Remote control device

Abstract

A remote operation device is a device for remote operation of a vehicle, and is provided with a notification device and one or more processors. The notification device notifies a remote operator of the vehicle by at least one of hearing, tactile, and visual. In a case where control operation information indicating that vehicle stabilization control for travel stabilization of the vehicle is in an operating state is received from the vehicle, the one or more processors control the notification device to make an operation notification to a remote operator indicating that the vehicle stabilization control is in the operating state. As a result, a remote operator can easily determine whether or not vehicle stabilization control is operating in a vehicle operated by the remote operator.

Description

Technical Field

[0001] This disclosure relates to the remote operation of vehicles. Background Technology

[0002] Patent Document 1 discloses a vehicle steering system. During the period when vehicle stability control (vehicle stability control) operating conditions are met, the vehicle steering system increases the ratio of a second steering axle force allocated to the steering reaction force compared to the point at which the operating conditions are met. This second steering axle force is equivalent to an estimated value of the axle force reflecting road surface information. This vehicle steering system can also be used for remote operation of the vehicle by a remote driver (remote operator).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2023-106825 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] According to the technology described in Patent Document 1, the effect of vehicle stability control is only transmitted to the remote operator as a steering reaction force. Therefore, it is difficult for the remote operator to determine whether vehicle stability control is working in the vehicle they are operating.

[0008] Technical solutions for solving the problem

[0009] The remote operation device disclosed herein is an apparatus for remotely operating a vehicle, comprising a notification device and one or more processors. The notification device notifies the remote operator of the vehicle via at least one of auditory, tactile, and visual means. Upon receiving control operation information from the vehicle indicating that vehicle stabilization control for vehicle driving stabilization is in operation (working), the one or more processors control the notification device to notify the remote operator that the vehicle stabilization control is in operation.

[0010] Invention Effects

[0011] According to this disclosure, a remote operator can easily determine whether vehicle stability control is working in the vehicle he is operating by using the aforementioned work notification. Attached Figure Description

[0012] Figure 1 This is a diagram illustrating an example of the configuration of the remote operating system involved in Implementation 1 and notification control.

[0013] Figure 2This is a diagram illustrating the first and second examples of the notification device according to Embodiment 2, as well as the notification control.

[0014] Figure 3 This is a diagram illustrating an example of the notification device involved in Embodiment 3 and notification control.

[0015] Figure 4 This is a diagram used to illustrate the notification control involved in Implementation Method 4.

[0016] Figure 5 This is a diagram used to illustrate the notification control involved in Implementation Method 5.

[0017] Figure 6 This is a diagram used to illustrate the relationship between steering torque and steering angle when a vehicle is traveling at a constant speed, and to illustrate the notification control involved in the reference example.

[0018] Explanation of reference numerals in the attached figures

[0019] 1. Remote operating system; 10. Remote vehicle; 20. Remote operating device; 25. Processor; 26. Storage device; 27. Notification device; 30. Speaker; 32. Vibration device; 34. Display. Detailed Implementation

[0020] 1. Implementation Method 1

[0021] 1-1. Composition of a Remote Operating System

[0022] Figure 1 (A) is a schematic diagram illustrating an example of the configuration of the remote operating system 1 according to embodiment 1. The remote operating system 1 is a system for remote operation of a vehicle. Figure 1 As shown in (A), the remote operating system 1 includes a vehicle (hereinafter referred to as "remote vehicle") 10, which is the object of remote operation, and a remote operating device 20. The remote vehicle 10 and the remote operating device 20 are able to communicate with each other via a wireless communication network.

[0023] The remote vehicle 10 is configured to be remotely operated by a remote operator using a remote operating device 20. As an example, the remote vehicle 10 is an autonomous vehicle. The remote vehicle 10 includes a communication device 11, a sensor array 12, a driving mechanism 13, and a control device 14. The communication device 11 communicates wirelessly with the outside of the remote vehicle 10. For example, the communication device 11 communicates wirelessly with the remote operating device 20.

[0024] Sensor group 12 includes, for example, an identification sensor, a vehicle status sensor, and a position sensor. The identification sensor identifies (detects) the conditions surrounding the remote vehicle 10. The identification sensor may include, for example, one or more cameras that capture images of multiple surrounding conditions of the remote vehicle 10. The vehicle status sensor detects the state of the remote vehicle 10 (e.g., yaw rate YR, wheel speed, vehicle speed V, acceleration, steering angle). The position sensor detects the position and orientation of the remote vehicle 10.

[0025] The driving mechanism 13 includes a steering mechanism, a drive mechanism, and a braking mechanism. The steering mechanism steers the wheels of the remote vehicle 10. The drive mechanism is a power source that generates driving force for the remote vehicle 10, and may include at least one of an electric motor and an internal combustion engine. The braking mechanism generates braking force.

[0026] Control device 14 controls remote vehicle 10. Control device 14 includes one or more processors 15 (hereinafter simply referred to as processor 15) and one or more storage devices 16 (hereinafter simply referred to as storage device 16). Processor 15 performs various processes, including those related to the control of remote vehicle 10. Examples of processor 15 include general-purpose processors, special-purpose processors, CPUs (Central Processing Units), GPUs (Graphics Processing Units), ASICs (Application Specific Integrated Circuits), FPGAs (Field-Programmable Gate Arrays), etc. Storage device 16 stores various information required for various processes. Examples of storage device 16 include volatile memory, non-volatile memory, HDDs (Hard Disk Drives), SSDs (Solid State Drives), etc. Processor 15 executes computer programs. The computer programs are stored in storage device 16. Computer programs may also be recorded on computer-readable recording media. The functions of control device 14 are realized through the cooperation of processor 15 executing computer programs and storage device 16.

[0027] The remote operation device 20 is a terminal device used by a remote operator to remotely operate the remote vehicle 10. That is, the remote operation device 20 is configured for use by a remote operator to remotely operate the remote vehicle 10. The remote operation device 20 is, for example, a cockpit-type terminal. The remote operation device 20 includes a communication device 21, an output device 22, an input device 23, and a control device 24.

[0028] Communication device 21 communicates with remote vehicle 10. Output device 22 outputs various information. Output device 22 includes one or more displays. The one or more displays display various information such as images of the vehicle's surroundings captured by a camera mounted on remote vehicle 10. The one or more displays may also include display 34 (described later). Figure 3 (A)). Additionally, the output device 22 includes a speaker 30 (see reference 1). Figure 1 (B)). In Embodiment 1, the speaker 30 corresponds to an example of "notification device 27 for notifying a remote operator by hearing". The input device 23 receives input from the remote operator. As an input device 23, a steering wheel 33 (see [reference]) can be used as an example. Figure 2 (B) ), accelerator pedal, brake pedal, etc. Input device 23 may also include a reaction force actuator that applies steering reaction force to steering wheel 33.

[0029] Control device 24 controls remote operating device 20. Control device 24 includes one or more processors 25 (hereinafter simply referred to as processor 25) and one or more storage devices 26 (hereinafter simply referred to as storage device 26). Processor 25 performs various processes. Examples of processor 25 include general-purpose processors, special-purpose processors, CPUs, GPUs, ASICs, FPGAs, etc. Storage device 26 stores various information. Examples of storage device 26 include volatile memory, non-volatile memory, HDDs, SSDs, etc. Processor 25 executes computer programs. Computer programs are stored in storage device 26. Computer programs can also be recorded on computer-readable recording media. The functions of control device 24 are realized through the cooperation of processor 25 executing computer programs and storage device 26.

[0030] 1-2. Utilizing auditory notification to remote operators (notification control)

[0031] When the remote vehicle 10 reaches its limits while driving, the control device 14 of the remote vehicle 10 activates vehicle stability control to achieve driving stability (safe driving assistance). In other words, vehicle stability control intervenes in the operation of the remote vehicle 10 by the remote operator. Examples of vehicle stability control include skid suppression control (VSC), anti-lock braking control (ABS), and traction control (TRC). More specifically, VSC operates, for example, when a predetermined operating condition based on at least the yaw rate YR is met. ABS operates, for example, when a predetermined operating condition based on the slip ratio S is met, and the same applies to TRC. The slip ratio S is calculated based on the wheel speed Vw and vehicle speed (body speed) V detected by the wheel speed sensors included in the aforementioned vehicle state sensors (S = (Vw - V) / V).

[0032] Figure 1 (B) is a diagram illustrating the notification control involved in Embodiment 1. In Embodiment 1, in order to make the remote operator aware that the vehicle stabilization control is working (intervening), the remote operating device 20 performs the following "notification control".

[0033] When a remote operator performs remote operation on remote vehicle 10, remote vehicle 10 continuously sends control operation information indicating the ON / OFF status of vehicle stabilization control to remote operation device 20. For example, Figure 1 As shown in (B), the control operation information is a flag indicating whether the vehicle stability control is in an active (ON) or in an inactive (OFF) state (e.g., VSC flag, ABS flag, and TRC flag).

[0034] The remote operating device 20 (processor 25 of the control device 24) performs notification control based on control operation information (signal information) received from the remote vehicle 10. More specifically, when control operation information indicating that the vehicle stabilization control is in operation is received from the remote vehicle 10, the processor 25 controls the notification device 27 to provide a "work notification" to the remote operator indicating that the vehicle stabilization control is in operation. In Embodiment 1, the work notification is delivered by generating a specific sound by the notification device 27 (e.g., speaker 30), which is an auditory device. Furthermore, the remote operator is pre-learned that the work notification using a specific sound emitted by the auditory device indicates that the vehicle stabilization control is in operation. The same applies to the work notification of tactile or visual devices, which will be described later.

[0035] Reference Figure 1 (B) illustrates a specific example of using auditory notification control. Vehicle stabilization controls applied to remote vehicle 10 sometimes have multiple types (e.g., VSC, ABS, TRC). In remote vehicle 10 where such multiple vehicle stabilization controls are operational, the same specific sound (i.e., a sound of the same frequency) can also be used for notification control regardless of the type of vehicle stabilization control.

[0036] In contrast, Figure 1In the example shown in (B), the processor 25 controls the notification device 27 to provide operational notifications in different ways depending on the type of vehicle stability control. Specifically, during VSC operation, a specific sound with a frequency of X1 [Hz] is used. During ABS operation, a specific sound with a frequency of Y1 [Hz] is used. During TRC operation, a specific sound with a frequency of Z1 [Hz] is used. Furthermore, the frequency of the specific sound used for operational notifications for each vehicle stability control can also be set such that the higher the level of attention aroused by the remote operator regarding the control operation, the higher the frequency. As an example, the frequency could be X1 > Y1 > Z1.

[0037] Figure 1 (B) shows a function block related to notification control. As this function block, the control device 24 of the remote operation device 20 includes switch units 28-11, 28-12, and 28-13, and a moderation unit 29-1. Furthermore, these function blocks are implemented in software form when the processor 25 executes the computer program related to notification control.

[0038] Switching unit 28-11 receives VSC flag information (control operation information). When the input VSC flag indicates "OFF", switching unit 28-11 outputs 0 [Hz] to regulating unit 29-1. On the other hand, when the input VSC flag indicates "ON", switching unit 28-11 outputs X1 [Hz] to regulating unit 29-1. Similarly, switching unit 28-12 outputs 0 [Hz] when the ABS flag indicates "OFF" and outputs Y1 [Hz] when the ABS flag indicates "ON". Switching unit 28-13 outputs 0 [Hz] when the TRC flag indicates "OFF" and outputs Z1 [Hz] when the TRC flag indicates "ON".

[0039] When frequency X1, frequency Y1 or frequency Z1 is input to the adjustment unit 29-1 from any of the switch units 28-11, 28-12 and 28-13, the adjustment unit 29-1 controls the speaker 30 (notification device 27) to output the sound of the input frequency X1, frequency Y1 or frequency Z1.

[0040] (When multiple vehicle stability control systems are operating simultaneously)

[0041] Multiple vehicle stability controls can operate simultaneously. For example, VSC and ABS or VSC and TRC can operate simultaneously. When multiple vehicle stability controls are operating simultaneously (i.e., when two or three of frequencies X1, Y1, and Z1 are simultaneously input to the control unit 29-1), the processor 25 can also perform notification control as follows.

[0042] In the example where the speaker 30, serving as the notification device 27, is a 360-degree speaker (omnidirectional speaker), the adjustment unit 29-1 can also select the frequency and direction of the specific sound generated according to various types of vehicle stabilization control operating simultaneously. Furthermore, the adjustment unit 29-1 can control the speaker 30 to output multiple specific sounds according to the selected frequency and direction. More specifically, the speaker 30 is, for example, installed in a remote cockpit terminal equivalent to the remote control device 20. Moreover, for example, when outputting a specific sound corresponding to ABS, the 360-degree speaker can output that specific sound from in front of the remote operator towards the remote operator at frequency Y1. For example, when outputting a specific sound corresponding to VSC, the 360-degree speaker can output that specific sound from the left and right of the remote operator towards the remote operator at frequency X1. For example, when outputting a specific sound corresponding to TRC, the 360-degree speaker can output that specific sound from behind the remote operator towards the remote operator at frequency Z1.

[0043] On the other hand, in the example where the speaker 30, serving as the notification device 27, outputs sound in a specific direction, the mediator 29-1 can also select the frequency of the specific sound generated from the frequencies corresponding to multiple vehicle stabilization controls operating simultaneously, as follows: That is, the mediator 29-1 can, for example, select the frequency of the specific sound output when all controls are operating simultaneously, according to a predetermined priority order. This priority order can be determined, for example, with VSC highest, followed by ABS and TRC. According to this example, when one or both of ABS and TRC are operating simultaneously with VSC, the frequency X1 corresponding to VSC is selected. Furthermore, assuming both ABS and TRC are operating simultaneously, the frequency Y1 corresponding to ABS is selected. Based on this, the mediator 29-1 controls the speaker 30 to output the specific sound at the selected frequency.

[0044] 1-3. Effects

[0045] According to the notification control described in Embodiment 1, the remote operator can easily determine whether vehicle stabilization control is in operation in the remote vehicle 10 under their control using the aforementioned work notification. That is, the remote operator can easily grasp the situation where the remote vehicle 10 has reached its limits through the work notification. This helps the remote operator perform appropriate remote operations for driving stabilization (e.g., releasing the accelerator pedal, pressing / releasing the brake pedal, reversing steering).

[0046] Furthermore, according to the notification control involved in Embodiment 1, the operation notification is delivered in different ways (i.e., at different frequencies) depending on the type of vehicle stability control. This allows the remote operator to easily determine which type of vehicle stability control is in operation. Moreover, as mentioned above, delivering the operation notification in different ways depending on the type may also include outputting a specific sound in different directions depending on the type. This further allows the remote operator to more easily determine which type of vehicle stability control is in operation.

[0047] 2. Implementation Method 2

[0048] 2-1. Composition of a Remote Operating System

[0049] The remote operating system according to Embodiment 2 is configured the same as the remote operating system 1 according to Embodiment 1, except that the notification device 27 used for notification control is different.

[0050] Figure 2 (A) and Figure 2 Figure (B) shows a first example and a second example of the notification device 27 according to Embodiment 2. In the remote cockpit terminal, which corresponds to the remote operation device 20, a seat 31 is provided for the remote operator to sit on. In the first example, the vibration device 32 installed on the seat 31 is an example of a "notification device 27 that notifies the remote operator via touch". More specifically, in the first example, the vibration device 32 is installed at locations corresponding to the remote operator's thighs, back, and shoulders, respectively.

[0051] Alternatively, as in the second example, the vibration device 32 can also be installed on the steering wheel 33 operated by a remote operator. More specifically, in the second example, the vibration device 32 is installed on the parts held by the left and right hands of the remote operator, respectively.

[0052] 2-2. Using tactile feedback to notify remote operators (notification control)

[0053] Figure 2 (C) is a diagram illustrating the notification control involved in Embodiment 2. In Embodiment 2, similarly to Embodiment 1, when control operation information indicating that vehicle stabilization control is in operation is received from the remote vehicle 10, the processor 25 issues an operation notification. In Embodiment 2, this operation notification is performed by generating a specific vibration by the notification device 27 (e.g., vibration device 32), which is a tactile device.

[0054] Next, refer to Figure 2(C) illustrates a specific example of notification control using tactile feedback. In a remote vehicle 10 where multiple vehicle stabilization controls are operational, the same specific vibration (i.e., vibration of the same frequency) can also be used for notification control regardless of the type of vehicle stabilization control.

[0055] In contrast, Figure 2 In the example shown in (C), the processor 25 controls the notification device 27 to provide operational notifications in different ways depending on the type of vehicle stability control. Specifically, during VSC operation, a specific vibration with a frequency of X2 [Hz] is used. During ABS operation, a specific vibration with a frequency of Y2 [Hz] is used. During TRC operation, a specific vibration with a frequency of Z2 [Hz] is used. Furthermore, the frequency of the specific vibration used for operational notifications of each vehicle stability control can also be set such that the higher the level of attention aroused by the remote operator regarding the control operation, the higher the frequency. As an example, the frequency could be X2 > Y2 > Z2.

[0056] Figure 2 (C) shows a function block related to notification control. As this function block, the control device 24 of the remote operation device 20 includes switch units 28-21, 28-22, and 28-23, and a stop unit 29-2. Furthermore, the operation of switch units 28-21, 28-22, and 28-23 is related to... Figure 1 The operation of the switch sections 28-11, 28-12 and 28-13 shown in (B) is the same, so their detailed description is omitted here.

[0057] When frequency X2, frequency Y2 or frequency Z2 is input to the regulating unit 29-2 from any of the switching units 28-21, 28-22 and 28-23, the regulating unit 29-2 controls the vibration device 32 (notification device 27) to output a specific vibration of the input frequency X2, frequency Y2 or frequency Z2.

[0058] (When multiple vehicle stability control systems are operating simultaneously)

[0059] When multiple vehicle stabilization controls are operating simultaneously (i.e., when two or three of frequencies X2, Y2 and Z2 are simultaneously input to the regulating unit 29-2), the processor 25 can also perform notification control as follows.

[0060] In such Figure 2In the example shown in (A), where multiple vibration devices 32 serve as notification devices 27, the adjustment unit 29-2 can select the frequency and location of the generated vibrations according to various types of vehicle stabilization control operating simultaneously. Furthermore, the adjustment unit 29-2 can control the vibration devices 32 to output multiple specific vibrations according to the selected frequency and location. For example, when outputting a specific vibration corresponding to ABS, the vibration device 32 located on the seat 31 corresponding to the remote operator's thigh can output that specific vibration at frequency Y2. For example, when outputting a specific vibration corresponding to VSC, the vibration device 32 located on the seat 31 corresponding to the remote operator's back can output that specific vibration at frequency X2. For example, when outputting a specific vibration corresponding to TRC, the vibration device 32 located on the seat 31 corresponding to the remote operator's shoulders can output that specific vibration at frequency Z2. Additionally, the vibration device 32 mounted on the steering wheel 33 (see...) Figure 2 (B) can also be used for the same purposes as described herein.

[0061] On the other hand, in the example where only one vibration device 32 (vibration device 32 installed in one location) is provided as the notification device 27, the adjustment unit 29-2 can also select the frequency of the generated vibration from the frequencies corresponding to the multiple vehicle stabilization controls that operate simultaneously, as follows. That is, the adjustment unit 29-2 can, for example, select the frequency of the vibration output when they are operating simultaneously according to a predetermined priority order. This priority order can be determined, for example, with VSC highest, followed by ABS and TRC. According to this example, when one or both of ABS and TRC are operating simultaneously with VSC, the frequency X2 corresponding to VSC is selected. Alternatively, assuming that both ABS and TRC are operating simultaneously, the frequency Y2 corresponding to ABS is selected. Based on this, the adjustment unit 29-2 controls the vibration device 32 to output vibration at the selected frequency.

[0062] 2-3. Effects

[0063] The notification control described in Embodiment 2 achieves the same effects as the notification control described in Embodiment 1. Furthermore, in Embodiment 2, as described above, providing different operational notifications depending on the type of vehicle stabilization control can also include outputting specific vibrations at different locations based on the type. This allows the remote operator to more easily determine which type of vehicle stabilization control is in operation.

[0064] 3. Implementation Method 3

[0065] 3-1. Composition of a Remote Operating System

[0066] The remote operating system according to Embodiment 3 is configured the same as the remote operating system 1 according to Embodiment 1, except that the notification device 27 used for notification control is different.

[0067] Figure 3 Figure (A) is an example of the notification device 27 according to Embodiment 3. In Embodiment 3, the display 34 included in the remote cockpit terminal, which corresponds to the remote operation device 20, is an example of "the notification device 27 that notifies the remote operator visually." Furthermore, Figure 3 The screen displayed on display 34 shown in (A) is equivalent to the display of the dashboard of remote vehicle 10.

[0068] 3-2. Visual notification to remote operators (notification control)

[0069] Figure 3 (B) is a diagram illustrating the notification control involved in Embodiment 3. In Embodiment 3, similarly to Embodiment 1, when control operation information indicating that vehicle stabilization control is in operation is received from the remote vehicle 10, the processor 25 issues an operation notification. In Embodiment 3, this operation notification is made by illuminating a specific lamp via a notification device 27 (e.g., display 34), which is a visual device.

[0070] Next, refer to Figure 3 (B) illustrates a specific example of using visual notification control. In a remote vehicle 10 where multiple vehicle stabilization controls are operational, the same specific light can also be used for notification control regardless of the type of vehicle stabilization control.

[0071] In contrast, Figure 3 In the example shown in (B), the processor 25 controls the notification device 27 to provide operational notifications in different ways depending on the type of vehicle stability control. For example, during VSC operation, a specific light L1 located at a predetermined display position on the display 34 (see reference) Figure 3 The (A) light is illuminated. During ABS operation, a specific light L2 located at another predetermined display position is illuminated. During TRC operation, a specific light L3 located at yet another predetermined display position is illuminated. Furthermore, specific lights for notification of operation of each vehicle stability control can also be displayed in a manner that increases the level of attention required from the remote operator regarding control operation, for example, by focusing on at least one of color, shape, and display position. As an example, specific lights L1 to L3 can be displayed most prominently for VSC, followed by ABS and TRC.

[0072] Figure 3(B) shows a function block related to notification control. As this function block, the control device 24 of the remote operation device 20 includes switch units 28-31, 28-32, and 28-33, and a stop unit 29-3. Furthermore, the operation of switch units 28-31, 28-32, and 28-33, in addition to outputting "1" when the vehicle stabilization control indicator is "ON" and outputting "0" when the indicator is "OFF," is also related to... Figure 1 The operation of the switch sections 28-11, 28-12, and 28-13 shown in (B) is the same. Therefore, their detailed description is omitted here.

[0073] When a “1” is input to the adjustment unit 29-3 from any of the switch units 28-31, 28-32 and 28-33, the adjustment unit 29-3 controls the display 34 (notification device 27) to illuminate a specific light (L1, L2 or L3) corresponding to the vehicle stabilization control that has been input with a “1”.

[0074] (When multiple vehicle stability control systems are operating simultaneously)

[0075] When multiple vehicle stabilization controls are operating simultaneously (i.e., when two or three of the three switch units 28-31 to 28-33 simultaneously input "1" to the adjustment unit 29-3), the processor 25 can also perform notification control as follows: The adjustment unit 29-3 controls the display 34 to illuminate specific lights (multiple of L1 to L3) corresponding to the multiple vehicle stabilization controls operating simultaneously.

[0076] 3-3. Effects

[0077] The notification control described in Embodiment 3 above can achieve the same effect as the notification control described in Embodiment 1.

[0078] Alternatively, any two or all of the notification controls involved in the above-described embodiments 1 to 3 can be appropriately combined for implementation.

[0079] 4. Implementation Method 4

[0080] The remote operating system involved in Implementation 4 is configured in the same way as the remote operating system 1 involved in Implementation 1.

[0081] Figure 4 This is a diagram used to illustrate the notification control involved in Embodiment 4. In Embodiment 4, as... Figure 4As shown, the remote operating device 20 receives flag information (control operation information) and actual vehicle state quantities from the remote vehicle 10. Examples of actual vehicle state quantities include actual yaw rate YR, wheel speed, vehicle speed V, and slip rate S based on wheel speed. In embodiment 4, an auditory device (e.g., speaker 30) is used as an example for explanation, but notification control can also be applied to tactile devices (e.g., vibration device 32).

[0082] More specifically, the vehicle stability control described above operates when the difference (state difference) ΔS between the target vehicle state quantity and the actual vehicle state quantity of the remote vehicle 10 exceeds a predetermined control operating threshold TH0 (i.e., in this case, the VSC flag and other flags become "ON"). Furthermore, during the operation of the vehicle stability control, the larger the state difference ΔS, the greater the control quantity used for driving stability (i.e., the control intervention quantity for operations performed by the remote operator on the remote vehicle 10). Examples of control quantities mentioned here include increases or decreases in braking torque, increases or decreases in drive torque, and steering inputs of the remote vehicle 10.

[0083] Based on this, in the notification control according to Embodiment 4, the processor 25 of the remote operation device 20 controls the notification device 27 such that the frequency (e.g., X1, Y1, Z1) of a specific sound generated by the notification device 27 for work notification during vehicle stability control increases according to the state quantity difference ΔS. Furthermore, in the example where a haptic device is used as the notification device 27, the processor 25 controls the notification device 27 such that the frequency (e.g., X2, Y2, Z2) of a specific vibration used for work notification during vehicle stability control increases according to the state quantity difference ΔS.

[0084] exist Figure 4 In the diagram, a functional block related to the notification control involved in Embodiment 4 is shown, specifically a functional block concerning VSC. That is, the control device 24 includes a switching unit 28-11, a state difference calculation unit 35, an addition (addition operation) frequency calculation unit 36, and an adder 37. The adder 37 calculates the sum of the frequency (X1 or 0) output from the switching unit 28-11, i.e., the base frequency, and the added frequency, and outputs it to the adjustment unit 29-1. Furthermore, although in Figure 4 The illustrations are omitted, but in implementation 4, other vehicle stability controls (e.g., ABS, TRC) also additionally have the same function blocks (35, 36, and 37).

[0085] The state difference calculation unit 35 is input to the actual vehicle state quantity received from the remote vehicle 10, and simultaneously to the target vehicle state quantity (estimated vehicle state quantity). The target vehicle state quantity is calculated, for example, by the control device 24 based on the operation quantity of the remote operator on the input device 23 (steering wheel 33, etc.). The state difference calculation unit 35 calculates the state difference ΔS based on the input target vehicle state quantity and the actual vehicle state quantity, and outputs it to the summing frequency calculation unit 36. Alternatively, the state difference ΔS can also be calculated by the processor 15 of the remote vehicle 10 and sent to the remote operating device 20.

[0086] The addition frequency calculation unit 36 ​​according to Figure 4 The relationship shown is used to calculate the summing frequency corresponding to the input state difference ΔS. That is, when the state difference ΔS is below the switching threshold TH1, which is the same as the control operating threshold TH0 mentioned above, the summing frequency is calculated to be 0 [Hz]. On the other hand, when the state difference ΔS exceeds the switching threshold TH1, the summing frequency is calculated to be positive and increases as the state difference ΔS increases. The summing frequency calculated in this way is output to the summing unit 37.

[0087] According to the notification control described in Embodiment 4 above, the frequency of a specific sound or vibration notified to the remote operator is determined such that the greater the state difference ΔS, the higher the frequency. As mentioned above, the greater the state difference ΔS, the greater the control quantity (control intervention quantity) of the vehicle stabilization control. Therefore, according to this notification control, in addition to the vehicle stabilization control being in operation, the remote operator can also identify the control intervention quantity (i.e., the degree of instability of the behavior of the remote vehicle 10) through the operation notification.

[0088] Furthermore, the notification control involved in Implementation 4 may also include notification control for "when multiple vehicle stabilization controls are operating simultaneously" based on the method described in Implementation 1 or 2.

[0089] 5. Implementation Method 5

[0090] The remote operating system involved in Implementation 5 is configured in the same way as the remote operating system 1 involved in Implementation 1.

[0091] Figure 5 This is a diagram used to illustrate the notification control involved in Embodiment 5. In Embodiment 5, as... Figure 5 As shown, the remote operating device 20 also receives flag information (control operation information) and actual vehicle status quantities from the remote vehicle 10. In Embodiment 5, an auditory device (e.g., speaker 30) is used as an example for explanation, but notification control can also be applied to tactile devices (e.g., vibration device 32).

[0092] In the notification control according to embodiment 5, if the state quantity difference ΔS exceeds the switching threshold TH2 (second threshold) which is smaller than the control operation threshold TH0 (first threshold) for starting vehicle stabilization control, the processor 25 of the remote operation device 20 controls the notification device 27 to notify the start of operation before receiving the flag information (control operation information) from the remote vehicle 10.

[0093] like Figure 5 As shown, the function blocks related to notification control in Embodiment 5 are identical to those in Embodiment 4, except that they include an addition frequency calculation unit 38 instead of an addition frequency calculation unit 36. The addition frequency calculation unit 38 is configured according to... Figure 5 The relationship shown is used to calculate the summing frequency corresponding to the input state difference ΔS. That is, when the state difference ΔS is below the switching threshold TH2, which is smaller than the switching threshold TH1 (which is the same as the control operating threshold TH0), the summing frequency is calculated to be 0 [Hz]. On the other hand, when the state difference ΔS exceeds the switching threshold TH2, the summing frequency is calculated to be positive and increases as the state difference ΔS increases.

[0094] According to the notification control described in Embodiment 5 above, even if the remote operating device 20 receives the flag information from the remote vehicle 10 (i.e., before the state quantity difference ΔS exceeds the control operation threshold TH0), the operation notification is initiated when the state quantity difference ΔS exceeds the switching threshold TH2. Therefore, even if there is a communication delay between the remote vehicle 10 and the remote operating device 20, the delay in the execution of the operation notification relative to the actual start (intervention) of vehicle stabilization control on the remote vehicle 10 side can be appropriately suppressed. Furthermore, if the remote operator receives the operation notification through this notification control before the start of vehicle stabilization control without the influence of communication delay, the remote operator can perform remote operations to improve the driving stability of the remote vehicle 10 before control intervention.

[0095] Furthermore, the notification control involved in Implementation 5 may also include notification control for "when multiple vehicle stabilization controls are operating simultaneously" based on the method described in Implementation 1 or 2.

[0096] 6. Reference Example

[0097] In remote operating systems (e.g.: Figure 1 In the remote operating system 1) shown, in order to notify (transmit) the vehicle limit to the remote operator while the remote vehicle 10 is in motion, the remote operating device 20 (processor 25) can also perform the following "notification control".

[0098] Figure 6Figure (A) is a graph showing the relationship between steering torque and steering angle when a vehicle is traveling at a constant speed. The relationship shown in the graph represents the actual vehicle behavior when steering using the steering wheel mounted on the vehicle (e.g., remote vehicle 10). Generally, the larger the steering angle, the greater the steering torque (steering reaction force), and the heavier the steering wheel feels to the driver. However, when the steering angle increases while the vehicle is traveling at a constant speed (e.g., 60 km / h), such as... Figure 6 As shown in (A), the steering torque (steering reaction force) saturates midway and then decreases.

[0099] As described above, by detecting the decrease in steering torque as the steering angle increases while the vehicle is traveling at a constant speed, the driver can determine the tire grip limit (i.e., the vehicle limit). Therefore, by reproducing the above phenomenon in the remote operating system 1, the remote operator of the remote vehicle 10 can appropriately determine the vehicle limit based on the steering reaction force of the steering wheel 33 and perform steering appropriate to the vehicle limit (i.e., counter-steering).

[0100] Therefore, in the reference example, the processor 25 executes notification control (communication control) to apply a steering reaction force to the steering wheel 33 on the remote operating device 20 side, according to the target reaction force described below. The application of the steering reaction force is performed by controlling the aforementioned reaction force actuator.

[0101] Figure 6 (B) is a diagram used to illustrate the notification control involved in the reference example. For example... Figure 6 As shown in (B), the functional block related to this notification control includes a base reaction force calculation unit 100, a reaction force difference calculation unit 101, and a target reaction force calculation unit 102. The target reaction force calculation unit 102 calculates the target reaction force by subtracting the reaction force difference from the base reaction force. The base reaction force calculation unit 100 calculates the base reaction force, for example, in a manner that increases with the steering angle (cockpit steering wheel angle) of the steering wheel 33. The reaction force difference calculation unit 101 calculates the reaction force difference based on the cockpit steering wheel angle and the actual vehicle state quantities (vehicle speed V and yaw rate YR) from the remote vehicle 10. The reaction force difference is calculated, for example, according to pre-determined relational information (e.g., a formula) to obtain the target reaction force. That is, the reaction force difference is calculated as the value required to obtain the target reaction force that increases with the increase of the cockpit steering wheel angle during the constant speed travel of the remote vehicle 10 and then decreases as the vehicle reaches its limit.

Claims

1. A remote operation device that is a remote operation device for remote operation of a vehicle, comprising: a notification device that notifies a remote operator of the vehicle by at least one of hearing, touch, and sight; and one or more processors, wherein in a case where control active information indicating that a vehicle stabilization control for travel stabilization of the vehicle is active is received from the vehicle, the one or more processors control the notification device to make an active notification to the remote operator indicating that the vehicle stabilization control is active.

2. The remote operation device according to claim 1, wherein the vehicle stabilization control includes a plurality of kinds of vehicle stabilization control, and the one or more processors control the notification device to make the active notification in different manners according to the kind of the vehicle stabilization control.

3. The remote operation device according to claim 1 or 2, wherein the notification device notifies the remote operator of information by at least one of hearing and touch, in the vehicle stabilization control, the greater the difference between a target vehicle state quantity and an actual vehicle state quantity of the vehicle, the greater the control quantity for the travel stabilization, and the one or more processors control the notification device so that the frequency of sound or vibration generated by the notification device for the active notification during the active of the vehicle stabilization control is raised according to the difference.

4. The remote operation device according to claim 1 or 2, wherein the notification device notifies the remote operator of information by at least one of hearing and touch, and in a case where the difference between the target vehicle state quantity and the actual vehicle state quantity of the vehicle exceeds a second threshold value that is smaller than a first threshold value at which the vehicle stabilization control is started, the one or more processors control the notification device to start the active notification before the control active information is received from the vehicle.

5. The remote operation device according to claim 2, wherein the notification device notifies the remote operator of information by at least one of hearing and touch, and making the active notification in different manners according to the kind includes at least one of outputting sound in different directions according to the kind and outputting vibration in different positions according to the kind. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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