Remote driving system

Abstract

The invention provides a remote driving system capable of enabling an operator to focus on remote operation. A remote travel system (10) causes a vehicle (200) to travel by remote operation using an operation terminal (199). When a riding condition that an operator performing remote operation sits on a non-target vehicle (200N), which is a vehicle different from a target vehicle (200T) that is a vehicle that travels by the remote operation, is satisfied, the remote travel system performs a start-up suppression condition that the non-target vehicle is in a stopped and non-started state, if a start-up suppression condition that the non-target vehicle is in a stopped and non-started state is satisfied. A subject vehicle is allowed to travel through a remote operation.

Description

Technical Field

[0001] The invention relates to a remote driving system. Background Art

[0002] There is known a remote driving system in which a vehicle user uses an operation terminal to remotely drive the vehicle (for example, refer to Patent Document 1).

[0003] Furthermore, vehicle control related to parking of a vehicle is defined in ISO 20900 (PAPS: Partially automated parking systems) and ISO 16787 (APS: Assisted parking systems) as standard specifications.

[0004] Prior art literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2023-114501 Summary of the invention

[0006] When two vehicles are parked close to each other and one of the two vehicles is driven by remote operation, if the other vehicle is in a drivable state, the operator who wants to drive the vehicle by remote operation may not be able to concentrate on the remote operation.

[0007] An object of the present invention is to provide a remote control driving system that enables an operator to concentrate on remote operation.

[0008] The remote driving system of the present invention is a system for driving a vehicle by remote operation using an operation terminal. Furthermore, the remote driving system of the present invention is configured to allow the target vehicle to drive by the remote operation when a condition that an operator performing the remote operation is riding in a non-target vehicle that is a vehicle different from the target vehicle driven by the remote operation is satisfied, and when a start inhibition condition that the non-target vehicle is in a stopped and non-starting (starting, starting to move) state is satisfied, the target vehicle is allowed to drive by the remote operation.

[0009] According to the remote driving system of the present invention, even if the operator who wants to drive the target vehicle by remote operation is riding in a non-target vehicle, the non-target vehicle is in a non-starting state. Therefore, the operator can focus on the remote operation for driving the target vehicle and / or the monitoring of the target vehicle driven by the remote operation.

[0010] Furthermore, in the long-distance travel system according to the present invention, the riding condition may include a condition that a drive device of the non-target vehicle is in an operating state.

[0011] When the driving device of the non-target vehicle is in operation, the operator is more likely to be unable to focus on the remote operation for driving the target vehicle. According to the remote driving system of the present invention, when the driving device of the non-target vehicle is in operation, the target vehicle is allowed to drive by remote operation only when the non-target vehicle is not in operation. Therefore, the operator can focus on the remote operation for driving the target vehicle.

[0012] In addition, in the long-distance driving system according to the present invention, the start inhibition condition is satisfied when at least one of the following conditions is satisfied: a condition that the shift range of the non-target vehicle is set to a parking range; a condition that the non-target vehicle is maintained in a parked state by an electric parking brake device; and a condition that the brake pedal of the non-target vehicle is operated by the operator and the vehicle speed of the non-target vehicle is zero.

[0013] According to the remote driving system of the present invention, when the gear of the non-target vehicle is set to the parking gear, or when the non-target vehicle is kept in a parking state by the electric parking brake device, or when the brake pedal of the non-target vehicle is operated by the operator and the vehicle speed of the non-target vehicle is zero, the target vehicle is allowed to drive by remote operation. Therefore, when the non-target vehicle is in a non-starting state, the target vehicle is allowed to drive by remote operation. Therefore, the operator can focus on the remote operation for driving the target vehicle.

[0014] In addition, the remote driving system of the present invention is a system that drives a vehicle by remote operation using an operation terminal. Furthermore, the remote driving system of the present invention is configured such that, when two vehicles that are driven by remote operation using the same operation terminal are within a distance range that can be driven by the remote operation, if a start inhibition condition that one of the two vehicles is in a stopped and non-starting state is satisfied, the other vehicle is allowed to drive by the remote operation.

[0015] According to the remote driving system of the present invention, a vehicle of one party is allowed to drive through remote operation only when the other vehicle is not in motion, so the operator can focus on the remote operation for driving the vehicle and / or the monitoring of the vehicle driven by the remote operation.

[0016] The components of the present invention are not limited to the embodiments of the present invention described below 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

[0017] Figure 1 It is a diagram showing a remote driving system according to an embodiment of the present invention.

[0018] Figure 2 It is a diagram showing a remote control device of a remote driving system according to an embodiment of the present invention.

[0019] Figure 3 It is a diagram showing a vehicle driving assistance device of a remote driving system according to an embodiment of the present invention.

[0020] Figure 4 This is a flowchart showing a routine executed by the remote control driving system according to the embodiment of the present invention.

[0021] Figure 5 This is a flowchart showing a routine executed by the remote control driving system according to the embodiment of the present invention.

[0022] Figure 6 This is a diagram showing a scene in which a target vehicle is unloaded by the remote driving system according to the embodiment of the present invention.

[0023] Figure 7 This is a diagram showing a scenario in which a non-target vehicle is driven out of a garage by a driver.

[0024] Figure 8 This is a diagram showing a scene in which a target vehicle is parked in a garage using the remote control driving system according to the embodiment of the present invention.

[0025] Fig. 9 This is a flowchart showing a routine executed by the remote control driving system according to the embodiment of the present invention.

[0026] Description of Reference Numerals

[0027] 10 Remote driving system; 100 Operation terminal; 190 Terminal ECU; 200 Vehicle; 200T Target vehicle; 200N Non-target vehicle; 222 Braking device; 231 Parking brake device; 232 Electric parking brake device; 290 Vehicle ECU. DETAILED DESCRIPTION

[0028] Hereinafter, a remote driving system according to an embodiment of the present invention will be described with reference to the accompanying drawings. In addition, the technology according to the present invention described below can be applied to technologies that comply with ISO20900 (PAPS: Partially automated parking systems) and ISO16787 (APS: Assisted parking systems) as standard specifications.

[0029] Figure 1 A remote driving system 10 according to an embodiment of the present invention is shown. The remote driving system 10 is a system including a remote driving device 110 and a vehicle driving support device 210 .

[0030] like Figure 2 As shown, the remote driving device 110 is mounted on the operation terminal 100. Figure 3 As shown, a vehicle driving assistance device 210 is mounted on a vehicle 200 .

[0031] The operation terminal 100 is a device used by a person (operator) who wants to drive a vehicle by remote operation to drive the vehicle by remote operation. The operation terminal 100 is, for example, a mobile phone or other device. The remote driving device 110 is a device that causes the vehicle driving assistance device 210 to drive the vehicle autonomously according to the operation (remote operation) performed by the operator on the operation terminal 100.

[0032] The vehicle driving support device 210 is a device that causes the vehicle 200 to autonomously travel according to an operation (remote operation) performed on the operation terminal 100 by an operator.

[0033] like Figure 2 As shown in FIG. 1 , the remote driving device 110 includes a terminal ECU 190 as a control device. Figure 3 As shown, vehicle driving assistance device 210 includes vehicle ECU 290 as a control device.

[0034] ECU is an electronic control unit. The terminal ECU 190 and the vehicle ECU 290 each have a microcomputer as a main part. The microcomputer includes a computer-readable 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 110 and the vehicle driving assistance device 210 respectively store programs that implement various controls and processes performed by the remote driving system 10 in the storage medium.

[0035] In addition, in this example, the remote driving device 110 and the vehicle driving assistance device 210 each have only one ECU, for example, the remote driving device 110 has only one terminal ECU 190, but they can also each have multiple ECUs, for example, each ECU is responsible for implementing the functions of the remote driving device 110.

[0036] Furthermore, the remote driving device 110 and the vehicle driving support device 210 may each be configured to be able to update (upgrade) a program stored in a storage medium through wireless communication (for example, Internet communication) with an external device.

[0037] like Figure 2 As shown, the operation terminal 100 is equipped with an operation screen 120 and a terminal transceiver 170 .

[0038] The operation screen 120 is a display that displays various images. In addition, the operation screen 120 is a so-called touch screen that can detect that the operator's finger touches the operation screen 120. The operation screen 120 is electrically connected to the terminal ECU 190. The remote driving device 110 can display various images on the operation screen 120. In addition, the remote driving device 110 can detect that the operator touches the operation screen 120 with a finger through the operation screen 120.

[0039] The terminal transceiver 170 is a device that transmits various wireless signals to the outside of the remote driving device 110 (and further to the operation terminal 100) and receives various wireless signals sent from the outside. The terminal transceiver 170 is electrically connected to the terminal ECU 190. The remote driving device 110 can transmit wireless signals to the outside of the remote driving device 110 (and further to the operation terminal 100) via the terminal transceiver 170. In addition, the remote driving device 110 can receive wireless signals from the outside via the terminal transceiver 170.

[0040] Furthermore, the vehicle 200 is equipped with a travel device 220 , a parking brake device 231 , an electric parking brake device 232 , and a display device 240 .

[0041] The travel device 220 is a device for traveling the vehicle 200. The travel device 220 includes a drive device 221, a brake device 222, and a steering device 223.

[0042] The drive device 221 is a device that applies a driving force to the vehicle 200. The drive device 221 is electrically connected to the vehicle ECU 290. The vehicle driving support device 210 can control the driving force applied to the vehicle 200 by controlling the operation of the drive device 221.

[0043] The brake device 222 is a device that applies a braking force to the vehicle 200. The brake device 222 is electrically connected to the vehicle ECU 290. The vehicle driving support device 210 can control the braking force applied to the vehicle 200 by controlling the operation of the brake device 222.

[0044] The steering device 223 is a device that applies a steering force to the vehicle 200 for steering the vehicle 200. The steering device 223 is electrically connected to the vehicle ECU 290. The vehicle driving assistance device 210 can control the steering force applied to the vehicle 200 and steer the vehicle 200 by controlling the operation of the steering device 223.

[0045] The parking brake device 231 is a device that mechanically engages with a transmission gear of the vehicle 200 to keep the vehicle 200 in a parked state. The parking brake device 231 is electrically connected to the vehicle ECU 290. The vehicle driving support device 210 can keep the vehicle 200 in a parked state through the parking brake device 231.

[0046] The electric parking brake device 232 is a device that holds the vehicle 200 in a parked state by clamping brake pads provided on each wheel of the vehicle 200. The electric parking brake device 232 is electrically connected to the vehicle ECU 290. The vehicle driving assistance device 210 can hold the vehicle 200 in a parked state through the electric parking brake device 232.

[0047] The display device 240 is a device that displays various images to an operator (driver) riding in the vehicle 200. The display device 240 includes a display 241. The display device 240 is electrically connected to the vehicle ECU 290. The vehicle driving support device 210 can display various images on the display 241 by controlling the operation of the display device 240.

[0048] Furthermore, the vehicle 200 is equipped with a brake pedal 251 , a brake pedal sensor 252 , a shift lever 253 , a shift lever sensor 254 , an electric parking brake switch 255 , a vehicle speed detection device 256 , a peripheral information acquisition device 260 , and a vehicle transceiver 270 .

[0049] The brake pedal 251 is a device operated by the driver to brake the vehicle 200. The brake pedal sensor 252 is a sensor that detects that the brake pedal 251 is being operated. In addition, the brake pedal sensor 252 is also a sensor that detects the amount of operation of the brake pedal 251. The brake pedal sensor 252 is electrically connected to the vehicle ECU 290. The vehicle driving assistance device 210 can identify whether the brake pedal 251 is being operated through the brake pedal sensor 252. In addition, the vehicle driving assistance device 210 detects the amount of operation of the brake pedal 251 through the brake pedal sensor 252, and controls the operation of the brake device 222 to apply a braking force corresponding to the detected amount of operation to the vehicle 200.

[0050] The shift lever 253 is a device operated by a driver (operator) to set a so-called gear position. The shift lever sensor 254 is a sensor that detects the gear position set by the shift lever 253. The shift lever sensor 254 is electrically connected to the vehicle ECU 290. When the vehicle driving assistance device 210 detects that the shift lever 253 is set to the parking position through the shift lever sensor 254, the parking brake device 231 is operated to keep the vehicle 200 in a parked state.

[0051] The electric parking brake switch 255 is a device operated by the driver (operator) to operate the electric parking brake device 232. The electric parking brake switch 255 is electrically connected to the vehicle ECU 290. When the electric parking brake switch 255 is operated when the electric parking brake device 232 is in a non-operating state, the vehicle driving assistance device 210 operates the electric parking brake device 232 to keep the vehicle 200 in a parked state.

[0052] The vehicle speed detection device 256 is a device for detecting the running speed of the vehicle 200, and is, for example, a wheel speed sensor provided on each wheel of the vehicle 200. The vehicle speed detection device 256 is electrically connected to the vehicle ECU 290. The vehicle driving assistance device 210 obtains the running speed of the vehicle 200 as the vehicle speed V through the vehicle speed detection device 256.

[0053] The surrounding information acquisition device 260 is a device that acquires information about the vehicle 200. The surrounding information acquisition device 260 includes an image sensor 261 and an electromagnetic wave sensor 262.

[0054] The image sensor 261 is a sensor that captures the surroundings of the vehicle 200 and obtains an image. The image sensor 261 is, for example, a camera. In the following description, the image obtained by the image sensor 261 is referred to as a "camera image". The image sensor 261 is electrically connected to the vehicle ECU 290. The vehicle driving assistance device 210 obtains the camera image through the image sensor 261.

[0055] The electromagnetic wave sensor 262 is a sensor for detecting objects around the vehicle 200. The electromagnetic wave sensor 262 is, for example, a millimeter wave radar. The electromagnetic wave sensor 262 is electrically connected to the vehicle ECU 290. The vehicle driving assistance device 210 detects objects around the vehicle 200 through the electromagnetic wave sensor 262 and obtains data related to the detected objects.

[0056] The vehicle transceiver 270 is a device that transmits various wireless signals to the outside of the vehicle driving assistance device 210 and receives various wireless signals sent from the outside. The vehicle transceiver 270 is electrically connected to the vehicle ECU 290. The vehicle driving assistance device 210 can transmit wireless signals to the outside of the vehicle driving assistance device 210 via the vehicle transceiver 270. In addition, the vehicle driving assistance device 210 can receive wireless signals from the outside via the vehicle transceiver 270.

[0057] <Working of Remote Driving System>

[0058] Next, the operation of the remote driving system 10 will be described. The remote driving system 10 drives the vehicle 200 by remote operation using the operation terminal 100. That is, the remote driving system 10 drives the vehicle 200 in response to the operation (remote operation) performed by the operator on the operation terminal 100 (particularly, the operation screen 120).

[0059] Below, with Figures 6 to 8 Taking the illustrated situation as an example, the operation of the remote driving system 10 will be described. Figures 6 to 8 In the example shown, Figure 6 As shown, two vehicles 200 are parked in a parking space 300 in a front-to-rear positional relationship. These vehicles 200 are vehicles that travel by remote operation using the same operation terminal 100. However, the vehicle 200 parked behind may not be a vehicle that travels by remote operation using the operation terminal 100.

[0060] In the following description, of the two vehicles 200, the front vehicle 200 is a vehicle that is driven by remote control (target vehicle 200T), and the rear vehicle 200 is a vehicle that is driven by manual driving (driving operation performed by an operator) (non-target vehicle 200N).

[0061] exist Figures 6 to 8 In the example shown, Figure 6 As shown in FIG. 1 , when the operator is outside the target vehicle 200T and the non-target vehicle 200N, the target vehicle 200T is driven by remote control and leaves the parking space 300. Then, as shown in FIG. Figure 7 As shown, the operator gets on the non-target vehicle 200N, and the non-target vehicle 200N is driven manually by the operator and leaves the parking space 300. Figure 8 As shown, while the operator is still riding in the non-target vehicle 200N, the target vehicle 200T is driven by remote control and parked in the parking space 300 .

[0062] The remote driving system 10 executes the Figure 4 and Figure 5 The routine shown in the figure is used to make the vehicle 200 travel by remote operation. Figure 4 and Figure 5 The processing of each step of the routine shown may be appropriately performed by any one of the remote driving device 110 of the operation terminal 100 , the vehicle driving assistance device 210 of the target vehicle 200T, and the vehicle driving assistance device 210 of the non-target vehicle 200N.

[0063] At a predetermined timing, the remote driving system 10 Figure 4The routine shown starts processing at step S400, and the process proceeds to step S405, where it is determined whether a remote driving application (APP) is activated. The remote driving application is application software installed in the terminal ECU 190 of the operation terminal 100 in order to drive the vehicle 200 by remote operation.

[0064] When the remote driving application is activated, the remote driving system 10 determines "yes" in step S405, and proceeds to step S410 to determine whether the value of the selection completion flag X1 is "0". When the selection of the vehicle 200 to be driven by the remote operation is not completed, the value of the selection completion flag X1 is set to "0".

[0065] When the value of the selection completion flag X1 is "0" (i.e., when the selection of the vehicle to be driven by remote operation has not been completed), the remote driving system 10 determines "yes" in step S410 and proceeds to step S415 to search for a vehicle 200 registered in the remote driving application, that is, a vehicle 200 that can be driven by remote operation (remote driving vehicle 200R). Figures 6 to 8 In the example shown, two vehicles 200 that are traveling by remote operation using the same operation terminal 100 exist within the distance range that can be caused to travel by remote operation. Therefore, by searching in step S415, Figures 6 to 8 The two vehicles 200 shown are respectively identified as remote-travel vehicles 200R.

[0066] Next, the remote driving system 10 advances the process to step S420, and displays a selection screen on the operation screen 120 of the operation terminal 100. The selection screen is a screen for the operator to select a remote driving vehicle 200R to be driven by remote operation from among the recognized remote driving vehicles 200R.

[0067] Next, the remote driving system 10 advances the process to step S425 to determine whether the operator has performed a selection operation. The selection operation is an operation (for example, a touch operation such as a click operation) performed by the operator on the selection screen to select the remote driving vehicle 200R to be driven by the remote operation.

[0068] When the operator has not performed a selection operation, the remote travel system 10 makes a “NO” determination in step S425 , directly proceeds to step S495 , and temporarily ends the processing of this routine.

[0069] On the other hand, if the operator has performed a selection operation, the remote driving system 10 determines "yes" in step S425, and proceeds to step S430 to set the value of the selection completion flag X1 to "1". As a result, the remote driving system 10 will determine "no" in step S410 next time, and proceed directly to step S430. Figure 5 Step S505 of the routine shown.

[0070] In addition, Figures 6 to 8 In the illustrated example, by the selection operation, the vehicle 200 (remote-drive vehicle 200R) parked in front is selected as the remote-drive vehicle 200R to be driven by the remote operation.

[0071] Next, the remote driving system 10 causes the processing to enter step S435, starts the vehicle driving assistance device 210 of the remote driving vehicle 200R (target vehicle 200T) that is the object to be driven by remote operation, and the vehicle driving assistance device 210 of the remote driving vehicle 200R (non-target vehicle 200N) that is not the object to be driven by remote operation, and establishes wireless communication among the remote driving device 110 of the operation terminal 100, the vehicle driving assistance device 210 of the target vehicle 200T, and the vehicle driving assistance device 210 of the non-target vehicle 200N.

[0072] In this example, the remote driving system 10 establishes wireless communication between the remote driving device 110 of the operation terminal 100 and the vehicle driving assistance device 210 of the target vehicle 200T, and establishes wireless communication between the vehicle driving assistance device 210 of the target vehicle 200T and the vehicle driving assistance device 210 of the non-target vehicle 200N. However, the remote driving system 10 may also be configured to establish wireless communication between the remote driving device 110 of the operation terminal 100 and the vehicle driving assistance device 210 of the target vehicle 200T, and establish wireless communication between the remote driving device 110 and the vehicle driving assistance device 210 of the non-target vehicle 200N. Alternatively, particularly in a case where the operator is riding in the non-target vehicle 200N before starting to move the target vehicle 200T out of the parking space 300, the remote driving system 10 may also be configured to establish wireless communication between the remote driving device 110 of the operation terminal 100 and the vehicle driving assistance device 210 of the non-target vehicle 200N, and to establish wireless communication between the vehicle driving assistance device 210 of the non-target vehicle 200N and the vehicle driving assistance device 210 of the target vehicle 200T.

[0073] Furthermore, when the vehicle driving support device 210 of the target vehicle 200T is activated, the driving device 221 of the target vehicle 200T is in an operating state.

[0074] Next, the remote driving system 10 advances the process to step S440, and displays the remote operation screen on the operation screen 120 of the operation terminal 100. The remote operation screen is a screen for the operator to perform a remote operation for driving the target vehicle 200T.

[0075] Next, the remote driving system 10 enters the process Figure 5 In step S505 of the routine shown, it is determined whether the operator has operated the remote operation screen (remote operation). The remote operation is an operation performed by the operator on the remote operation screen to drive the target vehicle 200T (for example, a touch operation of sliding a finger on the remote operation screen).

[0076] When the remote operation is not being performed, the remote driving system 10 makes a “No” determination in step S505 , directly proceeds the process to step S595 , and temporarily ends the process of this routine.

[0077] On the other hand, when the remote operation is performed, the remote driving system 10 makes a "YES" determination in step S505, advances the process to step S510, and determines whether the boarding condition C1 is satisfied.

[0078] The riding condition C1 is a condition that the operator is riding in the non-target vehicle 200N and the driving device 221 of the non-target vehicle 200N is in operation. Alternatively, the riding condition C1 may be a condition that the operator is riding in the non-target vehicle 200N.

[0079] In addition, the remote driving system 10 can determine whether the operator is riding in the non-target vehicle 200N through wireless communication between a device held by the operator, such as a so-called smart key corresponding to the non-target vehicle 200N, and the vehicle driving assistance device 210 of the non-target vehicle 200N. Of course, the remote driving system 10 can also be configured to determine whether the operator is riding in the non-target vehicle 200N through wireless communication between the remote driving device 110 of the operation terminal 100 and the vehicle driving assistance device 210 of the non-target vehicle 200N.

[0080] exist Figures 6 to 8 In the example shown, at the time when the process proceeds to step S510, the operator is not riding in the non-target vehicle 200N, and the driving device 221 of the non-target vehicle 200N is not in an operating state.

[0081] Therefore, the remote driving system 10 determines "No" in step S510, and directly proceeds to step S525 to execute the driving of the target vehicle 200T in response to the remote operation. Next, the remote driving system 10 proceeds to step S595 to temporarily terminate the processing of this routine. Thus, the target vehicle 200T is pulled out of the parking space 300 by the remote operation.

[0082] After that, the operator gets on the non-target vehicle 200N and puts the drive device 221 into operation. Figure 7 As shown, the operator directly drives the non-target vehicle 200N to move the non-target vehicle 200N out of the parking space 300 .

[0083] In addition, while the non-target vehicle 200N is leaving the parking space 300, the remote driving system 10 executes the Figure 4 and Figure 5 At this time, the remote driving system 10 starts processing from step S400, and when the process proceeds to step S405, the remote driving application has already started. Therefore, the remote driving system 10 determines "yes" in step S405, and proceeds to step S410 to determine whether the value of the selection completion flag X1 is "0".

[0084] At this time, the value of the selection completion flag X1 is "1". Therefore, the remote driving system 10 determines "No" in step S410 and enters the process Figure 5 In step S505 of the routine shown, it is determined whether a remote operation has been performed.

[0085] While the non-target vehicle 200N is being driven out of the garage by the operator manually, no remote operation is performed. Therefore, the remote driving system 10 determines "No" in step S505, directly proceeds to step S595, and temporarily ends the processing of this routine. While the non-target vehicle 200N is being driven out of the garage by the operator manually, the remote driving system 10 repeatedly performs the above processing. Therefore, the target vehicle 200T is kept parked outside the parking space 300.

[0086] exist Figures 6 to 8 In the example shown, the operator performs remote operation while still riding in the non-target vehicle 200N after pulling out the non-target vehicle 200N from the parking space 300. In this case, the remote driving system 10 operates as follows.

[0087] That is, the remote driving system 10 Figure 4 The process starts at step S400 of the routine shown, and the process proceeds to step S405. At this time, the remote driving application has been activated. Therefore, the remote driving system 10 determines "yes" in step S405, and proceeds to step S410 to determine whether the value of the selection completion flag X1 is "0".

[0088] At this time, the value of the selection completion flag X1 is "1". Therefore, the remote driving system 10 determines "No" in step S410 and enters the process Figure 5In step S505 of the routine shown, it is determined whether a remote operation has been performed.

[0089] At this time, remote operation is being performed. Therefore, the remote driving system 10 makes a "yes" determination in step S505, and proceeds to step S510 to determine whether the boarding condition C1 is satisfied.

[0090] At this time, the operator is riding in the non-target vehicle 200N, and the drive device 221 of the non-target vehicle 200N is in operation. Therefore, the remote driving system 10 makes a "yes" determination in step S510, and proceeds to step S515 to determine whether the start suppression condition C2 is satisfied.

[0091] The start inhibition condition C2 is a condition that the non-target vehicle 200N is stopped and does not move. More specifically, the start inhibition condition C2 is a condition that the non-target vehicle 200N is stopped and does not move even if a driving force is applied to the non-target vehicle 200N from the driving device 221 of the non-target vehicle 200N. In other words, the start inhibition condition C2 is a condition that the non-target vehicle 200N is kept in a stopped state.

[0092] The start inhibition condition C2 is satisfied when the gear position of the non-target vehicle 200N is set to the parking gear (i.e., when the non-target vehicle 200N is maintained in a parked state by the parking brake device 231), or when the non-target vehicle 200N is maintained in a parked state by the electric parking brake device 232, or when the brake pedal 251 is operated by the operator and the vehicle speed V of the non-target vehicle 200N is zero (i.e., when a braking force is applied to the non-target vehicle 200N by the brake device 222 and the vehicle speed V of the non-target vehicle 200N is zero).

[0093] When the start inhibition condition C2 is satisfied (i.e., when the non-target vehicle 200N is parked and not moving), the remote driving system 10 determines "yes" in step S515, and proceeds to step S520 to implement camera image display. The camera image display refers to displaying the camera image acquired by the image sensor 261 of the target vehicle 200T on the display 241 of the non-target vehicle 200N. At this time, the remote driving system 10 may also be configured to display the camera image on the operation screen 120 of the operation terminal 100.

[0094] Next, the remote driving system 10 advances the process to step S525 to implement remote driving. Remote driving means driving the target vehicle 200T in response to remote operation. That is, the remote driving system 10 allows the target vehicle 200T to drive by remote operation and drives the target vehicle 200T in response to remote operation.

[0095] Therefore, in Figures 6 to 8 In the example shown, Figure 8 As shown, the target vehicle 200T is parked in the parking space 300 .

[0096] Next, the remote travel system 10 advances the processing to step S595 and temporarily ends the processing of this routine.

[0097] On the other hand, when the start inhibition condition C2 is not satisfied (i.e., when the non-target vehicle 200N is traveling, or the non-target vehicle 200N is stopped but can be started (the driver starts moving it)), the remote driving system 10 makes a "no" determination in step S515, advances the processing to step S530, and notifies the operator of the start inhibition request.

[0098] The start inhibition request is a request for the operator to put the non-target vehicle 200N in a non-start state. That is, the start inhibition request is a request for the operator to put the non-target vehicle 200N in a state where the start inhibition condition C2 is satisfied. In this example, the start inhibition request is performed by displaying an image requesting the operator to put the non-target vehicle 200N in a non-start state on one or both of the display 241 of the non-target vehicle 200N and the operation screen 120 of the operation terminal 100.

[0099] Next, the remote travel system 10 advances the processing to step S595 and temporarily ends the processing of this routine.

[0100] If the operator has stopped the non-target vehicle 200N, the remote driving system 10 determines "yes" in step S515, and proceeds to step S525 to perform remote driving. Remote driving means driving the target vehicle 200T in response to remote operation.

[0101] In addition, the remote driving system 10 Figure 4 When a "NO" determination is made in step S405 of the routine shown (that is, when the remote driving application is not activated), the process proceeds to step S445, and the end process is performed.

[0102] The end processing is a processing that makes the vehicle driving assistance device 210 and the drive device 221 of the target vehicle 200T in a non-operating state, cuts off the wireless communication between the vehicle driving assistance device 210 of the target vehicle 200T and the vehicle driving assistance device 210 of the non-target vehicle 200N, and sets the value of the selection completion flag X1 to "0". In addition, by making the vehicle driving assistance device 210 of the target vehicle 200T in a non-operating state, the wireless communication between the remote driving device 110 of the operation terminal 100 and the vehicle driving assistance device 210 of the target vehicle 200T is cut off.

[0103] Next, the remote driving system 10 advances the process to step S495 and temporarily ends the process of this routine.

[0104] The above is the operation of the remote driving system 10 .

[0105] According to the remote driving system 10, even if the operator who wants to drive the target vehicle 200T by remote operation is riding in the non-target vehicle 200N, the non-target vehicle 200N is in a non-moving state. Therefore, the operator can focus on the remote operation for driving the target vehicle 200T and / or the monitoring of the target vehicle 200T driven by the remote operation.

[0106] 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.

[0107] For example, the remote driving system 10 may also be configured to execute Fig. 9 The routine shown replaces Figure 5 The routine shown.

[0108] In this case, the remote driving system 10 Figure 4 After the remote operation screen is displayed in step S440 of the routine shown in the figure, or after a "No" is determined in step S410, the process enters Fig. 9 In step S905 of the routine shown, it is determined whether a remote operation has been performed.

[0109] When the remote operation is not being performed, the remote driving system 10 makes a “No” determination in step S905 , directly proceeds the process to step S995 , and temporarily ends the process of this routine.

[0110] On the other hand, when the remote operation is performed, the remote driving system 10 makes a “YES” determination in step S905 , advances the process to step S915 , and determines whether the start suppression condition C2 is satisfied.

[0111] When the start inhibition condition C2 is not satisfied (i.e., when the non-target vehicle 200N is traveling, or when the non-target vehicle 200N is stopped but can be driven), the remote driving system 10 makes a "No" determination in step S915, and proceeds to step S930 to notify the start inhibition request. Then, the remote driving system 10 proceeds to step S995 to temporarily terminate the processing of this routine.

[0112] On the other hand, when the start inhibition condition C2 is satisfied (i.e., when the non-target vehicle 200N is parked and not moving), the remote driving system 10 determines "yes" in step S915, and proceeds to step S920 to display the camera image. At this time, the remote driving system 10 may also be configured to display the camera image on the operation screen 120 of the operation terminal 100.

[0113] Next, the remote driving system 10 advances the process to step S925, and executes the driving of the target vehicle 200T in response to the remote operation. Next, the remote driving system 10 advances the process to step S995, and temporarily ends the process of this routine.

[0114] According to the remote driving system 10, the other vehicle 200 (the target vehicle 200T) is allowed to drive by remote operation only when the other vehicle 200 (the non-target vehicle 200N) is in a non-moving state, so the operator can focus on the remote operation for driving the target vehicle 200T and / or the monitoring of the target vehicle 200T driven by the remote operation.

Claims

1. A remote driving system is a system for driving a vehicle by remote operation using an operation terminal, and is composed of: When the riding condition that the operator performing the remote operation is riding in a non-target vehicle that is different from the vehicle driven by the remote operation, i.e., the target vehicle, is met, and when the start inhibition condition that the non-target vehicle is in a parked and non-moving state is met, the target vehicle is allowed to drive through the remote operation.

2. The remote driving system according to claim 1, The riding condition includes a condition that a driving device of the non-target vehicle is in an operating state.

3. The remote driving system according to claim 1 or 2, The start inhibition condition is satisfied when at least one of the following conditions is satisfied: a condition that the gear position of the non-target vehicle is set to a parking gear; a condition that the non-target vehicle is maintained in a parked state by an electric parking brake device; and a condition that the brake pedal of the non-target vehicle is operated by the operator and the vehicle speed of the non-target vehicle is zero.

4. A remote driving system is a system for driving a vehicle by remote operation using an operation terminal, and is composed of: When two vehicles traveling by remote operation using the same operation terminal are within a distance range that allows traveling by the remote operation, and if a start inhibition condition is met in which one of the two vehicles is parked and not moving, the other vehicle is allowed to travel by the remote operation.

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