Traveling image display method, traveling image display system

Abstract

The present application provides a kind of driving image display method, driving image display system, which can display driving image of attention direction or attention range of remote driving operator on display device appropriately under the condition of not increasing the burden of operation and monitoring of remote driving operator.The driving image display method related to the present disclosure includes the following processes: shooting process, which shoots driving image in multiple directions by multiple cameras arranged on remote driving vehicle;Acquisition process, which acquires at least one information among operation information, driving state information and action information;Specific process, which specifically specifies the attention direction or attention range of remote driving operator based on the information acquired in acquisition process;Display process, which displays driving image including specifically specified attention direction or attention range and corresponding to specifically specified attention direction or attention range on display device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a travel image display method of displaying a travel image of a vehicle on a display device involved in remote driving, and a travel image display system. BACKGROUND

[0002] In recent years, a remote driving technology of implementing remote driving of a vehicle from a distant place has been considered. Remote driving is expected as a technology for realizing a substitute for or unmanned service of an autonomous driving vehicle when autonomous driving becomes more difficult, and the like. As a related art of remote driving, for example, Patent Literature 1 can be cited.

[0003] PRIOR ART DOCUMENT

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2018-77649 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] The remote driving operator mainly grasps the situation around the remote driving vehicle by visually confirming the travel image displayed on the display device, and further appropriately implements driving operation. At this time, since the remote driving operator cannot directly implement visual confirmation unlike the case of driving while sitting in the vehicle, it is desirable that the travel image displayed on the display device sufficiently contains the travel image of each direction around the remote driving vehicle.

[0008] On the other hand, the display range of the display device on which the remote driving operator can consciously perform visual confirmation is limited. Therefore, the number and range of the travel image in the travel image involved in each direction around the vehicle, which can be displayed in the display range on which the remote driving operator can stably and easily perform visual confirmation, are limited. Further, depending on the situation or driving situation around the remote driving vehicle, the direction or range of attention that the remote driving operator requires to confirm differs.

[0009] Therefore, sometimes the travel image of the direction or range of attention of the remote driving operator is not appropriately displayed on the display device. Further, if the situation around the remote driving vehicle or the driving situation changes every moment, it is possible that the burden of operation and monitoring of the remote driving operator will be excessively increased.

[0010] The present disclosure has been achieved in view of the above-described problems, and an object thereof is to provide a travel image display method and a travel image display system capable of appropriately displaying a travel image in a direction of attention or a range of attention of a remote driving operator on a display device without increasing a burden on operation and monitoring of the remote driving operator.

[0011] Method for solving the problems

[0012] The first disclosure relates to a travel image display method of displaying a travel image of a remote driving vehicle on a display device.

[0013] The travel image display method according to the first disclosure includes: a photographing process of photographing a plurality of directions of the travel image by a plurality of cameras provided on the remote driving vehicle; a process of acquiring at least one of operation information of driving operation of the remote driving vehicle performed by a remote driving operator, travel state information of the remote driving vehicle, and action information of the remote driving operator; a specifying process of specifying a direction of attention or a range of attention of the remote driving operator based on the information acquired in the acquiring process; and a display process of displaying the travel image including the direction of attention or the range of attention and corresponding to the direction of attention or the range of attention on the display device.

[0014] The second disclosure relates to a travel image display method further including the following features with respect to the travel image display method according to the first disclosure.

[0015] The display process includes highlighting the travel image in the direction of attention or the range of attention.

[0016] The third disclosure relates to a travel image display method further including the following features with respect to the travel image display method according to the first disclosure or the second disclosure.

[0017] The display process includes displaying the travel image in a predetermined direction or a predetermined range, which is set in advance, on the display device.

[0018] The fourth disclosure relates to a travel image display method further including the following features with respect to the travel image display method according to any one of the first to third disclosures.

[0019] The specifying process includes setting a specific direction of the travel image in which the remote driving operator is looking as the direction of attention.

[0020] The fifth disclosure relates to a travel image display method further including the following feature with respect to the travel image display method according to any one of the first to third disclosures.

[0021] The acquisition processing includes processing of acquiring information of a turn signal lamp operation or a steering operation as the operation information. Further, the specification processing includes accepting the turn signal lamp operation or the steering operation in a left direction and specifying a left side direction of the remote driving vehicle as the attention direction, and accepting the turn signal lamp operation or the steering operation in a right direction and specifying a right side direction of the remote driving vehicle as the attention direction.

[0022] The sixth disclosure relates to a travel image display method further including the following feature with respect to the travel image display method according to any one of the first to third disclosures.

[0023] The specification processing includes accepting a predetermined brake operation of the remote driving vehicle and specifying a rear side direction of the remote driving vehicle as the attention direction.

[0024] The seventh disclosure relates to a travel image display method further including the following feature with respect to the travel image display method according to any one of the first to third disclosures.

[0025] The specification processing includes accepting a case where a high beam of the remote driving vehicle is on and specifying a distant place of the travel image in a front direction as the attention range. Further, the display processing includes accepting a case where the attention range is the distant place and displaying the travel image in the front direction in a manner of setting a viewing angle above a predetermined height with respect to a reference.

[0026] The eighth disclosure relates to a travel image display method further including the following feature with respect to the travel image display method according to any one of the first to third disclosures.

[0027] The acquisition processing includes acquiring information of a vehicle speed of the remote driving vehicle as the travel state information. Further, the display processing includes displaying the travel image in the front direction in a manner of setting a viewing angle above or below a height corresponding to the vehicle speed with respect to a reference.

[0028] The ninth disclosure relates to a travel image display method further including the following feature with respect to the travel image display method according to any one of the first to third disclosures.

[0029] The specific processing includes accepting that the remote-controlled vehicle is traveling on a curve, and setting a direction toward which the curve is directed as the direction of interest.

[0030] The tenth disclosure relates to a travel image display method further including the following feature with respect to the travel image display method according to the fifth disclosure.

[0031] The remote-controlled vehicle is a towing vehicle, and the plurality of cameras include one or more cameras provided on a towed vehicle. Also, the display processing includes accepting that the direction of interest is a left direction or a right direction of the remote-controlled vehicle, and displaying the travel image captured by the camera provided on the towed vehicle on the display device.

[0032] The eleventh disclosure relates to a travel image display system that displays a travel image of a remote-controlled vehicle on a display device.

[0033] The travel image display system according to the eleventh disclosure includes a plurality of cameras provided on the remote-controlled vehicle and capturing the travel images in a plurality of directions, and a display processing device that performs processing of displaying the travel images. The display processing device performs processing of acquiring at least one of operation information of a driving operation of the remote-controlled vehicle performed by a remote-controlled operator, travel state information of the remote-controlled vehicle, and movement information of the remote-controlled operator, and specifically designating a direction or a range of interest of the remote-controlled operator based on the information acquired in the acquiring processing, and displaying the travel image including and corresponding to the direction or the range of interest on the display device.

[0034] The twelfth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to the eleventh disclosure.

[0035] The display processing device highlights the travel image of the direction or the range of interest in the display processing.

[0036] The thirteenth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to the eleventh or the twelfth disclosure.

[0037] The display processing device displays the travel image of a predetermined direction or a predetermined range that is set in advance on the display device in the display processing.

[0038] The fourteenth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to any one of the eleventh to thirteenth disclosures.

[0039] The display processing device sets, in the specific processing, a specific direction of the travel image at which the remote driving operator is gazing as the attention direction.

[0040] The fifteenth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to any one of the eleventh to thirteenth disclosures.

[0041] The display processing device acquires, in the acquisition processing, information of a turn signal lamp operation or a steering operation as the operation information, and the display processing device accepts, in the specific processing, the turn signal lamp operation or the steering operation in a left direction and sets a left side direction of the remote driving vehicle as the attention direction, and accepts the turn signal lamp operation or the steering operation in a right direction and sets a right side direction of the remote driving vehicle as the attention direction.

[0042] The sixteenth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to any one of the eleventh to thirteenth disclosures.

[0043] The display processing device accepts, in the specific processing, a predetermined brake operation of the remote driving vehicle and sets a rear side direction of the remote driving vehicle as the attention direction.

[0044] The seventeenth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to any one of the eleventh to thirteenth disclosures.

[0045] The display processing device accepts, in the specific processing, a case where a high beam of the remote driving vehicle is turned on and sets a distant place of the travel image in a front direction as the attention range, and the display processing device accepts, in the display processing, a case where the attention range is the distant place and displays the travel image in the front direction in a manner that a viewing angle is set above a predetermined height with respect to a reference.

[0046] The eighteenth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to any one of the eleventh to thirteenth disclosures.

[0047] The display processing device acquires, as the travel state information, information of a vehicle speed of the remote travel vehicle in the acquisition processing, and displays the travel image of the front direction in the display processing in a manner that sets a viewing angle above or below a height corresponding to the vehicle speed with respect to a reference.

[0048] The nineteenth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to any one of the eleventh to thirteenth disclosures.

[0049] The display processing device accepts that the remote travel vehicle is traveling on a curve in the specific processing, and sets a direction in which the curve is directed as the attention direction.

[0050] The twentieth disclosure relates to a travel image display system further including the following feature with respect to the travel image display system according to the fifteenth disclosure.

[0051] The remote travel vehicle is a towing vehicle, and the plurality of cameras include one or more cameras provided on a towed vehicle. Also, the display processing device displays the travel image captured by the camera provided on the towed vehicle on the display device in the display processing, accepting that the attention direction is set to a left direction or a right direction of the remote travel vehicle.

[0052] Effects of the Invention

[0053] The travel image display method and the travel image display system according to the present disclosure specifically specify the attention direction or the attention range of the remote travel operator. Also, the travel image including the specifically specified attention direction or the attention range, and corresponding to the specifically specified attention direction or the attention range is displayed on the display device. Thus, the travel image of the attention direction or the attention range of the remote travel operator can be appropriately displayed on the display device without increasing the burden of the operation and the monitoring of the remote travel operator. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 A conceptual diagram for illustrating an example of a remote travel device.

[0055] Figure 2 A conceptual diagram for illustrating an example of travel images of a plurality of directions captured by a plurality of cameras provided on a remote travel vehicle.

[0056] Figure 3 A conceptual diagram for illustrating display of a travel image in a case where a remote travel operator gazes at a specific direction of a travel image.

[0057] Figure 4 A conceptual diagram for explaining display of travel images in a case where a remote driving operator is made to perform a driving operation of making a remote driving vehicle advance in a left direction.

[0058] Figure 5 A conceptual diagram for explaining display of travel images in a case where a remote driving operator is made to perform a predetermined braking operation of a remote driving vehicle.

[0059] Figure 6 A conceptual diagram for explaining display of travel images in a case where a high beam of a remote driving vehicle is on.

[0060] Figure 7 A conceptual diagram for explaining display of travel images in a case where a remote driving vehicle is traveling on a curve.

[0061] Figure 8 A block diagram showing an outline structure of a travel image display system according to the present embodiment.

[0062] Figure 9 A flowchart showing a travel image display method realized by the travel image display system according to the present embodiment.

[0063] Figure 10 A flowchart showing a process executed in the display process shown in Figure 9 DETAILED DESCRIPTION

[0064] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. However, in the embodiment shown below, in a case where a numerical value of the number, the quantity, the amount, the range, and the like of each element is mentioned, the idea involved in the present disclosure is not limited to the numerical value mentioned, except for a case where it is specifically shown or in principle it is specifically designated. In addition, the structure and the like described in the embodiment shown below are not necessarily essential in the idea involved in the present disclosure, except for a case where it is specifically shown or in principle it is specifically designated. In addition, in each drawing, the same symbol will be attached to the same or equivalent portions, and the repeated description will be appropriately simplified or omitted.

[0065] 1. Introduction

[0066] 1-1. Remote driving device

[0067] ​The travel image display system according to the present embodiment displays a travel image of a remote driving vehicle on a display device. Here, remote driving is typically implemented by a remote driving operator operating a remote driving device at a location away from the remote driving vehicle.

[0068] Figure 1 Fig. 1 is a conceptual diagram showing an example of a remote driving device 100. The remote driving device 100 is a device that provides information related to driving (a travel image, a driving environment, etc.) to a remote driving operator 4, and accepts operations (operations related to driving, operations of devices provided on a remote driving vehicle, etc.) implemented by the remote driving operator 4, thereby implementing remote driving by the remote driving operator 4.

[0069] Figure 1 The remote driving device 100 shown in the figure is provided with an information processing device 110, a display device 120, a driving operation device 130, and an operation panel 140.

[0070] The information processing device 110 is a device that performs processing related to remote driving. Typically, it is a computer provided with a memory and a processor. The information processing device 110 is configured to be able to transmit and receive information with the display device 120, the driving operation device 130, and the operation panel 140. Typically, electrical connection is made by a cable. However, the information processing device 110 can also be configured to be able to transmit and receive information by communication. For example, the information processing device 110 can also be a server (which can also be virtual) configured on a communication network (for example, the Internet) that is able to communicate with the display device 120, the driving operation device 130, and the operation panel 140.

[0071] Further, the information processing device 110 is configured to be able to communicate with a remote driving vehicle and implement transmission and reception of information. Typically, transmission and reception of information is implemented by connecting to a communication network (for example, the Internet) that is able to communicate with the remote driving vehicle.

[0072] In addition, the information processing device 110 performs processing related to display of the display device 120. That is, in the information processing device 110, the display device 120 is configured to be able to display a travel image of a remote driving vehicle, and the information processing device 110 is configured to be able to transmit information related to the travel image to the display device 120. Figure 1The information processing apparatus 110 also functions as a display processing apparatus in the illustrated remote driving apparatus 100. The information processing apparatus (display processing apparatus) 110 transmits a signal (display signal) indicative of a specific display to the display apparatus 120. The information processing apparatus (display processing apparatus) 110 at least performs a process of acquiring a travel image from a camera provided on the remote driving vehicle and displaying the travel image on the display apparatus 120. In addition to this, the information processing apparatus (display processing apparatus) 110 can also perform a process of displaying an image indicative of a map of the surroundings of the remote driving vehicle or a control setting of the remote driving vehicle, and the like.

[0073] The display apparatus 120 performs display in accordance with the display signal acquired from the information processing apparatus (display processing apparatus) 110. Typically, the display apparatus 120 is a display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display. However, it can also be another apparatus having an appropriate display function. Furthermore, the display apparatus 120 can also be a system composed of a plurality of apparatuses. For example, it can also be a multi-monitor composed of a plurality of display devices connected together. On the display apparatus 120, at least a travel image is displayed. The details of the travel image displayed on the display apparatus will be described later.

[0074] The driving operation apparatus 130 is an apparatus that accepts operations involved in driving performed by the remote driving operator 4. In the illustrated example, a steering wheel 130a for accepting a steering operation, and a pedal 130b for accepting an acceleration or braking operation are shown as the driving operation apparatus 130. The operation signals accepted by the driving operation apparatus 130 are transmitted to the remote driving vehicle via the information processing apparatus 110. Figure 1

[0075] The operation panel 140 is an apparatus that accepts various operations performed by the remote driving operator 4. For example, the operation panel 140 accepts operations of apparatuses provided on the remote driving vehicle (turning on or off of an accessory function, opening or closing of a door, and the like). Further, it can also accept operations of apparatuses provided on the remote driving apparatus 100 (switching of displays, electronic control operation of a seat, and the like). The operation panel 140 is, for example, a switch or a touch panel.

[0076] In addition, the remote driving apparatus 100 can also be provided with other apparatuses. For example, it can also be provided with a sound apparatus for transmitting sound to the remote driving operator 4, or a sensor that detects the state of the remote driving operator 4, and the like.

[0077] ​The remote driving operator 4 visually confirms the display (mainly driving images) on the display device 120 to understand the situation around the remotely driven vehicle, and then appropriately operates the driving control device 130 or the control panel 140. Thus, remote driving can be carried out by the remote driving operator 4.

[0078] 1-2. Display of driving images

[0079] The following is for reference Figure 2 The driving image displayed on the display device 120 by the information processing device (display processing device) 110 will be described. Figure 2 An example is shown of driving images 121 in multiple directions captured by multiple cameras mounted on a remotely driven vehicle 1. Here, multiple other vehicles 2 are driving around the remotely driven vehicle 1. Additionally, in Figure 2 In order to distinguish each of the other vehicles 2, symbols (a, b, ...) are added to the symbol.

[0080] Figure 2 (A) shows an example of a shooting area 3 captured by multiple cameras mounted on a remotely driven vehicle 1. Additionally, in Figure 2 In (A), to distinguish each shooting area 3, symbols (a, b, ...) are added to the symbols. Figure 2 In the case of the remotely driven vehicle 1, there are six cameras, which can capture driving images 121 in six directions corresponding to each shooting area 3.

[0081] Figure 2 (B) shows the relationship with Figure 2 Example of driving image 121 corresponding to (A) displayed on display device 120. Additionally, in Figure 2 In (B), with Figure 2 The symbols (a, b, ...) are added to the symbols of the driving image 121 in a manner corresponding to the shooting area 3 shown in (A). Furthermore, in Figure 2 In (B), other displays 122 are shown on the display device 120. These displays show, for example, the status of devices provided on the remote-controlled vehicle 1 (on / off status of auxiliary functions, on / off status of doors, etc.), the driving environment (vehicle speed, remaining fuel, interior temperature, etc.), maps, navigation, etc.

[0082] exist Figure 2In (B), driving images 121a, 121b, 121c, and 121d corresponding to the shooting areas 3a, 3b, 3c, and 3d are displayed as a display device 120. On the other hand, driving image 121 corresponding to shooting areas 3e and 3f is not displayed. Furthermore, the display area of ​​driving image 121a in the forward direction of the remote driving vehicle 1 is the largest, while the display areas of driving images 121c and 121d in the rear-side direction of the remote driving vehicle 1 are smaller.

[0083] However, in Figure 2 In the example shown in (B), the remote operator 4 cannot confirm the lateral direction of the remote vehicle 1. Furthermore, the remote operator 4 cannot confirm the presence of other vehicles 2d. When the remote operator 4 wants to perform a lane change for the remote vehicle 1, confirmation of the lateral direction of the remote vehicle 1 is required. Moreover, when the remote operator 4 wants to perform a lane change for the remote vehicle 1, the display of the rear lateral driving image 121c or 121d needs to be specifically confirmed compared to the display of the forward driving image 121a. In this way, Figure 3 to Figure 7 The display shown in (B) may be unsuitable as a driving image 121 for remote driving operator 4 to confirm the direction or scope of attention due to the conditions around the remote driving vehicle 1 or the driving conditions.

[0084] As a means of displaying sufficient and diverse modes of driving images 121, a display device 120 with a large display area can be considered. For example, the display device 120 can be configured as a multi-monitor, thereby displaying... Figure 3 The display shown in (B) is displayed on one monitor, and the side view image 121 of the remotely driven vehicle 1 is displayed on another monitor. Furthermore, it is also possible to configure the display device 120 so that the display can be switched by the operation of the remote driving operator 4. For example, it can be configured so that the mode of the driving image 121 displayed on the display device 120 can be switched by operating the control panel 140.

[0085] However, even with a display device 120 that provides a relatively large display range, the display range of the display device 120, which allows the remote driving operator 4 to consciously make visual confirmations, is still limited. Furthermore, the number and range of driving images 121 that can be displayed within a stable and easily visually confirmable range for the remote driving operator 4 are also limited. Therefore, in situations where the conditions around the remotely driven vehicle 1 or the driving conditions are constantly changing, these methods may excessively increase the operational and monitoring burden on the remote driving operator 4.

[0086] Thus, in the travel image display system according to the present embodiment, the direction or range of attention of the remote driving operator 4 is specifically designated based on information on the driving operation for the remote driving vehicle (operation information), information on the travel state of the remote driving vehicle 1 (travel state information), or information on the movement of the remote driving operator 4 (movement information). Then, the travel image 121 including the specifically designated direction or range of attention and corresponding to the specifically designated direction or range of attention is displayed on the display device 120.

[0087] 2. SUMMARY

[0088] Hereinafter, the display of the travel image 121 achieved by the travel image display system according to the present embodiment will be described with reference to Figure 3 to the drawings.

[0089] First, the concept of the display of the travel image 121 when the remote driving operator 4 gazes at a specific direction of the travel image 121 will be described with reference to Figure 3 . Figure 3 is a conceptual diagram for describing the display of the travel image 121 when the remote driving operator 4 gazes at a specific direction of the travel image 121.

[0090] Figure 3 The upper portion of Figure 2 shows the display of the travel image 121 serving as a reference and the specific direction (position surrounded by a broken line) at which the remote driving operator 4 gazes, Figure 3 The lower portion of Figure 3 shows an example of the display of the travel image 121 displayed in accordance with the specifically designated direction of attention. In , the plurality of cameras provided on the remote driving vehicle 1 and the display of the travel image 121 serving as a reference are equivalent to those shown in

[0091] . Figure 3 In the example shown in Figure 4 , the specific direction at which the remote driving operator 4 gazes is a part of the travel image 121d (a part in which the other vehicle 2c is captured). Thus, the travel image display system according to the present embodiment specifically designates the part of the travel image 121d as the direction of attention of the remote driving operator 4. Then, as the display of the travel image 121 corresponding to the direction of attention, the part of the travel image 121d is displayed in a manner that is easy to visually confirm. In , the display area of the travel image 121d is enlarged and the angle of view is expanded with respect to the reference.

[0092] Further, the travel image display system according to the present embodiment can highlight the travel image 121 in the direction of attention. In Figure 4 , a display frame is highlighted with respect to the travel image 121d.

[0093] By displaying the travel image 121 in this way, it is possible to easily perform visual confirmation of the travel image 121 of the direction that the remote driving operator 4 desires to confirm. Furthermore, it is possible to improve the safety of driving of the remote driving vehicle 1.

[0094] In addition, the specific direction in which the remote driving operator 4 gazes can be detected on the basis of the motion information. For example, the specific direction in which the remote driving operator 4 gazes is detected in accordance with the motion or position of the head of the remote driving operator 4, the direction of the line of sight. In this case, it is also possible to employ an existing line-of-sight detection technology or the like. Also for this reason, the remote driving device 100 can also be provided with an appropriate sensor (for example, a sensor camera) that detects the state of the remote driving operator 4.

[0095] Next, the display of the travel image 121 will be described with reference to Figure 4 . Figure 4 In addition, the display of the travel image 121 when the remote driving operator 4 performs a driving operation to cause the remote driving vehicle 1 to advance in the left direction will be described with reference to

[0096] Figure 4 The upper portion of FIG. 12A shows the display of the travel image 121 that becomes the reference, Figure 2 The lower portion of FIG. 12A shows an example of the display of the travel image 121 that is displayed in correspondence with the specifically designated direction of interest. In addition, in Figure 2 In FIG. 12A, the plurality of cameras provided on the remote driving vehicle 1, and the display of the travel image 121 that becomes the reference are identical to those shown in Figure 4 In addition, the travel image 121e is the travel image 121 that corresponds to the imaging region 3e shown in Figure 4 In the example shown in

[0097] In the example shown in FIG. 12A, the travel image display system according to the present embodiment specifically designates the left direction of the remote driving vehicle 1 as the direction of interest. Furthermore, the travel image 121 (the travel image 121c and the travel image 121e) that includes the left direction of the remote driving vehicle 1 is displayed. In addition, as the display of the travel image 121 in correspondence with the direction of interest, the travel image 121 that includes the left direction of the remote driving vehicle 1 is displayed in a manner that is easy to visually confirm. In Figure 5 In FIG. 12A, the travel image 121e is displayed, and the display region of the travel image 121c is enlarged and the angle of view is expanded with respect to the reference. In addition, the travel image 121c and the travel image 121e are highlighted. Figure 5

[0098] ​Further, for the display of the travel images 121a and 121b, the display area is reduced, and on the other hand, the angle of view with respect to the left direction of the remote driving vehicle 1 is maintained. Here, with respect to the display of the travel images 121a and 121b, the angle of view can also be expanded to the left direction.

[0099] Here, the same applies to the case where the remote driving operator 4 performs a driving operation to advance the remote driving vehicle 1 in the right direction. That is, in this case, the travel image display system according to the present embodiment specifically designates the right direction of the remote driving vehicle 1 as the direction of interest. Also, the travel image 121 related to the right direction of the remote driving vehicle 1 is included, and the travel image 121 related to the right direction of the remote driving vehicle 1 is displayed in a manner that is easy to visually confirm.

[0100] By displaying the travel images 121 in this way, in the case where a left turn or a right turn of the remote driving vehicle 1 is performed, the remote driving operator 4 is able to confirm the risk of involving a pedestrian or a bicycle, etc. Also, in the case where a lane change of the remote driving vehicle 1 is performed, the remote driving operator 4 is able to confirm whether or not there is an approaching other vehicle 2 on the adjacent lane.

[0101] In addition, the travel image display system according to the present embodiment detects the case where a driving operation to advance the remote driving vehicle 1 in the left direction or the right direction is performed, based on information of a turn signal operation or a steering operation. That is, in the case where a left direction turn signal operation or a left direction steering operation is accepted, the left direction of the remote driving vehicle 1 is set as the direction of interest, and in the case where a right direction turn signal operation or a right direction steering operation is accepted, the right direction of the remote driving vehicle 1 is set as the direction of interest.

[0102] Next, the case where a predetermined braking operation of the remote driving vehicle 1 is performed by the remote driving operator 4 will be described with reference to Figure 5 . Figure 5 is a conceptual diagram for describing the display of the travel image 121 in the case where a predetermined braking operation of the remote driving vehicle 1 is performed by the remote driving operator 4.

[0103] Figure 5 The upper portion of FIG. 10 shows the display of the travel image 121 that is the reference, Figure 2 The lower portion of FIG. 10 shows an example of the display of the travel image 121 that is displayed in accordance with the direction of the specifically designated object. In addition, in Figure 5 In the case of FIG. 10, the display of the travel image 121 that is the reference and the display of the travel image 121 that is displayed in accordance with the direction of the specifically designated object are the same as those shown in Figure 5

[0104] ​Here, the predetermined brake operation is a specific brake operation that is prescribed in advance, such as an operation of turning on a hazard lamp, an operation of depressing a brake pedal by an amount that exceeds a threshold, an operation of generating a deceleration that exceeds a threshold, and the like. However, the predetermined brake operation can also be prescribed in accordance with the remote driving vehicle 1 to which the travel image display system according to the present embodiment is applied.

[0105] In Figure 6 the example illustrated in FIG. 10, the travel image display system according to the present embodiment specifically designates the rear side direction of the remote driving vehicle 1 as the direction of interest. Also, the travel image display system according to the present embodiment displays the travel image 121 corresponding to the direction of interest, thereby displaying the travel image 121 relating to the rear side direction of the remote driving vehicle 1 in a manner that is easy to visually confirm. In Figure 6 , the display region of the travel image 121b is enlarged. Also, with respect to the travel image 121b, highlighting is performed.

[0106] By displaying the travel image 121 in this manner, the remote driving operator 4 is able to confirm the risk of a rear-end collision with the other vehicle 2 traveling behind, at the time of implementing a stop of the remote driving vehicle 1, and the like.

[0107] In addition, the case where the predetermined brake operation is implemented can be detected on the basis of operation information or travel state information. For example, detection is performed by acquiring an operation of turning on a hazard lamp or a depression amount of a brake pedal as operation information. Alternatively, detection is performed by acquiring a deceleration as travel state information.

[0108] Next, reference will be made to Figure 6 . Figure 6 is a conceptual diagram for describing display of the travel image 121 in a case where the high beam of the remote driving vehicle 1 is turned on.

[0109] Figure 6 The upper portion of FIG. 11 illustrates display of the travel image 121 that is the reference, Figure 2 the lower portion of FIG. 11 illustrates an example of display of the travel image 121 that is displayed in correspondence with the specifically designated range of interest. In addition, in Figure 7 , the plurality of cameras provided on the remote driving vehicle 1, and display of the travel image 121 that is the reference are equivalent to those illustrated in Figure 7

[0110] ​In a case where the high beam of the remote driving vehicle 1 is turned on, the travel image display system according to the present embodiment specifically designates a distant place of the travel image 121a in the front direction as an attention range. Also, the travel image 121 is displayed in correspondence with the attention range, whereby the travel image 121a in the front direction is displayed in a manner that the angle of view is set above a predetermined height with respect to the reference. Here, the predetermined height can be defined in accordance with the remote driving vehicle 1 to which the travel image display system according to the present embodiment is applied.

[0111] Further, the travel image display system according to the present embodiment acquires information of the vehicle speed of the remote driving vehicle 1 as the travel state information, and displays the travel image 121 in accordance with the vehicle speed of the remote driving vehicle 1. In this case, the travel image 121a in the front direction is displayed in a manner that the angle of view is set above or below a height corresponding to the vehicle speed with respect to the reference. That is, the higher the vehicle speed, the more the travel image 121a in the front direction is displayed in a manner that the angle of view is set above with respect to the reference, and the lower the vehicle speed, the more the travel image 121a in the front direction is displayed in a manner that the angle of view is set below with respect to the reference.

[0112] Here, the height corresponding to the vehicle speed can also be defined in accordance with the remote driving vehicle 1 to which the travel image display system according to the present embodiment is applied. For example, it can be configured in a manner that the angle of view is continuously changed in proportion to the vehicle speed, or it can be configured in a manner that the angle of view is changed in stages in accordance with the level of the vehicle speed.

[0113] By displaying the travel image 121 in this manner, it is possible to correspond to the change in the front gaze point of the remote driving operator 4. Further, it is possible to easily perform visual confirmation of the travel image 121a in the front direction.

[0114] Next, the reference will be made to Figure 7 . Figure 7 is a conceptual diagram for describing the display of the travel image 121 when the remote driving vehicle 1 is traveling on a curve.

[0115] Figure 7 The upper portion of Figure 7 the lower portion of

[0116] In Figure 8 the example shown in Figure 7In this embodiment, the display of the travel image 121 realized by the travel image display system can also be applied to the display of the display range of the display device 120 that the remote driving operator 4 can stably and easily visually confirm. For example, in the case where the display device 120 is constituted by a plurality of monitors, it can also be applied to the display of the display equipment located in front of the remote driving operator 4. On the other hand, even in such a case, the direction or range of attention of the remote driving operator 4 can be directed to the entire display of the display device 120.

[0117] By displaying the travel image 121 in this way, the operability of the driving of the remote driving vehicle 1 when traveling on a curve can be improved.

[0118] Further, the case where the remote driving vehicle 1 is traveling on a curve can be detected on the basis of the travel state information. For example, the lateral acceleration of the remote driving vehicle 1 is acquired as the travel state information, and in the case where a lateral acceleration of a threshold value or more is detected, it is determined that the remote driving vehicle 1 is traveling on a curve. Further, it can also be determined on the basis of the image recognition of the travel image 121.

[0119] In this embodiment, the display of the travel image 121 realized by the travel image display system can also be applied to the display of the display range of the display device 120 that the remote driving operator 4 can stably and easily visually confirm. For example, in the case where the display device 120 is constituted by a plurality of monitors, it can also be applied to the display of the display equipment located in front of the remote driving operator 4. On the other hand, even in such a case, the direction or range of attention of the remote driving operator 4 can be directed to the entire display of the display device 120.

[0120] For example, it can also be constituted in such a way that, in the case where the direction or range of attention of the remote driving operator 4 is directed to the travel image 121 displayed on the display equipment not located in front, as the display of the travel image 121 corresponding to the direction or range of attention, the travel image 121 to be the object of the direction or range of attention is displayed on the display equipment located in front of the remote driving operator 4.

[0121] 3. Travel image display system

[0122] Hereinafter, the travel image display system according to the present embodiment will be described. However, matters overlapping with the foregoing will be appropriately omitted.

[0123] Figure 1 FIG. 1 is a block diagram showing the outline configuration of the travel image display system 10 according to the present embodiment.

[0124] The camera 210 is provided on the remote driving vehicle 1, and captures and outputs the travel image of the remote driving vehicle 1. The camera 210 includes a plurality of cameras that capture travel images 121 in a plurality of directions.

[0125] The travel video 121 output by the camera 210 is transmitted to the display processing device 110. However, it can also be configured to transmit the travel video 121 in a specific direction required by the display processing device 110.

[0126] The sensor 220 is provided on the remote driving vehicle 1, and detects the driving environment of the remote driving vehicle 1, and outputs detection information. The sensor 220 includes a travel state detection sensor 221 and a surrounding environment detection sensor 222.

[0127] The travel state detection sensor 221 detects the travel state (vehicle speed, deceleration, lateral acceleration, yaw rate, etc.) of the remote driving vehicle 1, and outputs travel state information as detection information. The travel state detection sensor 221 is, for example, a wheel speed sensor, an acceleration sensor, a gyro sensor, or the like.

[0128] The surrounding environment detection sensor 222 detects the surrounding environment (preceding vehicle, lane, obstacle, etc.) of the remote driving vehicle 1, and outputs information on the surrounding environment (distance from the preceding vehicle, position of the lane, type of the obstacle, etc.) as detection information. The surrounding environment detection sensor 222 is, for example, a sensor camera, a LIDAR (Light Detection And Ranging), a millimeter wave radar, or the like.

[0129] The driving operation device 130 is a device that accepts a driving operation performed by the remote driving operator 4 and outputs operation information. As the driving operation device 130, a turn signal operation device, a steering wheel, a shift operation device, an accelerator pedal, a brake pedal, a light operation device, or the like is exemplified.

[0130] The operation information output by the driving operation device 130 is transmitted to the remote driving vehicle 1 and the display processing device 110. Here, the remote driving vehicle 1 is caused to travel in accordance with the operation information by a control device not shown in the figure, so that remote driving by the remote driving operator 4 is realized. Figure 9

[0131] The operator state detection sensor 150 is a sensor that detects the state of the remote driving operator 4, and outputs action information. As the operator state detection sensor 150, a sensor camera that photographs the remote driving operator 4 can be exemplified.

[0132] ​The display processing device 110 performs processing based on the acquired information, thereby generating and outputting a display signal. The display signal output by the display processing device 110 is delivered to the display device 120. In particular, the display processing device 110 performs specific processing that specifically designates the direction of attention or the range of attention, and display processing of the travel image 121. Regarding the specific processing and the display processing, description will be given below.

[0133] Typically, the display processing device 110 is a computer that has a memory and a processor. Typically, the memory includes a RAM (Random Access Memory) that temporarily stores data, and a ROM (Read Only Memory) that stores programs executable in the processor or various data related to the programs. The processor reads the programs and the data from the memory, and performs processing according to the programs based on the data.

[0134] Typically, the display processing device 110 is provided on the remote driving device 100. However, it can also be a device external to the remote driving device 100. For example, the display processing device 110 can also be a server constituted on a communication network. In addition, as described in Figure 9 , the display processing device 110 can also be another information processing device that performs processing related to remote driving.

[0135] In addition, the display processing device 110 can be constituted in a manner that acquires all of the travel image 121 captured by the camera 210, or in a manner that acquires only the travel image 121 of a specific direction for display on the display device 120. In this case, the display processing device 110 can also be constituted to request the travel image 121 of the specific direction with respect to the camera 210.

[0136] 4. Travel image display method

[0137] Next, a travel image display method realized by the travel image display system 10 according to the present embodiment will be described.

[0138] Figure 10 FIG. 7 is a flowchart showing a travel image display method realized by the travel image display system 10 according to the present embodiment. Figure 10 The processing shown in FIG. 7 is performed every predetermined control period.

[0139] In step S100 (capturing processing), the camera 210 captures the travel image 121. After step S100, the processing proceeds to step S110.

[0140] In step S110 (acquisition processing), the display processing device 110 acquires operation information, running state information, and action information from the driving operation device 130, the operator state detection sensor 150, and the sensor 220. After step S110, the process proceeds to step S120.

[0141] In step S120 (specification processing), the display processing device 110 specifies a direction of attention or a range of attention of the remote driving operator 4 based on the information acquired in the acquisition processing. In the specification processing, the direction of attention or the range of attention is specified when any one of the conditions shown below is satisfied.

[0142] One condition is that the remote driving operator 4 is gazing at a specific direction of the running image 121. The display processing device 110 judges whether or not the remote driving operator 4 is gazing at the specific direction of the running image 121 based on the action information. For example, information of the line of sight of the remote driving operator 4 is acquired as the action information, and it is judged that the remote driving operator 4 is gazing at the specific direction when the line of sight continues to be directed toward the specific direction for a predetermined time. The display processing device 110 specifies the specific direction of the running image 121 at which the remote driving operator 4 is gazing as the direction of attention.

[0143] Another condition is that a left direction turn signal lamp operation or a steering operation, or a right direction turn signal lamp operation or a steering operation is being performed. The display processing device 110 judges whether or not the condition is satisfied by acquiring information of the turn signal lamp operation or the steering operation as the operation information. The display processing device 110 specifies the left side direction of the remote driving vehicle 1 as the direction of attention by accepting the left direction turn signal lamp operation or the steering operation, and specifies the right side direction of the remote driving vehicle 1 as the direction of attention by accepting the right direction turn signal lamp operation or the steering operation.

[0144] Another condition is that a predetermined brake operation of the remote driving vehicle 1 is being performed. The display processing device 110 judges whether or not the predetermined brake operation is performed based on the operation information or the running state information. For example, the display processing device 110 judges whether or not the condition is satisfied by acquiring a light-on operation of a hazard lamp or a depression amount of a brake pedal as the operation information, or acquiring a deceleration of the remote driving vehicle 1 as the running state information. The display processing device 110 specifies the rear side direction of the remote driving vehicle 1 as the direction of attention by accepting the predetermined brake operation of the remote driving vehicle 1.

[0145] Another condition is that the high beam of the remotely driven vehicle 1 is on. The display processing device 110 judges whether the high beam is on or off by acquiring the on / off state of the high beam as operation information. The display processing device 110 accepts information that the high beam of the remotely driven vehicle 1 is on, and thereby particularly specifies a distant place in the front direction of the travel image 121a as the range of interest.

[0146] Another condition is that the remotely driven vehicle 1 is traveling on a curve. The display processing device 110 judges whether the remotely driven vehicle 1 is traveling on a curve on the basis of travel state information or the travel image 121. For example, the lateral acceleration of the remotely driven vehicle 1 is acquired as travel state information, and in the case where the lateral acceleration becomes equal to or greater than a threshold value, it is judged that the vehicle is traveling on a curve. Alternatively, it is judged that the vehicle is traveling on a curve through image recognition of the travel image 121. The display processing device 110 accepts the case where the remotely driven vehicle 1 is traveling on a curve, and thereby particularly specifies the direction in which the curve is directed as the direction of interest.

[0147] Here, priority can be given to each condition. Also, when a plurality of conditions are satisfied, the direction of interest or the range of interest can be particularly specified in accordance with the priority. Alternatively, when a plurality of conditions are satisfied, a plurality of directions of interest or ranges of interest can be particularly specified.

[0148] After step S120, the process proceeds to step S130.

[0149] In step S130 (display processing), the display processing device 110 displays the travel image 121 on the display device 120. Referring to Figure 3 to Figure 7 The display processing will be described. ​ The process illustrated in the figure starts with execution of the display processing.

[0150] In step S131, the display processing device 110 judges whether the direction of interest or the range of interest is given by the specification processing. In the case where the direction of interest or the range of interest is given (step S131; YES), the process proceeds to step S132. In the case where the direction of interest or the range of interest is not given (step S131; NO), the process proceeds to step S133.

[0151] In step S132, the display processing device 110 displays the travel image 121 including the direction of interest or the range of interest, and corresponding to the direction of interest or the range of interest, on the display device 120. Here, the travel image 121 corresponding to the direction of interest or the range of interest particularly specified is the travel image described in ​ In step S132, the display processing device 110 displays the travel image 121 including the direction of interest or the range of interest, and corresponding to the direction of interest or the range of interest, on the display device 120. Here, the travel image 121 corresponding to the direction of interest or the range of interest particularly specified is the travel image described in

[0152] In step S133, the display processing device 110 displays the traveling image 121 that becomes a reference. After step S133, the display processing ends.

[0153] Further, the display processing device 110 can also be configured to acquire at least one of the operation information, the traveling state information, and the action information in the acquisition processing. Also, the application conditions can be limited in accordance with the acquired information in the specification processing.

[0154] 5. Effects

[0155] As explained above, the traveling image display system and the traveling image display method according to the present embodiment specifically specify the direction or range of attention of the remote driving operator 4. Also, the traveling image 121 including or corresponding to the specifically specified direction or range of attention is displayed on the display device 120. Thereby, the traveling image 121 of the direction or range of attention of the remote driving operator 4 can be appropriately displayed on the display device 120 without increasing the burden of the operation and the monitoring of the remote driving operator 4.

[0156] 6. Modified examples

[0157] The traveling image display system and the display processing method according to the present embodiment can also be modified as follows. In the following description, matters repeated from the foregoing will be appropriately omitted.

[0158] 6-1. Modified example 1

[0159] The display processing device 110 can also be configured to display the traveling image 121 of a predetermined direction or range that is set in advance on the display device 120 in the display processing. For example, it can also be configured to display the traveling image 121a of the front direction regardless of the result of the specification processing. Further, it can also be configured to display the range of the traveling image 121a displayed as the front direction in a fixed manner regardless of the result of the specification processing.

[0160] By adopting the modified example in this way, it is possible to suppress the traveling image 121 that needs to be monitored all the time from not being displayed or being displayed in a reduced manner as a result of the specification processing.

[0161] 6-2. Modified example 2

[0162] The travel image display system according to the present embodiment can also be applied in a case where the remote driving vehicle 1 is a towing vehicle and the camera 210 includes one or more cameras provided on a towed vehicle. In this case, the display processing device 110 can be configured to accept a case where the direction of attention in the display processing is the left direction or the right direction of the remote driving vehicle 1 and display the travel image 121 captured by the camera provided in the towed vehicle on the display device 120.

[0163] By adopting the changed manner in this way, the remote driving operator 4 can confirm the behavior of the towed vehicle in a case where the remote driving vehicle 1 as a towing vehicle is moved in the left direction or the right direction. Furthermore, the operability of remote driving can be improved.

[0164] Symbol explanation

[0165] 1. Remote driving vehicle

[0166] 2. Other vehicle

[0167] 3. Capturing area

[0168] 4. Remote driving operator

[0169] 10. Travel image display system

[0170] 100. Remote driving device

[0171] 110. Display processing device

[0172] 120. Display device

[0173] 121. Travel image

[0174] 130. Driving operation device

[0175] 140. Operation panel

[0176] 150. Operator state detection sensor

[0177] 210. Camera

[0178] 220. Sensor

[0179] 221. Travel state detection sensor

[0180] 222. Surrounding environment detection sensor

Claims

1. A travel image display method of displaying a travel image of a remote driving vehicle on a display device, characterized by comprising: including: shooting processing that shoots the travel images in a plurality of directions by a plurality of cameras provided on the remote driving vehicle; acquisition processing that acquires at least one of operation information for driving operation of the remote driving vehicle performed by a remote driving operator, travel state information of the remote driving vehicle, and action information of the remote driving operator; specification processing that specifies a direction of attention or a range of attention of the remote driving operator based on information acquired in the acquisition processing; display processing that displays the travel images including the direction of attention or the range of attention and corresponding to the direction of attention or the range of attention on the display device, the specification processing includes accepting a case where a high beam of the remote driving vehicle is turned on and setting a distant place of the travel images in a front direction as the range of attention, the display processing includes accepting a case where the range of attention is the distant place and displaying the travel images in the front direction in a manner that a viewing angle is set above a predetermined height with reference to a reference.

2. A travel image display method of displaying a travel image of a remote driving vehicle on a display device, characterized by including: shooting processing that shoots the travel images in a plurality of directions by a plurality of cameras provided on the remote driving vehicle; acquisition processing that acquires at least one of operation information for driving operation of the remote driving vehicle performed by a remote driving operator, travel state information of the remote driving vehicle, and action information of the remote driving operator; specification processing that specifies a direction of attention or a range of attention of the remote driving operator based on information acquired in the acquisition processing; display processing that displays the travel images including the direction of attention or the range of attention and corresponding to the direction of attention or the range of attention on the display device, the acquisition processing includes acquiring information of a vehicle speed of the remote driving vehicle as the travel state information, the display processing includes displaying the travel images in the front direction in a manner that a viewing angle is set above or below a height corresponding to the vehicle speed with reference to a reference.

3. The travel image display method according to claim 1 or claim 2, wherein the display processing includes highlighting the travel images in the direction of attention or the range of attention.

4. The travel image display method according to claim 1 or claim 2, wherein the display processing includes displaying the travel images in a predetermined direction or range set in advance on the display device.

5. The travel image display method according to claim 1 or claim 2, wherein the specification processing includes setting a specific direction of the travel images in which the remote driving operator is gazing as the direction of attention.

6. The travel image display method according to claim 1 or claim 2, wherein The acquisition process includes acquiring information of a turn signal lamp operation or a steering operation as the operation information, The specific process includes accepting the turn signal lamp operation or the steering operation in a left direction and setting a left side direction of the remote drive vehicle as the attention direction, and accepting the turn signal lamp operation or the steering operation in a right direction and setting a right side direction of the remote drive vehicle as the attention direction.

7. The travel image display method according to claim 1 or claim 2, wherein The specific process includes accepting a predetermined brake operation of the remote drive vehicle and setting a rear side direction of the remote drive vehicle as the attention direction.

8. The travel image display method according to claim 1 or claim 2, wherein The specific process includes accepting a case where the remote drive vehicle is traveling on a curve and setting a direction in which the curve is directed as the attention direction.

9. The travel image display method according to claim 6, wherein The remote drive vehicle is a towing vehicle, The plurality of cameras include one or more cameras provided on a towed vehicle, The display process includes accepting a case where the attention direction is a left side direction or a right side direction of the remote drive vehicle, and displaying the travel image captured by the camera provided on the towed vehicle on the display device.

10. A driving image display system, which displays the driving image of a remotely driven vehicle on a display device, characterized in that, including: a plurality of cameras provided on the remote drive vehicle and capturing the travel images in a plurality of directions; a display processing device that performs a process of displaying the travel images, The display processing device performs a process of: an acquisition process that acquires at least one of operation information of a driving operation of the remote drive vehicle performed by a remote drive operator, travel state information of the remote drive vehicle, and action information of the remote drive operator; a specific process that specifically designates an attention direction or an attention range of the remote drive operator based on the information acquired in the acquisition process; a display process that displays the travel images including the attention direction or the attention range and corresponding to the attention direction or the attention range on the display device, The display processing device accepts a case where a high beam of the remote drive vehicle is on in the specific process and sets a distant place of the travel image in a front direction as the attention range, The display processing device accepts a case where the attention range is the distant place in the display process and displays the travel image in the front direction with a viewing angle set above a predetermined height with respect to a reference.

11. A driving image display system, which displays the driving image of a remotely driven vehicle on a display device, characterized in that, including: a plurality of cameras provided on the remote drive vehicle and capturing the travel images in a plurality of directions; a display processing device that performs a process of displaying the travel images, The display processing device performs a process of: acquiring at least one of operation information for driving operation of the remote driving vehicle by a remote driving operator, travel state information of the remote driving vehicle, and action information of the remote driving operator; specifying a direction of attention or a range of attention of the remote driving operator based on the information acquired in the acquiring; displaying the travel image including the direction of attention or the range of attention and corresponding to the direction of attention or the range of attention on the display device, the display processing device acquires, in the acquiring, information of a vehicle speed of the remote driving vehicle as the travel state information, the display processing device displays, in the displaying, the travel image of the front direction in a manner that a viewing angle is set above or below a height corresponding to the vehicle speed with respect to a reference.

12. The travel image display system according to claim 10 or claim 11, wherein the display processing device highlights, in the displaying, the travel image of the direction of attention or the range of attention.

13. The travel image display system according to claim 10 or claim 11, wherein the display processing device displays, in the displaying, the travel image of a predetermined direction or a predetermined range that is set in advance on the display device.

14. The travel image display system according to claim 10 or claim 11, wherein the display processing device sets, in the specifying, a specific direction of the travel image that the remote driving operator is gazing at as the direction of attention.

15. The travel image display system according to claim 10 or claim 11, wherein the display processing device acquires, in the acquiring, information of a turn signal operation or a steering operation as the operation information, the display processing device sets, in the specifying, a left side direction of the remote driving vehicle as the direction of attention in response to the turn signal operation or the steering operation in the left direction, and sets a right side direction of the remote driving vehicle as the direction of attention in response to the turn signal operation or the steering operation in the right direction.

16. The travel image display system according to claim 10 or claim 11, wherein the display processing device sets, in the specifying, a rear side direction of the remote driving vehicle as the direction of attention in response to a predetermined brake operation of the remote driving vehicle.

17. The travel image display system according to claim 10 or claim 11, wherein the display processing device sets, in the specifying, a direction toward which a curve is directed as the direction of attention in response to the remote driving vehicle traveling on the curve.

18. The travel image display system according to claim 15, wherein the remote driving vehicle is a towing vehicle, The plurality of cameras include one or more cameras disposed on a towed vehicle, The display processing device displays, in the display processing, the travel image captured by the camera disposed on the towed vehicle on the display device in a case where the direction of interest is a left direction or a right direction of the remote-driven vehicle.

Images