Remote assistance device

Abstract

Provided is a remote assistance device for remotely assisting the travel of a vehicle, the remote assistance device being capable of allowing a remote driver to grasp the future movement of the vehicle during the turning of the vehicle. A remote assistance device (11) is provided with a remote assistance control device (91) capable of wirelessly communicating with a vehicle (100), and remotely assists the travel of the vehicle. The remote assistance control device acquires, by wireless communication, an image in the direction of travel of the vehicle acquired by an imaging device (126) of the vehicle, displays the image on a display device (114) of the remote assistance device, and displays, on the image displayed on the display device, a rear inner wheel line that is a line predicted to be a line through which rear inner wheels of the vehicle pass during turning of the vehicle.

Description

Technical Field

[0001] The invention relates to a remote assistance device. Background Art

[0002] A remote assistance device that remotely supports the driving of a vehicle is known. As such a remote assistance device, a remote assistance device that displays the vehicle's route on a display of the remote assistance device and provides information related to the vehicle's route to an operator (remote driver) who remotely drives the vehicle using the remote assistance device is also known (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2022-174921 Summary of the invention

[0006] If the remote driver can understand the future behavior of the vehicle while the vehicle is turning, the remote driver can easily provide assistance using the remote assistance device.

[0007] An object of the present invention is to provide a remote assistance device for remotely assisting the driving of a vehicle, wherein the remote assistance device can allow a remote driver to understand the future behavior of the vehicle while the vehicle is turning.

[0008] The remote assistance device according to the present invention includes a remote assistance control device capable of wirelessly communicating with a vehicle, and remotely assists the driving of the vehicle. The remote assistance control device is configured to obtain an image of the vehicle's traveling direction obtained by a camera of the vehicle through wireless communication and display the image on a display device of the remote assistance device, and display a rear inner wheel line on the image displayed on the display device during the turning of the vehicle, wherein the rear inner wheel line is a line predicted to be a passing line of the rear inner wheel of the vehicle (a line through which the rear inner wheel passes).

[0009] According to the remote assistance device of the present invention, the rear inner wheel line is displayed in the image of the vehicle's traveling direction during the vehicle's turning. Therefore, the operator (remote driver) who operates the remote assistance device to remotely assist the vehicle's driving can understand the future movement of the vehicle.

[0010] In addition, in the remote assistance device involved in the present invention, the remote assistance control device can be configured to display the rear inner wheel line at a position in the image that is predicted to be the passing position of the rear inner wheel of the vehicle (the position where the rear inner wheel passes), and predict the rear inner wheel line to a distant location when the steering angle is a second steering angle larger than the first steering angle, compared to when the steering angle of the vehicle is a first steering angle.

[0011] According to the remote assistance device of the present invention, when the steering angle of the vehicle is large, the rear inner wheel line is predicted up to a distant point. Therefore, even if the steering angle of the vehicle is large, the rear inner wheel line can be displayed on the image.

[0012] Furthermore, in the remote assistance device according to the present invention, the remote assistance control device may be configured to display the rear inner wheel line on the image when the steering angle of the vehicle is equal to or greater than a predetermined display steering angle.

[0013] According to the remote assistance device of the present invention, when the steering angle of the vehicle is large, the rear inner wheel line is displayed. Therefore, the rear inner wheel line can be displayed according to the necessity of displaying the rear inner wheel line on the image.

[0014] Furthermore, in the remote assistance device according to the present invention, the remote assistance control device may be configured to display the rear inner wheel line on the image when the running speed of the vehicle is equal to or lower than a predetermined display speed.

[0015] According to the remote assistance device of the present invention, the rear inner wheel line is displayed when the vehicle is traveling at a low speed. Therefore, the rear inner wheel line can be displayed according to the necessity of displaying the rear inner wheel line on the image.

[0016] In addition, in the remote assistance device according to the present invention, the remote assistance control device can be configured to display the rear inner wheel line on the image when the rear inner wheel line intersects with an object in the image when the rear inner wheel line is set to be displayed on the image.

[0017] According to the remote assistance device according to the present invention, it is possible for a user of the remote assistance device to understand whether the vehicle has come into contact with an object in the traveling direction.

[0018] The components of the present invention are not limited to the embodiments of the present invention described later with reference to the drawings. Other objects, other features and additional advantages of the present invention will be easily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a diagram showing a remote assistance system including a remote assistance device according to an embodiment of the present invention.

[0020] Figure 2 This is a flowchart showing a routine executed by the remote assistance device according to the embodiment of the present invention.

[0021] Figure 3 It is a diagram showing a display of the remote assistance device according to the embodiment of the present invention.

[0022] Description of symbols

[0023] 10…remote driving system, 11…remote driving device, 12…vehicle control device, 91…remote driving ECU, 92…vehicle control ECU, 100…vehicle, 110…remote driving transceiver, 114…display, 120…vehicle control transceiver, 126…camera DETAILED DESCRIPTION

[0024] In the embodiment of the present invention, remote driving, which is a type of remote assistance, is cited as an example for explanation. Remote driving refers to remote assistance that remotely assists a vehicle, in which at least a portion of a DDT (Dynamic Driving Task) is performed by a person located at a remote location of the vehicle. In addition, the person located at the remote location is referred to as a remote driver.

[0025] Hereinafter, a remote driving system including a remote assistance device or a remote driving device according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 2 shows a remote driving system 10. The remote driving system 10 includes a remote driving device 11 and a vehicle 100. The vehicle 100 is equipped with a vehicle control device 12.

[0026] The remote driving device 11 is a device provided outside the vehicle 100, and as described later, is used to remotely assist the driving of the vehicle 100. In particular, in this example, the remote driving device 11 is used to remotely drive the vehicle 100.

[0027] like Figure 1 As shown, the remote driving device 11 includes an ECU (remote driving ECU 91 ) as a control device. Similarly, the vehicle control device 12 also includes an ECU (vehicle control ECU 92 ) as a control device.

[0028] The remote driving ECU 91 and the vehicle control ECU 92 have a microcomputer as a main part. The microcomputer includes a storage medium such as a CPU, a ROM, a RAM, and a non-volatile memory, and an interface, etc. The CPU implements various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the remote driving device 11 stores the programs for implementing the various controls performed by the remote driving device 11 in the storage medium, and the vehicle control device 12 also stores the programs for implementing the various controls performed by the vehicle control device 12 in the storage medium.

[0029] Furthermore, the remote driving device 11 and the vehicle control device 12 may be configured to be able to update (upgrade) the program stored in the storage medium through wireless communication (for example, Internet communication) with an external device.

[0030] The remote driving device 11 is equipped with a transceiver (remote driving transceiver 110) as a transceiver. In addition, the vehicle 100 is equipped with a transceiver (vehicle control transceiver 120) as a transceiver. The remote driving transceiver 110 is electrically connected to the remote driving ECU 91. In addition, the vehicle control transceiver 120 is electrically connected to the vehicle control ECU 92. The remote driving device 11 and the vehicle control device 12 can send and receive signals (information) to each other via the remote driving transceiver 110 and the vehicle control transceiver 120. That is, the remote driving device 11 can communicate wirelessly with the vehicle 100.

[0031] In particular, the remote driving device 11 and the vehicle control device 12 are devices for performing remote driving (remote assistance) of the vehicle 100, and the vehicle control device 12 sends various information such as the identification information of the vehicle 100 (so-called ID), the time of sending information, the position of the vehicle 100, the driving speed, acceleration and travel direction, the direction indicator signal and siren information, the fuel level and / or the battery charge level, the abnormal information of the vehicle 100, and the tire friction and / or road friction to the remote driving device 11 as information used by the remote driving device 11 for remote driving of the vehicle 100.

[0032] In addition, the vehicle 100 is equipped with a travel device 121. The travel device 121 is a device for driving the vehicle 100, and in this example, includes a drive device, a brake device, and a steering device. The drive device is a device that applies a driving force to the vehicle 100. The brake device is a device that applies a braking force to the vehicle 100. The steering device is a device that applies a steering force to the vehicle 100.

[0033] Furthermore, the vehicle 100 is equipped with a steering angle sensor 122 , a yaw rate sensor 123 , a lateral acceleration sensor 124 , a vehicle speed detection device 125 , and a camera 126 as an imaging device.

[0034] The steering angle sensor 122, the yaw rate sensor 123, the lateral acceleration sensor 124, the vehicle speed detection device 125, and the camera 126 are electrically connected to the vehicle control ECU 92. The vehicle control device 12 obtains the steering angle of the vehicle 100 as the steering angle δ through the steering angle sensor 122, obtains the yaw rate of the vehicle 100 as the yaw rate YR through the yaw rate sensor 123, obtains the lateral acceleration of the vehicle 100 as the lateral acceleration Gy through the lateral acceleration sensor 124, obtains the running speed of the vehicle 100 as the vehicle speed V through the vehicle speed detection device 125, and obtains the image of the surroundings of the vehicle 100 as the camera image through the camera 126.

[0035] The vehicle control device 12 transmits the acquired information of the steering angle δ, the yaw rate YR, the lateral acceleration Gy, the vehicle speed V, and the camera image to the outside of the vehicle 100 via the vehicle control transceiver 120. The information transmitted from the vehicle control device 12 is acquired by the remote driving ECU 91 via the remote driving transceiver 110.

[0036] The remote control device 11 is equipped with an acceleration operator 111 , a deceleration operator 112 , a steering operator 113 , and a display 114 as a display device.

[0037] The accelerator operator 111 , the decelerator operator 112 , the steering operator 113 , and the display 114 are electrically connected to the remote driving ECU 91 .

[0038] The accelerator operator 111 is a device operated by the remote driver to apply driving force to the vehicle 100. When the accelerator operator 111 is operated, the remote driving device 11 transmits information related to the operation of the accelerator operator 111 (acceleration operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 obtains the acceleration operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120, and controls the operation of the travel device 121 based on the acceleration operation information to apply driving force to the vehicle 100.

[0039] The remote driver is a person who remotely assists the driving of the vehicle 100 using the remote driving device 11 , and in this example, is a person who remotely drives the vehicle 100 using the remote driving device 11 .

[0040] The deceleration operator 112 is a device operated by the remote driver to apply braking force to the vehicle 100. When the deceleration operator 112 is operated, the remote driving device 11 transmits information related to the operation of the deceleration operator 112 (deceleration operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 obtains the deceleration operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120, controls the operation of the driving device 121 based on the deceleration operation information, and applies braking force to the vehicle 100.

[0041] The steering operator 113 is a device operated by the remote driver to apply a steering force to the vehicle 100. When the steering operator 113 is operated, the remote driving device 11 transmits information related to the operation of the steering operator 113 (steering operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 obtains the steering operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120, controls the operation of the driving device 121 based on the steering operation information, and applies a steering force to the vehicle 100.

[0042] The display 114 is a device for displaying images. The remote driving device 11 can display various images on the display 114. In particular, the remote driving device 11 displays a camera image of the traveling direction of the vehicle 100 acquired from the vehicle control device 12 via wireless communication on the display 114.

[0043] In addition, the display 114 may include only a display for displaying a camera image of the direction of travel of the vehicle 100, or may also include a left monitor for displaying an image of the left side of the vehicle 100 and an image of the scenery reflected in the left exterior rearview mirror (side mirror) of the vehicle 100, and a right monitor for displaying an image of the right side of the vehicle 100 and an image of the scenery reflected in the right exterior rearview mirror of the vehicle 100.

[0044] <How the remote driving system works>

[0045] Next, the operation of the remote driving system 10 will be described. The remote driving system 10 is a system in which the remote driver operates the acceleration operator 111 , the deceleration operator 112 , and the steering operator 113 of the remote driving device 11 to remotely drive the vehicle 100 .

[0046] Therefore, as described above, when the remote driver operates the acceleration operator 111, the deceleration operator 112 and the steering operator 113, the remote driving device 11 sends the acceleration operation information, the deceleration operation information and the steering operation information to the vehicle 100, and the vehicle control device 12 controls the operation of the driving device 121 based on these acceleration operation information, deceleration operation information and steering operation information to make the vehicle 100 drive.

[0047] In addition, the remote driving device 11 executes the Figure 2 The illustrated routine displays the rear inner wheel line Lin, the bumper line Lbp, and the set steering angle line Lset as auxiliary lines on the display 114 when predetermined conditions are met.

[0048] That is, the remote driving device 11 starts from Figure 2 The routine shown starts processing at step S200, and the process proceeds to step S205 to determine whether the vehicle 100 is turning. The remote driving device 11 determines whether the vehicle 100 is turning based on the steering angle δ, the yaw rate YR, the lateral acceleration Gy, and the like.

[0049] When the remote driving device 11 makes a “YES” determination in step S205 , the remote driving device 11 proceeds to step S210 to obtain the rear inner wheel line Lin and the bumper line Lbp through calculation.

[0050] The rear inner wheel line Lin is a line predicted to be a line that the rear wheel on the inner side of the turn among the left and right rear wheels of the vehicle 100 will pass through in the future. In addition, the remote control device 11 may be configured to obtain, by calculation, a line that is predicted to be a line that the left or right part of the vehicle 100 on the inner side of the turn and passes through the innermost part of the turn in the future, instead of the rear inner wheel line Lin.

[0051] The bumper line Lbp is a line (bumper left end line Lbp_L) predicted as a line through which the left end of the front bumper of the vehicle 100 will pass in the future, and a line (bumper right end line Lbp_R) predicted as a line through which the right end of the front bumper of the vehicle 100 will pass in the future.

[0052] Furthermore, the remote control device 11 calculates the rear inner wheel line Lin and the bumper line Lbp based on the steering angle δ, the yaw rate YR, the lateral acceleration Gy, and the like.

[0053] In addition, although the remote control device 11 can also calculate the rear inner wheel line Lin of a certain length regardless of the steering angle δ, in this example, the rear inner wheel line Lin of a different length according to the steering angle δ is calculated. Specifically, the remote control device 11 calculates the rear inner wheel line Lin in a manner that the length becomes longer as the steering angle δ increases. That is, the remote control device 11 is configured to predict the rear inner wheel line Lin to a farthest point when the steering angle δ is the second steering angle greater than the first steering angle, compared to when the steering angle δ of the vehicle 100 is the first steering angle.

[0054] Furthermore, as the rear inner wheel line Lin, a line predicted to be the line that the left rear wheel will pass in the future when the vehicle 100 turns left, and a line predicted to be the line that the right rear wheel will pass in the future when the vehicle 100 turns right is calculated.

[0055] Next, the remote driving device 11 advances the process to step S215 to determine whether the display condition is satisfied.

[0056] The display condition is a condition for displaying the rear inner wheel line Lin, the bumper line Lbp and the set steering angle line Lset on the display 114. In this example, it is at least one of the vehicle speed condition, the steering angle condition and the intersection condition. The vehicle speed condition is a condition that the vehicle speed V is below a relatively small predetermined vehicle speed (predetermined display speed Vdp). The steering angle condition is a condition that the steering angle δ is above a relatively large predetermined steering angle (predetermined display steering angle δdp). The intersection condition is a condition that when the rear inner wheel line Lin and the bumper line Lbp are displayed on a camera image of the display 114, the rear inner wheel line Lin or the bumper line Lbp intersects an object in the camera image.

[0057] In addition, the camera image displayed on the display 114 is a camera image that reflects the direction of travel of the vehicle 100. The remote driving device 11 determines whether the rear inner wheel line Lin or the bumper line Lbp intersects with the object in the camera image displayed on the display 114 by performing image processing based on camera image information, information related to the rear inner wheel line Lin, and information related to the bumper line Lbp.

[0058] When the remote control device 11 makes a “YES” determination in step S215 , the process proceeds to step S220 , and acquires the set steering angle line Lset through calculation.

[0059] The set steering angle line Lset is a line predicted to be a line through which the outer side of the turning portion of the vehicle 100 passes when the vehicle 100 turns at a relatively large predetermined steering angle (set steering angle δset). In this example, it is particularly predicted to be a line through which the outer side of the turning portion of the vehicle 100 and the outermost portion will pass in the future when the vehicle 100 turns at the set steering angle δset.

[0060] The set steering angle δset can also be the maximum steering angle of the vehicle 100, but in this example, it is set to an angle within a predetermined range that is smaller than the maximum steering angle of the vehicle 100 based on at least one of the remote driver's operating proficiency, the camera image resolution, and the degree of communication delay.

[0061] Specifically, the lower the remote driver's operational proficiency, that is, the less experience the remote driver has in remotely driving the vehicle 100 using the remote driving device 11 , the smaller the set steering angle δset is set to.

[0062] In addition, the set steering angle δset is set to a smaller angle as the camera image resolution is lower, that is, the resolution of the camera image displayed on the display 114 is lower. In other words, the set steering angle δset is set to a smaller angle when the resolution of the camera image displayed on the display 114 is the first resolution than when the resolution of the camera image displayed on the display 114 is the second resolution that is larger than the first resolution.

[0063] In addition, the set steering angle δset is set to a smaller angle as the communication delay degree is greater, that is, the delay degree of the wireless communication performed between the remote driving ECU 91 and the vehicle control ECU 92 is greater. In other words, when the delay amount of the wireless communication with the vehicle 100 is a second delay amount greater than the first delay amount, the set steering angle δset is set to a smaller angle than when the delay amount of the wireless communication with the vehicle 100 is a first delay amount.

[0064] The upper limit of the steering angle δset may be set appropriately, for example, to an angle that takes into account design variations and manufacturing variations of the vehicle 100 (for example, an angle that is 90% of the maximum steering angle of the vehicle 100 ).

[0065] Furthermore, the remote driving device 11 calculates the set steering angle line Lset based on the turning radius ρ of the vehicle 100 when the vehicle 100 turns at the set steering angle δset.

[0066] For example, the turning radius ρ of the vehicle 100 when the vehicle 100 turns at the set steering angle δset can be obtained by calculation according to the following formula 1. In formula 1, "Kh" is the stability factor, "V" is the vehicle speed V, "L" is the wheelbase of the vehicle 100, and "δset" is the set steering angle δset.

[0067] ρ=(1+Kh×V 2 )×L / δset…(1)

[0068] Furthermore, when calculating and setting the steering angle line Lset, the vehicle speed V is a low speed close to zero, so the equation 1 can be approximated as in the following equation 2.

[0069] ρ=L / δset…(2)

[0070] Then, the remote driving device 11 obtains the turning radius ρ of the vehicle 100 when the vehicle 100 turns at the set steering angle δset by calculation according to Expression 2, and calculates the set steering angle line Lset based on the turning radius ρ.

[0071] In addition, as the set steering angle line Lset, both the line through which the right side portion of the vehicle 100 will pass in the future when the vehicle 100 turns left at the set steering angle δset and the line through which the left side portion of the vehicle 100 will pass in the future when the vehicle 100 turns right at the set steering angle δset can be obtained through calculation, or only the line through which the right side portion of the vehicle 100 will pass in the future when the vehicle 100 turns left can be obtained through calculation, and only the line through which the left side portion of the vehicle 100 will pass in the future when the vehicle 100 turns right can be obtained through calculation.

[0072] Next, the remote control device 11 advances the process to step S225 to set the visibility (attention) of the set steering angle line Lset.

[0073] In this example, the visibility of the set steering angle line Lset is determined based on at least one of the vehicle speed V, the steering angle δ, the operational proficiency of the remote driver, and whether the parking range line Lsp is displayed on the display 114. Specifically, the smaller the vehicle speed V, the higher the visibility of the set steering angle line Lset is set. In addition, the closer the steering angle δ is to the set steering angle δset within the range below the set steering angle δset, the higher the visibility of the set steering angle line Lset is set. In addition, the lower the operational proficiency of the remote driver, the higher the visibility of the set steering angle line Lset is set. In addition, the visibility of the set steering angle line Lset is set higher when the parking range line Lsp is not displayed on the display 114 than when it is displayed.

[0074] In this example, the vehicle control device 12 is configured to automatically stop the vehicle 100 when the wireless communication with the remote driving device 11 is interrupted, and the parking range line Lsp is a line indicating the position (predicted parking position) where the vehicle 100 automatically stops. Furthermore, the remote driving device 11 is configured to display the parking range line Lsp on the display 114. However, when the vehicle speed V is relatively high, the parking range line Lsp is located at a position relatively far from the vehicle 100, so the remote driving device 11 can display the parking range line Lsp on the display 114, but when the vehicle speed V is relatively low, the parking range line Lsp is located at a position relatively close to the vehicle 100, so the remote driving device 11 cannot display the parking range line Lsp on the display 114. For this reason, in this example, there are cases where the parking range line Lsp is displayed on the display 114 and cases where it is not displayed. Therefore, the remote driving device 11 is configured to display the set steering angle line Lset on the camera image displayed on the display 114 with higher visibility when the parking prediction position (parking range line Lsp) is not a position that can be displayed within the camera image displayed on the display 114, compared to when the parking prediction position (parking range line Lsp) is a position that can be displayed within the camera image displayed on the display 114.

[0075] Next, the remote driving device 11 causes the process to proceed to step S230. Figure 3 As shown, the rear inner wheel line Lin and the bumper line Lbp are displayed on the camera image displayed on the display 114, and the set steering angle line Lset is displayed on the camera image displayed on the display 114 with the visibility set in step S225.

[0076] In addition, when the rear inner wheel line Lin, the bumper line Lbp and the set steering angle line Lset are displayed on the camera image displayed on the display 114, the images of these rear inner wheel line Lin, the bumper line Lbp and the set steering angle line Lset can be displayed overlappingly on the camera image, or can be displayed after the data of the images of the rear inner wheel line Lin, the bumper line Lbp and the set steering angle line Lset are synthesized with the data of the camera image.

[0077] In addition, at this time, the remote driving device 11 displays the rear inner wheel line Lin at the position predicted to be the position where the rear inner wheel of the vehicle 100 passes, displays the bumper left end line Lbp_L at the position predicted to be the position where the left end of the front bumper of the vehicle 100 passes, displays the bumper right end line Lbp_R at the position predicted to be the position where the right end of the front bumper of the vehicle 100 passes, and displays the set steering angle line Lset at the position predicted to be the part on the outer side of the turn of the vehicle 100 and the part passing through the outermost part when the steering angle δ is the set steering angle δset.

[0078] In addition, at this time, when the display 114 includes a left monitor and a right monitor, the rear inner wheel line Lin, the bumper line Lbp or the set steering angle line Lset can also be displayed on the left monitor or the right monitor.

[0079] In addition, the remote control device 11 can also be configured to set the visibility of the rear inner wheel line Lin and / or the bumper line Lbp in the same way as setting the visibility of the steering angle line Lset, and display the rear inner wheel line Lin and / or the bumper line Lbp on the display 114 with the visibility set in this way.

[0080] In addition, the remote control device 11 may be configured to display the rear inner wheel line Lin on the camera image of the display 114 with high visibility when the rear inner wheel line Lin intersects an object in the camera image. Furthermore, in this case, the remote control device 11 may be configured to highlight the portion where the rear inner wheel line Lin intersects the object in the camera image by coloring the entire portion and / or flashing the portion.

[0081] In this example, the visibility of the set steering angle line Lset is changed by, for example, changing the concentration of the set steering angle line Lset, changing the color of the set steering angle line Lset, switching the line type between a solid line and a dashed line, and / or switching the line between continuous lighting and flashing.

[0082] In addition, Figure 3 In the figure, the label OBJ is the object in the camera image.

[0083] Next, the remote driving device 11 advances the processing to step S295 and temporarily ends the processing of this routine.

[0084] When the remote driving device 11 makes a “No” determination in step S205 or step S215 , the remote driving device 11 directly proceeds to step S295 and temporarily ends the processing of this routine.

[0085] The above is the operation of the remote driving system 10. In this way, the remote driving device 11 is equipped with a remote driving control device (remote driving ECU91) capable of wireless communication with the vehicle 100, and remotely assists the driving of the vehicle 100. In addition, the remote driving control device (remote driving ECU91) obtains the image (camera image) of the traveling direction of the vehicle 100 obtained by the camera device (camera 126) of the vehicle 100 through wireless communication and displays it on the display device (display 114) of the remote driving device 11. During the turning of the vehicle 100, the rear inner wheel line Lin is displayed on the camera image displayed on the display device (display 114). The rear inner wheel line Lin is a line predicted to be a line through which the rear inner wheel of the vehicle 100 passes.

[0086] Thus, during the turning of the vehicle 100, the rear inner wheel line Lin is displayed on the image (camera image) of the traveling direction of the vehicle 100. Therefore, the operator (remote driver) who operates the remote driving device 11 to remotely assist the driving of the vehicle 100 can understand the future movement of the vehicle 100.

[0087] In addition, the remote control device 11 displays the set steering angle line Lset on the image (camera image) displayed on the display device (display 114).

[0088] This allows the remote driver to understand the line (set steering angle line Lset) through which the outer portion of the vehicle 100 passes when the vehicle 100 is turned at the set steering angle δset.

[0089] In addition, the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0090] The present invention can be applied not only to remote driving, but also to the entire remote assistance including remote assistance and remote monitoring. In addition, remote assistance means that when the autonomous driving vehicle encounters a situation that it cannot cope with, a remote assistant located at a remote location of the autonomous driving vehicle provides information for continuing the autonomous driving. In addition, remote monitoring means that a person located at a remote location of the autonomous driving vehicle monitors at least part of the communication status, driving environment, vehicle status, autonomous driving system status, and passenger status of the autonomous driving vehicle.

Claims

1. A remote assistance device, comprising a remote assistance control device capable of wirelessly communicating with a vehicle, remotely assisting the driving of the vehicle, The remote assistance control device is composed of: An image of the vehicle's traveling direction acquired by a camera of the vehicle is acquired through wireless communication and displayed on a display device of the remote assistance device. During turning of the vehicle, a rear inner wheel line is displayed on the image displayed on the display device, the rear inner wheel line being a line predicted to be a passing line of the rear inner wheel of the vehicle.

2. The remote assistance device according to claim 1, The remote assistance control device is composed of: The rear inner wheel line is displayed at a position in the image that is predicted to be a passing position of the rear inner wheel of the vehicle, The rear inner wheel line is predicted to a point farther away when the steering angle is a second steering angle greater than the first steering angle than when the steering angle of the vehicle is the first steering angle.

3. The remote assistance device according to claim 1 or 2, The remote assistance control device is configured to display the rear inner wheel line on the image when the steering angle of the vehicle is equal to or greater than a predetermined display steering angle.

4. The remote assistance device according to claim 3, The remote assistance control device is configured to display the rear inner wheel line on the image when a traveling speed of the vehicle is equal to or lower than a predetermined display speed.

5. The remote assistance device according to claim 1 or 2, The remote assistance control device is configured to display the rear inner wheel line on the image when the rear inner wheel line intersects an object in the image when the rear inner wheel line is set to be displayed on the image.

Images