Vehicle conveying system, vehicle conveying method, and storage medium

Abstract

Provided is a vehicle conveying system, a vehicle conveying method, and a storage medium. The vehicle conveying system includes: a vehicle-mounted system mounted on a vehicle; and a vehicle conveying device configured to be able to communicate with the vehicle-mounted system and to be able to convey the vehicle by autonomous travel. The vehicle conveying device is configured to: when conveying the vehicle, transmit a confirmation signal for confirming whether or not remote operation is required to the vehicle-mounted system; and when receiving a request signal for wishing remote operation from the vehicle-mounted system, allow remote operation from inside the vehicle.

Description

Technical Field

[0001] This invention relates to a vehicle transport system, a vehicle transport method, and a storage medium. Background Technology

[0002] Japanese Patent Application Publication No. 2018-204373 discloses the following: In parking lots that can accommodate autonomous vehicles and those that do not support autonomous vehicles, a self-propelled vehicle transport device will not support the transport of autonomous vehicles from the entrance / exit area to the parking lot. Summary of the Invention

[0003] In the future, as a vehicle transport service, we may consider providing services such as transporting disabled vehicles or other vehicles that are difficult to drive but have passengers to their destination using a vehicle transport device that can drive autonomously. During the provision of such a vehicle transport service, that is, during vehicle transport using a vehicle transport device, the vehicle occupants may feel uneasy if they are unable to operate or instruct the vehicle transport device from their own vehicle.

[0004] This invention was made in view of the problem that aims to suppress the discomfort felt by vehicle occupants during vehicle transport by a vehicle transport device.

[0005] To solve the above problems, a vehicle conveying system according to a certain technical solution of the present invention includes:

[0006] In-vehicle systems, which are installed in vehicles; and

[0007] A vehicle transport device is configured to communicate with an onboard system and to transport vehicles autonomously.

[0008] The vehicle conveying device consists of:

[0009] When moving the vehicle, a confirmation signal is sent to the onboard system to confirm whether there is a remote operation request; and

[0010] When a request signal for remote operation is received from the vehicle system, remote operation from inside the vehicle is permitted.

[0011] Furthermore, to address the aforementioned problems, a vehicle transport method according to a certain technical solution of the present invention is a vehicle transport method performed by a vehicle transport device. The vehicle transport device is configured to communicate with an onboard system mounted on the vehicle and to transport the vehicle autonomously. The vehicle transport method includes:

[0012] When moving the vehicle, a confirmation signal is sent to the onboard system to confirm whether there is a remote operation request; and

[0013] When a request signal for remote operation is received from the onboard system, remote operation from inside the vehicle is permitted.

[0014] Furthermore, to address the aforementioned problems, a certain technical solution of the present invention relates to a storage medium storing a computer program. This computer program controls a vehicle transport device configured to communicate with an onboard system mounted on a vehicle and capable of autonomously transporting vehicles. The computer program causes the vehicle transport device to perform the following processes:

[0015] When moving the vehicle, a confirmation signal is sent to the onboard system to confirm whether there is a remote operation request; and

[0016] When a request signal for remote operation is received from the onboard system, remote operation from inside the vehicle is permitted.

[0017] According to these technical solutions of the present invention, remote operation of the vehicle transport device is possible when transporting vehicles, thus suppressing the anxiety of vehicle occupants during vehicle transport. Attached Figure Description

[0018] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0019] Figure 1 This is a schematic diagram of a vehicle transport system according to one embodiment of the present invention;

[0020] Figure 2A This is a diagram illustrating an example of a vehicle transport service provided through a vehicle transport system;

[0021] Figure 2B This is a diagram illustrating another example of vehicle transport services provided through a vehicle transport system;

[0022] Figure 3 This is a schematic diagram of a server according to one embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of a vehicle system according to one embodiment of the present invention;

[0024] Figure 5 This is a schematic top view of a vehicle conveying device according to one embodiment of the present invention;

[0025] Figure 6A This is a schematic side view of the vehicle transport device with the flatbed trailer section not lifted.

[0026] Figure 6B This is a schematic side view of the vehicle transport device with the flatbed section raised.

[0027] Figure 7 This is a schematic diagram of the autonomous driving system mounted on the vehicle transport device.

[0028] Figure 8 This is an action timing diagram illustrating the vehicle transport process according to one embodiment of the present invention implemented in a server, vehicle system, and vehicle transport device. Detailed Implementation

[0029] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Furthermore, in the following description, the same reference numerals will be used to denote the same constituent elements.

[0030] Figure 1 This is a schematic diagram of a vehicle transport system 100 according to one embodiment of the present invention.

[0031] like Figure 1 As shown, the vehicle transport system 100 includes a server 1, vehicles 3 for each user utilizing the vehicle transport service, an onboard system 2 mounted on the vehicle 3, and a vehicle transport device 4 capable of autonomous movement. The details of the vehicle transport service provided through this vehicle transport system 100 will be explained in reference to... Figure 2A , Figure 2B The following will describe it.

[0032] Server 1, vehicle system 2, and vehicle transport device 4 can communicate with each other via a communication network 5 composed of optical communication lines, etc. Server 1 is connected to the communication network 5, for example, via a gateway (not shown). In addition, vehicle system 2 and vehicle transport device 4 are connected to the communication network 5, for example, via a wireless base station 6.

[0033] Figure 2A This is a diagram illustrating an example of a vehicle transport service provided by the vehicle transport system 100. Figure 2B This is a diagram illustrating another example of vehicle transport services provided by vehicle transport system 100.

[0034] like Figure 2A As shown, as a vehicle transport service, the vehicle transport system 100 automatically lifts (lifts up) the vehicle 3 carrying the service user via the vehicle transport device 4 based on a transport request from the service user (hereinafter referred to as "service user"). Then, as... Figure 2BAs shown, the vehicle transport system 100 provides a transport service to a destination. Such a vehicle transport service can be used, for example, to transport a service user's vehicle 3 that has broken down to a destination specified by the service user. Additionally, the vehicle transport system 100 can be used, for example, to transport service users' vehicles 3 that are stored in various facilities such as accommodation facilities, commercial facilities, public facilities, passenger facilities, and medical facilities to parking spaces within the facility's parking lot.

[0035] Here, when the occupants of vehicle 3 are unable to operate or instruct vehicle transport device 4 during the provision of such vehicle transport service, i.e. during vehicle transport by vehicle transport device 4, the occupants of vehicle 3 may feel uneasy.

[0036] Therefore, in this embodiment, it is possible to remotely operate the vehicle transport device 4 from the vehicle side during vehicle transport performed by the vehicle transport device 4. Hereinafter, refer to Figures 3-7 The composition of server 1, vehicle-mounted system 2, and vehicle conveying device 4 is described below. (Refer to...) Figure 8 An example of the vehicle transport process involved in this embodiment, implemented to provide vehicle transport services in server 1, vehicle system 2, and vehicle transport device 4, will be described.

[0037] Figure 3 This is a rough diagram of the structure of server 1.

[0038] Server 1 has a communication interface (communication I / F) 11, a storage device 12, and a processor 13.

[0039] Communication interface 11 has a function for connecting server 1 to communication network 5 (see reference). Figure 1 The interface circuit of the server 1. The server 1 communicates with the vehicle system 2 and the vehicle transport device 4 respectively through the communication interface 11 and the communication network 5.

[0040] Storage device 12 includes storage media such as hard disk drive (HDD), solid state drive (SSD), optical recording media, and semiconductor memory. Storage device 12 stores various computer programs executed by processor 13. Additionally, storage device 12 stores various data used when executing computer programs.

[0041] In this embodiment, the storage device 12 stores, for example, the identification information of each vehicle system 2, the identification information and current location information of the vehicle 3 equipped with the vehicle system 2, and the identification information and current location information of each vehicle transport device 4, as data used when executing a computer program. The identification information of each vehicle system 2 can be, for example, a MAC address. The identification information of each vehicle 3 can be, for example, a vehicle number. The identification information of each vehicle transport device 4 can be, for example, a vehicle number and chassis number.

[0042] Processor 13 has one or more central processing units (CPUs) and their peripheral circuitry. The processor may also include other arithmetic circuitry such as logic units and numerical processing units. The processor executes various computer programs stored in storage device 12. For example, processor 13 performs processing associated with server 1 in vehicle transport processing.

[0043] Figure 4 This is a schematic diagram of the vehicle system 2.

[0044] The vehicle system 2 includes a user interface 21, a wireless communication device 22, a position measuring device 23, an operation information acquisition device 24, and a remote control device 25. The user interface 21, the wireless communication device 22, the position measuring device 23, and the operation information acquisition device 24 are connected to the remote control device 25 via a vehicle network 26 that conforms to standards such as CAN.

[0045] User interface 21 is, for example, a human-machine interface (HMI) capable of inputting and outputting information, pre-installed on a terminal (vehicle terminal) in vehicle 3. User interface 21 generates signals corresponding to various input operations of the user (service user). User interface 21 sends these signals to remote control device 25. In addition, user interface 21 displays various information received from remote control device 25. Service user can make requests for vehicle 3 transport from server 1, remote operation requests for vehicle transport device 4, etc., via user interface 21.

[0046] Furthermore, the user interface 21 can also be a portable terminal held by a service user, such as a mobile phone or tablet computer. In this case, communication between the user interface 21 and other devices in the vehicle system 2 can be conducted wirelessly.

[0047] The wireless communication device 22 includes, for example, an antenna and signal processing circuitry, which performs various wireless communication-related processes such as modulation and demodulation of wireless signals. The wireless communication device 22 connects to a communication network 5 (see reference 5) via a gateway (not shown) or similar means. Figure 1 The wireless base station 6 connected (refer to) Figure 1 Access is made via wireless base station 6 to connect to communication network 5.

[0048] The position determining device 23 includes, for example, a receiver for receiving signals from a Global Navigation Satellite System (GNSS) and a calculation circuit for calculating the position of the vehicle 3 from the GNSS signals. The position determining device 23 determines the position of the vehicle 3 based on the GNSS signals, and whenever the position of the vehicle 3 is determined, it transmits the position to the remote control device 25.

[0049] The operation quantity information acquisition device 24 acquires the operation quantities of various driving operations related to the acceleration, steering, and braking of the vehicle 3, and sends the acquired driving operation quantities to the remote control device 25. The operation quantity for driving operations related to acceleration is, for example, the amount of time the accelerator pedal is depressed. The operation quantity for driving operations related to steering is, for example, the steering wheel angle. The operation quantity for driving operations related to braking is, for example, the amount of time the brake pedal is depressed.

[0050] The remote control device 25 includes a communication interface 251, a storage device 252, and a processor 253.

[0051] The communication interface 251 has an interface circuit for connecting the remote control device 25 to the vehicle network 26.

[0052] Storage device 252 may include, for example, storage media such as HDD, SSD, optical recording media, semiconductor memory, etc. Storage device 252 stores various computer programs and various data that are executed on processor 253.

[0053] Processor 253 has one or more CPUs and their peripheral circuitry. Processor 253 may also include other arithmetic circuits such as logic units and numerical arithmetic units. Processor 253 executes various computer programs stored in storage device 252. For example, processor 253 performs processing associated with vehicle system 2 in vehicle transport processing.

[0054] Next, refer to Figures 5-7 A detailed description of the vehicle conveying device 4 is provided.

[0055] Figure 5 This is a schematic top view of the vehicle conveying device 4. Figure 6AThis is a schematic side view of the vehicle transport device 4 with the flatbed section 42 not raised (hereinafter referred to as "unraised state"). Figure 6B This is a schematic side view of the vehicle transport device 4 with the flatbed section 42 of the vehicle transport device 4 raised (hereinafter referred to as "raised state").

[0056] like Figures 5-6B As shown, the vehicle transport device 4 includes a self-propelled traction unit 41 and a flatbed unit 42 that is towed by the traction unit and supports the vehicle 3.

[0057] The traction unit 41 is equipped with an autonomous driving system 50, which automatically performs driving operations related to acceleration, steering, and braking, as well as transporting the vehicle 3. Details regarding the autonomous driving system 50 will be provided in [reference needed]. Figure 7 The following will describe it.

[0058] The flatbed section 42 is raised and lowered relative to the traction section 41 in the vertical direction by a lifting actuator (not shown). The flatbed section 42 can be switched between a non-raised state and a raised state. The type and structure of the lifting actuator are not particularly limited; for example, it can be an electric, hydraulic, or pneumatic linear actuator.

[0059] Furthermore, the flatbed section 42 includes a first flatbed section 42A on the traction section 41 side and a second flatbed section 42B configured to extend and retract relative to the first flatbed section 42A in the longitudinal direction of the flatbed section 42 via a telescopic actuator (not shown). The first flatbed section 42A is provided with a first wheel support arm 43 supporting one of the front and rear wheels of the vehicle 3, and the second flatbed section 42B is provided with a second wheel support arm 44 supporting the other of the front and rear wheels of the vehicle.

[0060] The first wheel support arm 43 includes a fixed arm 431 extending in the left-right direction of the flatbed section 42. The first wheel support arm 43 also includes a movable arm 432, which can be rotated by a rotary actuator (not shown). Figure 5 The wheel supports 44 can rotate between the stowed position (represented by a solid line) and the unfolded position (represented by a dashed line). The second wheel support arm 44 includes a pair of movable arms 441 and 442, which can be rotated via a rotary actuator (not shown). Figure 5 The device rotates between the storage position indicated by the solid line and the unfolding position indicated by the dashed line.

[0061] When the flatbed section 42 lifts the vehicle 3, it is positioned so that, in its non-lifted state, it is inserted into the space between the bottom surface of the vehicle 3 and the ground from either the front or rear side. Furthermore, after extending or retracting the second flatbed section 42B according to the wheelbase of the vehicle 3, the movable arms 432, 441, and 442 of the first wheel support arm 43 and the second wheel support arm 44 are rotated to reach the extended position, thereby clamping the front and rear wheels of the vehicle 3 respectively. Then, the flatbed section 42 is switched to the lifted state to support the vehicle 3.

[0062] Figure 7 This is a schematic diagram of the autonomous driving system 50 mounted on the vehicle transport device 4.

[0063] The autonomous driving system 50 includes a surrounding information acquisition device 51, a vehicle information acquisition device 52, various actuators 53, a wireless communication device 54, and a driving control device 55. The surrounding information acquisition device 51, the vehicle information acquisition device 52, the various actuators 53, and the wireless communication device 54 are connected to the driving control device 55 via a network 56 within the vehicle transport device 4 that conforms to standards such as CAN.

[0064] The surrounding information acquisition device 51 is used to acquire data on objects surrounding the vehicle transport device 4 as surrounding information of the vehicle transport device 4. Objects surrounding the vehicle transport device 4 include, for example, vehicles, pedestrians, roads, buildings, and other obstacles around the transported vehicle. Examples of devices that can be used for the surrounding information acquisition device 51 include cameras that capture images of objects surrounding the vehicle transport device, distance sensors such as LiDAR (Light Detection and Ranging) sensors and millimeter-wave radar sensors that measure the distance to objects surrounding the vehicle transport device. The surrounding information acquisition device 51 is not limited to these and may consist of multiple devices such as cameras and distance sensors. The surrounding information of the vehicle transport device 4 acquired by the surrounding information acquisition device 51 is sent to the driving control device 55.

[0065] The self-vehicle information acquisition device 52 is used to acquire various data related to the state of the vehicle transport device 4 as its own vehicle information. The self-vehicle information acquisition device 52 according to this embodiment includes various sensors for detecting the speed, posture, etc., of the vehicle transport device 4; various sensors for detecting the state of the flatbed section 42; and a GNSS receiver for detecting the current position of the vehicle transport device 4. The state of the flatbed section 42 refers to its lifting state, the position of each wheel support arm 43, 44, etc. The self-vehicle information of the vehicle transport device 4 acquired by the self-vehicle information acquisition device 52 is transmitted to the driving control device 55.

[0066] Various actuators 53 are actuators whose operation is controlled by the driving control device 55. Various actuators 53 include, for example, drive actuators that generate power for driving the traction unit 41 such as an engine or motor, steering actuators that control the direction of travel of the traction unit 41, brake actuators that brake the traction unit 41, the aforementioned lifting actuators that control the lifting of the flatbed section 42, and the aforementioned telescopic actuators that control the extension and retraction of the flatbed section 42.

[0067] The wireless communication device 54 includes, for example, an antenna and signal processing circuitry, which performs various wireless communication-related processes such as modulation and demodulation of wireless signals. The wireless communication device 54 connects to a communication network 5 (see reference 5) via a gateway (not shown) or similar means. Figure 1 The wireless base station 6 connected (refer to) Figure 1 The vehicle transport device 4 accesses the network via the wireless base station 6, thereby connecting to the communication network 5. This allows communication between the vehicle transport device 4, the server 1, and the vehicle-mounted system 2.

[0068] The driving control unit 55 includes a communication interface 551, a storage device 552, and a processor 553.

[0069] The communication interface 551 has an interface circuit for connecting the driving control device 55 to the network 56 within the vehicle transport device 4. That is, the interface 71 connects to the surrounding information acquisition device 51 and the like via the network 56 within the vehicle transport device 4.

[0070] Storage device 552 includes storage media such as HDD, SSD, optical recording media, and semiconductor memory. The storage device stores various computer programs executed by processor 553. Additionally, storage device 552 stores various data used when executing computer programs. Furthermore, storage device 552 stores detailed map information of the area used by vehicle transport device 4.

[0071] The processor 553 has one or more central processing units (CPUs) and their peripheral circuitry. The processor 553 may also include other arithmetic circuits such as logic units and numerical processing units. The processor 553 executes various computer programs stored in the storage device 552, comprehensively controlling the overall operation of the vehicle transport device 4. For example, the processor 553 controls various actuators 53 based on surrounding information, its own vehicle information, and map information. Thus, the driving operation of the vehicle transport device 4 and the transport operation of the vehicle 3 are performed automatically. Furthermore, the processor 553 performs, for example, processing related to the vehicle transport device 4 during vehicle transport processing.

[0072] Figure 8 This is an action timing diagram that describes the content of the vehicle transfer processing (computer program) involved in this embodiment, which is implemented in server 1, vehicle system 2, and vehicle transfer device 4.

[0073] In step S101, when the remote control device 25 of the vehicle system 2 sends a notification to the server 1 to generate a transfer request signal for the vehicle 3 when the service user makes a transfer request for the vehicle 3 via the user interface 21, the remote control device 25 of the vehicle system 2 sends a notification to the server 1 to generate a transfer request signal for the vehicle 3.

[0074] The transport request signal may include, for example, the identification information of the vehicle system 2 that is the source of the signal, the identification information of the vehicle 3 equipped with the vehicle system 2, that is, the vehicle 3 that is the transport target (hereinafter referred to as "transport target vehicle 3"), and its current location information.

[0075] In step S102, when server 1 receives a transport request signal, it determines which vehicle transport device 4 to perform the transport, based on, for example, the current location information of the vehicle to be transported, vehicle 3, the current location information of the vehicle transport device 4, and its usage status. Server 1 sends a vehicle transport signal to the determined vehicle transport device 4. The vehicle transport signal includes, for example, the identification information of the vehicle system 2, the identification information of the vehicle to be transported, and its current location information. Furthermore, the vehicle transport device 4 is configured to periodically send its own current location information and usage status to server 1.

[0076] In step S103, when the driving control device 55 of the vehicle conveying device 4 receives the vehicle conveying signal, it moves the vehicle conveying device 4 to the vehicle conveying target vehicle 3 by autonomous driving based on the current location information of the vehicle being conveyed.

[0077] In step S104, the driving control device 55 of the vehicle transport device 4 sends a remote operation permission signal to the vehicle system 2 at a predetermined time, such as when it arrives next to the transport vehicle 3 and completes the lifting operation of the transport vehicle 3. Furthermore, the timing for sending the remote operation permission signal is not limited to the aforementioned timing. The timing for sending the remote operation permission signal can be appropriately determined by, for example, a timing considered appropriate, such as the time when the transport vehicle 3 is arrived next to it and confirmed by the surrounding information acquisition device 51.

[0078] In step S105, when the remote control device 25 of the vehicle system 2 receives a remote operation permission signal, it notifies the service user via the user interface 21 that remote operation of the vehicle transport device 4 can be performed from the vehicle side. Simultaneously, the remote control device 25 enables the service user to send a request signal for remote operation to the vehicle transport device 4 via the user interface 21.

[0079] In step S106, when a service user inputs an operation request for the vehicle transport device 4 from the vehicle side via the user interface 21, the remote control device 25 of the vehicle system 2 sends a remote operation request signal to the vehicle transport device 4, which becomes the source of the remote operation permission signal.

[0080] In step 107, when the driving control device 55 of the vehicle transport device 4 receives a remote operation request signal, it allows remote operation from the transported vehicle 3 and switches to remote operation mode. The remote operation mode is acquired by the operation quantity information acquisition device 24 of the vehicle system 2. The remote operation mode is a mode in which the operation quantities of various driving operations related to acceleration, steering, and braking performed in the vehicle 3, transmitted from the wireless communication device 22 of the vehicle system 2, are reflected in the driving operation of the device itself to drive.

[0081] Furthermore, in this embodiment, the amounts of various driving operations related to acceleration, steering, and braking performed within the vehicle 3 are reflected in the driving operations of the vehicle transport device 4. However, it is not necessary to reflect the amounts of all driving operations; one or two of these operations may be selectively reflected.

[0082] Furthermore, if the driving control device 55 of the vehicle transport device 4 does not receive a remote operation request signal after a predetermined time has elapsed since it sent a remote operation permission signal, it considers that there is no remote operation request and initiates autonomous driving.

[0083] In step S108, the driving control device 55 of the vehicle transport device 4 sends a switching signal to the vehicle system 2 to notify the service user that the mode has been changed to remote operation.

[0084] In step S109, when the remote control device 25 of the vehicle system 2 receives the change signal, it notifies the service user via the user interface 21 that the remote operation preparation for the vehicle transport device 4 is complete. Simultaneously, the remote control device 25 begins sending the operation quantities of each driving operation obtained by the operation quantity information acquisition device 24 to the vehicle transport device 4. Thus, the operation quantities of each driving operation related to acceleration, steering, and braking performed within the vehicle 3 being transported by the vehicle transport device 4 are reflected in the driving operation of the vehicle transport device 4, thereby enabling remote operation of the vehicle transport device 4 from within the vehicle 3.

[0085] The vehicle transport system 100 described above, according to this embodiment, includes an onboard system 2 mounted on a vehicle 3 and a vehicle transport device 4. The vehicle transport device 4 is configured to communicate with the onboard system 2 and transport the vehicle 3 autonomously. Furthermore, the vehicle transport device 4 is configured to send a remote operation permission signal (confirmation signal) to the onboard system 2 to confirm whether there is a remote operation request, and to allow remote operation from inside the vehicle 3 when it receives a remote operation request signal (request signal) from the onboard system 2.

[0086] Therefore, the vehicle transport device 4 can be remotely operated while the vehicle 3 is being transported, thus suppressing any anxiety felt by the occupants of the vehicle 3 during the transport of the vehicle 3.

[0087] Furthermore, the vehicle transport device 4 is configured such that, when remote operation is permitted, driving operations performed within the vehicle 3 related to at least one of acceleration, steering, and braking are reflected in the device's own driving operations. More specifically, the on-board system 2 is configured to send operation quantities related to the driving operations performed within the vehicle 3 to the vehicle transport device 4. The vehicle transport device 4 is configured to perform driving operations based on the operation quantities received from the on-board system 2.

[0088] Therefore, the amount of operation related to acceleration, steering, and braking performed inside the vehicle 3 being transported by the vehicle transporter 4 can be reflected in the driving operation of the vehicle transporter 4, allowing remote operation of the vehicle transporter 4 from inside the vehicle 3. Furthermore, since the amount of operation related to acceleration, steering, and braking performed inside the vehicle 3 is reflected in this way, remote driving operation of the vehicle transporter 4 can be easily implemented.

[0089] Furthermore, the vehicle-mounted system 2 according to this embodiment includes a user interface 21 (terminal) capable of inputting and outputting information, a wireless communication device 22 (communication device) for communicating with the vehicle transport device 4, and a remote control device 25 (control device). The remote control device 25 is configured to output information on the user interface 21 to confirm the presence or absence of a remote operation request from the vehicle transport device 4 when a remote operation permission signal (confirmation signal) is received via the wireless communication device 22.

[0090] In addition, the vehicle system 2 also includes an operation quantity information acquisition device 24, which acquires operation quantities related to at least one driving operation, such as acceleration, steering, and braking, performed within the vehicle 3. The remote control device 25 is configured to send the operation quantities related to the driving operation acquired by the operation quantity information acquisition device 24 to the vehicle transport device 4 when information requesting remote operation of the vehicle transport device 4 is input via the user interface 21.

[0091] The embodiments of the present invention have been described above. However, the above embodiments are merely examples of applications of the present invention and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

[0092] For example, in the above embodiments, the information transmission and reception between the vehicle system 2 and the vehicle transport device 4 is directly implemented for the remote operation permission signal, the remote operation request signal, and the operation amount of each driving operation, but it can also be implemented indirectly through the server 1.

[0093] Furthermore, in the above embodiment, the operation quantities of various driving operations related to acceleration, steering, and braking performed within the vehicle 3 can generally be set as the operation quantities when the accelerator pedal, steering wheel, brake pedal, etc., of the vehicle 3 are actually operated. However, the operation quantities of various driving operations related to acceleration, steering, and braking performed within the vehicle 3 are not limited to this; for example, they can also be set as operation quantities that can be input through the user interface 21. In this case, the user interface 21 functions as an operation quantity information acquisition device 24.

[0094] Furthermore, in the above embodiments, the computer programs executed in the server 1, the remote control device 25 of the vehicle system, and the driving control device 55 of the vehicle transport device 4 may also be provided in the form of a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

Claims

1. A vehicle transport system, comprising: In-vehicle systems, which are installed in vehicles; and A vehicle transport device is configured to communicate with the onboard system and to transport the vehicle autonomously. The vehicle conveying device is configured as follows: When moving the vehicle, a confirmation signal is sent to the vehicle system to confirm whether there is a remote operation request. When a request signal for remote operation is received from the vehicle system, remote operation from within the vehicle is permitted. and When the remote operation is permitted, driving operations performed within the vehicle relating to at least one of acceleration, steering, and braking are reflected in the driving operations of the vehicle transport device.

2. The vehicle conveying system according to claim 1, The vehicle-mounted system is configured to send the operation data of the driving operation performed inside the vehicle to the vehicle transport device. The vehicle transport device performs the driving operation based on the operation data received from the on-board system.

3. The vehicle conveying system according to claim 1 or 2, The vehicle-mounted system includes: A terminal, which is capable of inputting and outputting information; A communication device that communicates with the vehicle conveying device; and Control device, The control device is configured to, when receiving the confirmation signal via the communication device, output information to the terminal to confirm whether there is a remote operation request for the vehicle transport device.

4. The vehicle conveying system according to claim 3, The vehicle system also includes a means of acquiring operation quantity information related to at least one driving operation performed within the vehicle, including acceleration, steering, and braking. The control device is configured such that when information indicating a request for remote operation of the vehicle transport device is input via the terminal, it begins to send operation quantities related to driving operation obtained through the operation quantity information acquisition device to the vehicle transport device.

5. A vehicle transport method, which is a vehicle transport method performed by a vehicle transport device, the vehicle transport device being configured to communicate with an on-board system mounted on the vehicle and to transport the vehicle autonomously, the vehicle transport method comprising: When moving the vehicle, a confirmation signal is sent to the vehicle system to confirm whether there is a remote operation request. When a request signal for remote operation is received from the vehicle system, remote operation from within the vehicle is permitted. and When the remote operation is permitted, driving operations performed within the vehicle relating to at least one of acceleration, steering, and braking are reflected in the driving operations of the vehicle transport device.

6. A storage medium storing a computer program for controlling a vehicle transport device configured to communicate with an onboard system mounted on a vehicle and capable of transporting the vehicle autonomously, the computer program causing the vehicle transport device to perform processes including: When moving the vehicle, a confirmation signal is sent to the vehicle system to confirm whether there is a remote operation request. When a request signal for remote operation is received from the in-vehicle system, remote operation from within the vehicle is permitted; and When the remote operation is permitted, driving operations performed within the vehicle relating to at least one of acceleration, steering, and braking are reflected in the driving operations of the vehicle transport device.

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