the remote driving device 600 as driving information to the travel control device 500.

[0053] The driving management device 100 is a computer including a memory 110 and a processor 120. Generally, the driving management device 100 is one of a plurality of Electronic Control Units (ECUs) provided in the vehicle 1. The memory 110 stores various data 111 and programs 112 executable by the processor 120. Information acquired by the driving management device 100 is stored as the data 111 in the memory 110. The processor 120 is coupled with the memory 110, reads the data 111 and the programs 112 from the memory 110, and executes processing in accordance with the programs 112 on the basis of the data 111.

[0054] The processing executed by the processor 120 includes a detection process of detecting an obstructing article or a securing article in the vehicle 1 as a process of managing handover to manual driving, and a determination process of determining whether to allow or not to allow handover to manual driving upon receiving a request for handover to manual driving. The detection process and the determination process will be described later.

[0055] In the drive handover system 10 according to the first embodiment, appropriate configurations and processes can be employed for the handover from the manual driving to the remote driving. Further, the drive management device 100 can be a system composed of a plurality of computers each including a memory and a processor. In this case, the processors associated with the computers cooperate with each other to execute the process of managing the handover to the manual driving.

[0056] The travel control device 500 is a device that executes a process related to the travel control (typically, acceleration, braking, steering) of the vehicle 1 in accordance with the travel information. The travel control device 500 executes the travel control of the vehicle 1 in accordance with the travel information, thereby realizing the manual driving or the remote driving of the vehicle 1.

[0057] The travel control device 500 is composed of, for example, a plurality of ECUs corresponding to each or each group of the actuators provided in the vehicle 1. Examples of the actuators provided in the vehicle 1 include an actuator for driving a power device, an actuator for driving a brake mechanism, an actuator for driving a steering mechanism, and the like.

[0058] 2-2. Second Embodiment

[0059] Figure 4 is a block diagram for illustrating a schematic configuration of the drive handover system 10 according to the second embodiment. In the following, differences from the configuration according to the first embodiment will be described, and elements duplicated with the configuration according to the first embodiment will be appropriately omitted.

[0060] The drive handover system 10 according to the second embodiment includes the drive management device 100, the drive operation device 200, the HMI device 300, the terminal detection device 400, the travel control device 500, the sensor 700, and the automatic driving control device 800.

[0061] The drive operation device 200, the HMI device 300, and the terminal detection device 400 are the same as the configurations described in the first embodiment.

[0062] The sensor 700 detects information related to the driving environment of the vehicle 1 and outputs the detected information (sensor information). The sensor 700 typically includes a sensor that detects the travel state (vehicle speed, acceleration, yaw rate, and the like) of the vehicle 1 and a sensor that detects information (preceding vehicle, lane, obstacle, and the like) about the environment around the vehicle 1.

[0063] Examples of the sensors that detect the running state of the vehicle 1 include, for example, a wheel speed sensor that detects the vehicle speed of the vehicle 1, an acceleration sensor that detects the acceleration of the vehicle 1, a gyro sensor that detects the angular velocity of the vehicle 1, and the like. Further, examples of the sensors that detect the environment around the vehicle 1 include, for example, a sensor camera, a light detection and ranging (LiDAR), a millimeter wave radar, and the like.

[0064] The sensor information output by the sensors 700 is transmitted to the automatic driving control device 800. The sensor information output by the sensors 700 can include, in addition to the directly detected information, information acquired through arithmetic processing based on the directly detected information. In this case, the arithmetic processing can be performed in each sensor, or the sensors 700 can include a device that performs the arithmetic processing.

[0065] The automatic driving control device 800 performs a process related to the automatic driving of the vehicle 1 based on the acquired information, and outputs information related to the automatic driving (automatic driving information). The automatic driving information includes, for example, a control signal related to the automatic driving. The automatic driving control device 800 is typically one of a plurality of ECUs provided in the vehicle 1. However, the automatic driving control device 800 can be a computer provided outside the vehicle 1. For example, the automatic driving control device 800 can be a server configured on a communication network (typically, the Internet) with which the vehicle 1 can communicate. In this case, the automatic driving control device 800 acquires information through communication and outputs the automatic driving information.

[0066] The information acquired by the automatic driving control device 800 includes, in addition to the detection information acquired from the sensors 700, HMI information (for example, destination setting information, setting of the inter-vehicle distance, and the like) acquired from the HMI device 300 and communication information (for example, map information, road traffic information, and the like) acquired from the communication device (not shown in FIG. 1). Figure 4

[0067] The automatic driving control device 800 is configured to perform a process related to the automatic driving when the automatic driving is allowed, based on the management information acquired from the driving management device 100.

[0068] The driving management device 100 has the same configuration as described in the first embodiment. However, in the second embodiment, the driving management device 100 determines whether to allow the manual driving by the driving operation device 200 and the automatic driving by the automatic driving control device 800, and manages the driving of the vehicle 1. Further, in the driving management device 100, a process of managing the handover from the automatic driving to the manual driving is performed.

[0069] ​Accordingly, the driving management device 100 transmits information on whether manual driving by the driving operation device 200 and automatic driving by the automatic driving control device 800 are permitted as management information to the HMI device 300 and the automatic driving control device 800. When the vehicle 1 is driven by automatic driving by the automatic driving control device 800, the driving management device 100 transmits automatic driving information acquired from the automatic driving control device 800 as driving information to the travel control device 500.

[0070] In the driving handover system 10 according to the second embodiment, appropriate configurations and processes can be employed to perform handover from manual driving to automatic driving.

[0071] The travel control device 500 can have the same configuration as that described in the first embodiment. The travel control device 500 performs travel control of the vehicle 1 in accordance with travel information, thereby realizing manual driving or automatic driving of the vehicle 1.

[0072] 3. Driving handover method

[0073] Hereinafter, a process performed by the processor 120 as a process of managing handover to manual driving, and further a driving handover method for managing handover from remote driving or automatic driving to manual driving implemented by the driving handover system 10 according to the first embodiment will be described.

[0074] Figure 5 is a flowchart showing a process performed by the processor 120 as a process of managing handover to manual driving. When a request for handover to manual driving is received, Figure 5 The process shown in FIG. 10 starts, and each process is performed at a predetermined time interval. Here, for example, based on an operation amount of driving operation acquired as manual driving information being equal to or greater than a predetermined value, it is determined whether there is a request for handover to manual driving. Alternatively, based on information on a request for handover to manual driving acquired as HMI information, it is determined whether there is a request for handover to manual driving.

[0075] In step S100 (detection process), the processor 120 detects an obstructing article or a safety article in the vehicle 1. This is performed, for example, by storing information (specification information) for specifying the obstructing article and the safety article as data 111 in the storage 110, and collating detection information acquired from the terminal detection device 400 with the specification information. Alternatively, the processor 120 can detect the obstructing article or the safety article by acquiring information on whether the obstructing article or the safety article is detected as detection information from the terminal detection device 400.

[0076] After the step S100, the process proceeds to a step S200 (determination process). Here, the step S200 (determination process) includes a step S210 to a step S240.

[0077] When the obstructing article is not detected in the step S100 (step S210: No), or when the obstructing article is detected and the safeguard article is also detected (step S210: Yes, step S220: Yes), the process proceeds to a step S230. When the obstructing article is detected in the step S100 and the safeguard article is not detected (step S210: Yes, step S220: No), the process proceeds to a step S240.

[0078] In the step S230, the processor 120 allows the hand driving to be handed over. After the step S230, the process ends.

[0079] In the step S240, the processor 120 does not allow the hand driving to be handed over. After the step S240, the process ends.

[0080] Note that the processor 120 can be configured to perform the process of determining the permission to the hand driving to be handed over to another hand driving in the step S230. In this case, based on the result of the process in the step S230, it is determined whether the hand driving is finally allowed to be handed over.

[0081] Further, the processor 120 can be configured to always perform the detection process at a predetermined interval regardless of whether there is a request for the hand driving to be handed over. In this case, when the request for the hand driving to be handed over is received, the processor 120 performs the process after the step S210 shown in FIG. 8. Figure 5

[0082] 4、Effects

[0083] As described above, according to the driving handover system 10 and the driving handover method according to the present embodiment, the detection of the obstructing article makes it possible to avoid the inappropriate handover to the hand driving by the person who is not able to perform the driving.

[0084] Further, the detection of the safeguard article makes it possible to suppress the handover to the hand driving from being unnecessarily not allowed when the driver is riding on the vehicle 1, and the like.​

Claims

1. A driver handover system that manages the handover of a vehicle from remote driving or automatic driving to manual driving, the driver handover system comprising: At least one memory in which a program is stored; as well as At least one processor coupled to the at least one memory, wherein: Through the execution of the program, the at least one processor is configured to execute The detection process includes detecting obstructive items that, when present in the vehicle, hinder the handover to manual driving, and detecting protective items that, when present in the vehicle, ensure the handover to manual driving. The obstructive items are child-related specific items, and the protective items are driver-related specific items. The process involves determining whether to allow or disallow the handover to the manually driven vehicle upon receiving a request for handover. The at least one processor is configured to, in the determining process, disallow the handover to the manually driven vehicle when the obstructing item is detected in the detection process, and even if the obstructing item is detected in the detection process, not disallow the handover to the manually driven vehicle when the protective item is detected.

2. The driver handover system according to claim 1, wherein: The obstruction is a specific mobile terminal capable of communicating via a communication line; and The at least one processor is configured to detect the obstructing object by communicating with the mobile terminal in the vehicle during the detection process.

3. A driving handover method for managing the handover of a vehicle from remote driving or automatic driving to manual driving, the driving handover method comprising: The detection process includes detecting obstructive items that, when present in the vehicle, hinder the handover to manual driving, and detecting protective items that, when present in the vehicle, ensure the handover to manual driving. The obstructive items are child-related specific items, and the protective items are driver-related specific items. The determination process, upon receiving a request to hand over to the manually driven vehicle, determines whether to allow or disallow the handover to the manually driven vehicle. This determination process includes disallowing the handover to the manually driven vehicle when the obstruction is detected in the detection process, and not disallowing the handover to the manually driven vehicle even when the obstruction is detected in the detection process, provided the safety item is detected.

4. The driving handover method according to claim 3, wherein: The obstruction is a specific mobile terminal capable of communicating via a communication line; and The detection process includes detecting the obstruction by communicating with the mobile terminal in the vehicle.

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