Vehicle control system

Abstract

A vehicle control system capable of controlling a vehicle from the outside even in a case where an abnormality occurs in a peripheral monitoring image on the vehicle side. A vehicle control system having an ECU of a vehicle capable of displaying an image representing an environment of a periphery of the vehicle on a screen of a display device in the vehicle, and an external device connected to the ECU from the outside, in the vehicle control system, the external device includes an image acquisition unit that acquires the image displayed on the screen, an abnormality determination unit that determines whether an abnormality occurs in the acquired image, a control instruction generation unit that generates a control instruction for controlling driving of the vehicle based on the image in a case where no abnormality occurs in the acquired image, and a control instruction transmission unit that transmits the control instruction to the ECU, the ECU includes a vehicle control unit that controls the driving of the vehicle based on the control instruction.

Description

Technical Field

[0001] This invention relates to a vehicle control system. Background Technology

[0002] Previously, it was known that in the event of a malfunction in the display processing unit inside a display device, the technology of switching the transmission path of the display image and continuing to display the image was known (see Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2010-076461 Summary of the Invention

[0004] For example, when a vehicle is completed, it may sometimes be moved to a designated location. In this case, the convenience would be improved if the vehicle were driven autonomously. However, since not all manufactured vehicles have autonomous driving capabilities, those that do not have autonomous driving capabilities cannot be driven autonomously upon completion.

[0005] Therefore, it is considered to connect external devices to the vehicle and control the vehicle from the outside using the surrounding monitoring images on the side of the vehicle.

[0006] However, the aforementioned patent documents only disclose the technology of switching images on the vehicle side based on the situation inside the vehicle. Therefore, if we envision using the vehicle-side peripheral monitoring images to control the vehicle from the outside, it may be difficult to control the vehicle from the outside if an anomaly occurs in the vehicle-side peripheral monitoring images.

[0007] More specifically, the technology described in the aforementioned patent documents is based on the premise of using surrounding monitoring images while the driver is driving, and therefore the images are switched in order to utilize the surrounding monitoring images inside the vehicle. Therefore, it is not envisioned that the images be switched when the vehicle is controlled from the outside.

[0008] Therefore, the object of the present invention is to provide a vehicle control system that can control the vehicle from the outside even if an anomaly occurs in the surrounding monitoring images on the vehicle side.

[0009] The main points of this invention are as follows.

[0010] (1) A vehicle control system comprising: a vehicle control device capable of displaying images representing the environment surrounding the vehicle on a screen of a display device inside the vehicle; and an external device connected to the control device from the outside, wherein the vehicle control system,

[0011] The external device includes:

[0012] An image acquisition unit acquires the image displayed on the screen;

[0013] Anomaly determination unit determines whether an anomaly has occurred in the acquired image;

[0014] A control instruction generation unit, which, if no abnormality is found in the acquired image, generates control instructions for driving the vehicle based on the image; and

[0015] A control instruction transmitting unit that sends the control instruction to the control device.

[0016] The control device includes a vehicle control unit, which controls the driving of the vehicle based on the control instructions.

[0017] (2) The vehicle control system according to (1) above, wherein,

[0018] The external device also includes:

[0019] An image switching instruction generation unit generates an image switching instruction for switching the image displayed on the screen when an anomaly occurs in the acquired image; and

[0020] The image switching instruction transmitting unit sends the image switching instruction to the vehicle.

[0021] The control device includes an image switching unit, which switches the images displayed on the screen based on the image switching instruction.

[0022] (3) The vehicle control system according to (1) above, wherein,

[0023] The control device includes an image switching unit, which switches the images displayed on the screen at predetermined times.

[0024] Invention Effects

[0025] According to the present invention, a vehicle control system is provided that enables external control of the vehicle even in the event of an anomaly in the surrounding surveillance footage on the vehicle side. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a vehicle control system based on one implementation method.

[0027] Figure 2 It is a schematic diagram of the external device.

[0028] Figure 3 It is a diagram showing the surrounding surveillance images of the vehicle displayed on the screen of the display device.

[0029] Figure 4This diagram shows a situation where the surrounding monitoring images of a vehicle are simultaneously displayed on the screen of the display device, showing both an image of the vehicle viewed from above and an image of the vehicle's direction of travel taken from above.

[0030] Figure 5 This is a diagram illustrating an example of an anomaly occurring in an image displayed on a screen on a display device.

[0031] Figure 6 This is a diagram illustrating an example of an anomaly occurring in an image displayed on a screen on a display device.

[0032] Figure 7 This diagram shows a situation where a view of the vehicle from above and a view of the front of the vehicle are displayed simultaneously on the screen.

[0033] Figure 8 This is a schematic diagram representing the functional modules of the ECU's processor.

[0034] Figure 9 This is a schematic diagram representing the functional modules of the processor in an external device.

[0035] Figure 10 It is a flowchart showing the processing performed by the ECU's processor in each specified control cycle. Detailed Implementation

[0036] Hereinafter, several embodiments of the present invention will be described with reference to the figures. However, these descriptions are merely illustrative of preferred embodiments of the present invention and are not intended to limit the present invention to such specific embodiments.

[0037] Figure 1 This is a schematic structural diagram of a vehicle control system 1000 based on one embodiment. The vehicle control system 1000 includes a vehicle system 100 mounted on a vehicle and an external device 200. More specifically, the vehicle control system 1000 includes a vehicle control device (electronic control device 150) capable of displaying images of the vehicle's surrounding environment on a display device 120 inside the vehicle, and an external device 200 connected to the control device from the outside.

[0038] The vehicle system 100 includes an onboard camera 110, a display device 120, a vehicle control device 130, a connector 140, and an electronic control unit (ECU, hereinafter referred to as ECU) 150. These components of the vehicle system 100 are communicatively connected via an in-vehicle network conforming to standards such as Controller Area Network (CAN).

[0039] The vehicle-mounted camera 110 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as CCD or C-MOS, and an imaging optical system that images the area to be photographed onto the two-dimensional detector. The vehicle-mounted camera 110 photographs the area around the vehicle (e.g., in front of the vehicle) and generates an image representing the vehicle's surroundings. The vehicle-mounted camera 110 takes pictures at each predetermined photographing cycle (e.g., 1 / 30 to 1 / 10 of a second). The vehicle-mounted camera 110 outputs the generated images to the ECU 150 via an in-vehicle network.

[0040] The vehicle-mounted camera 110 consists of multiple vehicle-mounted cameras 110, such as a front-facing camera, two side cameras (left and right), and a rear-facing camera. In the images generated by the multiple vehicle-mounted cameras 110, points on the images are converted to points on the ground using coordinates. Then, by synthesizing the images from each vehicle-mounted camera 110, for example, an image of the vehicle viewed from above (panoramic image) is generated.

[0041] The display device 120, for example, is a liquid crystal display (LCD) and is located near the instrument panel or dashboard. The display device 120 displays images generated by each of the vehicle-mounted cameras 110, as well as images obtained by combining the images generated by each of the vehicle-mounted cameras 110. This allows the driver to identify areas that are difficult to see, such as the rear or side of the vehicle, and thus to detect obstacles around the vehicle when it is parked.

[0042] Vehicle control equipment 130 includes various devices related to vehicle control, such as drive devices like internal combustion engines or electric motors that serve as the drive source for driving the vehicle, transmissions, braking devices for braking the vehicle, and steering devices for turning the vehicle.

[0043] Connector 140 is a component for connecting external device 200. Connector 220 of external device 200, which will be described later, is attached to connector 140.

[0044] ECU 150 includes a processor 152, a memory 154, and a communication interface 156. The processor 152 has one or more central processing units (CPUs) and their peripheral circuitry. The processor 152 may also include other arithmetic circuitry such as logic units, numerical processing units, or graphics processing units. The memory 154 includes, for example, volatile and non-volatile semiconductor memories, storing data related to the processing involved in this embodiment. The communication interface 156 has interface circuitry for connecting the ECU 150 to an in-vehicle network.

[0045] However, once a vehicle is manufactured, it may need to be moved to a designated location. For example, a completed vehicle may be moved from the factory grounds to a designated storage area. In such cases, if the vehicle is driven autonomously, operators will not need to drive it, increasing convenience and reducing manufacturing costs.

[0046] On the other hand, not all manufactured vehicles have autonomous driving capabilities, so vehicles without autonomous driving capabilities cannot perform autonomous driving upon completion.

[0047] Therefore, the vehicle control system 1000 of this embodiment achieves temporary automatic driving of the entire vehicle without altering the vehicle itself by connecting an external device 200 to the vehicle system 100. The external device 200 acquires surrounding monitoring images displayed on the display device 120 and instructs vehicle control to the vehicle system 100 based on the surrounding monitoring images. Thus, for example, a mechanism is established for a manually driven vehicle to drive automatically within the yard after inspection is completed.

[0048] Figure 2 This is a schematic structural diagram of external device 200. External device 200 includes camera 210, connector 220, and control device 230. These components of vehicle system 100 are communicatively connected via an internal network.

[0049] Camera 210 is configured in the same manner as vehicle-mounted camera 110. Camera 210 is mounted in front of display device 120, for example, using a clamp. Camera 210 captures images of display device 120 and generates an image representing the image of display device 120. Camera 210 outputs the generated image to control device 230.

[0050] Connector 220 is a component that connects to connector 140 of vehicle system 100. This enables communication between vehicle system 100 and external device 200. Control device 230 has processor 232, memory 234, and communication interface 236, and has the same hardware structure as ECU 150 of vehicle system 100.

[0051] Figure 3 It is a diagram showing the surrounding surveillance images of the vehicle 20 displayed on the screen 10 of the display device 120. Figure 3 This is an image of the vehicle viewed from above, representing an image synthesized using the method described above. For example, in the case of a completed vehicle moving within a factory site, such as... Figure 3 As shown, a white line 30 representing the target trajectory of vehicle 20 is drawn on the road surface where vehicle 20 actually travels. Frame 10 is captured by camera 210 of external device 200, and the image representing frame 10 is acquired by external device 200.

[0052] The external device 200, which acquires the image of frame 10, detects the white line 30 in the image and sets a target point 40 on the white line 30. It then generates a control instruction to cause vehicle 20 to move toward the target point 40 and sends this instruction to vehicle 20. Based on the sent control instruction, vehicle 20 controls vehicle control device 130 and moves along the white line 30 toward the target point 40. The target point 40 is, for example, a point located on the white line 30 at a predetermined distance from vehicle 20.

[0053] Figure 4 This diagram illustrates a situation where the surrounding surveillance images of the vehicle are simultaneously displayed on the screen 10 of the display device 120, showing both an image of the vehicle 20 viewed from above (the image on the right) and an image of the vehicle 20 viewed from above in the direction of travel (the image on the left). Figure 4 The image shows the external device 200 setting the target point 40 in the image ahead in the direction of travel. If no abnormalities caused by water droplets or dirt occur in the image captured by the vehicle-mounted camera 110, the external device 200 can... Figure 4 The image shown is used to control vehicle 20 to move toward target point 40.

[0054] on the other hand, Figure 5 and Figure 6 This is a diagram illustrating an example of an anomaly occurring in the image displayed on the screen 12 of the display device 120. Figure 5 An example is shown where water droplets adhere to at least one of the multiple vehicle-mounted cameras 110, causing the entire image on the left side to become blurry. Furthermore, in... Figure 6 The image shows an example where dirt 50 adheres to at least one of the multiple vehicle-mounted cameras 110, and the image on the left side becomes blurry. For example... Figure 5 and Figure 6 As shown, if an abnormality occurs in the image displayed on the screen 12 of the display device 120, the external device 200 cannot set the target point 40 due to factors such as the white line 30 not being displayed in the image, making it difficult to control the driving of the vehicle 20.

[0055] Therefore, in this embodiment, the vehicle system 100 has the following function: when the connection of the external device 200 is detected, it switches the type of surrounding surveillance video. For example, when an event occurs... Figure 5 or Figure 6 Such abnormal image switching as Figure 4 Such normal video footage. By switching the surrounding surveillance footage to normal video footage where no abnormalities have occurred, the autonomous driving of vehicle 20 can continue even under adverse conditions such as water droplets or dirt adhering to the vehicle-mounted camera 110.

[0056] When the external device 200 detects obstacles in the detection of target points or obstacles due to obstructed surrounding surveillance images caused by water droplets or dirt, it requests the vehicle to switch the type of image. By using images generated by a different camera than the one that captured the obstructed image, continuous autonomous driving is possible.

[0057] The images can be switched according to priority. For example, if an anomaly occurs in image 1, the images can be switched in descending order of priority, such as image 2, image 4, and so on. These switching processes can be implemented when the vehicle 20 is parked, or when the safety of the area around the vehicle 20 can be ensured.

[0058] Furthermore, if there is no image to replace the image that caused the anomaly, or if the autonomous driving of vehicle 20 cannot be sustained even after a certain number of switching operations, the external device 200 may interrupt vehicle control and request anomaly handling. As a result, vehicle 20 stops, and a warning may be displayed on display device 120.

[0059] The external device 200 not only controls the vehicle 20 to travel along the white line 30, but also controls the vehicle 20 to avoid obstacles. Figure 7 This diagram illustrates a situation where the display device 120 simultaneously displays an image of the vehicle 20 viewed from above (the image on the right) and an image of the front of the vehicle 20 (the front view, the image on the left).

[0060] exist Figure 7 In the example shown, a person is represented as obstacle 60 in the image captured in front of vehicle 20. When external device 200 detects obstacle 60 from the image displayed on screen 16 of display device 120, it generates a control instruction to slow down or stop the vehicle and sends it to vehicle system 100. Furthermore, external device 200 generates a control instruction for the vehicle to travel in a manner that avoids obstacle 60 and sends it to vehicle system 100. Based on the sent control instructions, the vehicle controls vehicle control device 130 to travel in a manner that slows down, stops, or avoids obstacle 60.

[0061] Additionally, the external device 200 can acquire images displayed on the display device 120 via wired data transmission through connectors 140 and 220. Furthermore, the external device 200 can acquire images displayed on the display device 120 via wireless data transmission.

[0062] Figure 8This is a schematic diagram showing the functional modules of the processor 152 of the ECU 150 in the vehicle system 100. The processor 152 of the ECU 150 includes an image acquisition unit 152a, a connection determination unit 152b, an image switching unit 152c, a display processing unit 152d, a vehicle control unit 152e, and a communication unit 152f. These units of the processor 152 are, for example, functional modules implemented by a computer program running on the processor 152. That is, the functional modules of the processor 152 consist of the processor 152 and the program (software) used to enable its functions. Furthermore, this program can be recorded in the memory 154 of the ECU 150 or from an externally connected recording medium. Alternatively, these units of the processor 152 can be dedicated computing circuits provided in the processor 152.

[0063] The image acquisition unit 152a acquires images generated by the vehicle-mounted camera 110. The image acquisition unit 152a acquires multiple different images generated by multiple vehicle-mounted cameras 110. Furthermore, the image acquisition unit 152a can synthesize the images generated by the multiple vehicle-mounted cameras 110 and acquire the synthesized image.

[0064] The connection determination unit 152b determines whether the external device 200 is connected to the vehicle system 100. The connection determination unit 152b determines whether the external device 200 is connected to the vehicle system 100, for example, based on a voltage or current value related to the connection of the external device 200. Furthermore, for example, if the communication unit 152f receives a specified message from the external device 200 confirming the connection, the connection determination unit 152b can determine that the external device 200 is connected to the vehicle system 100.

[0065] The image switching unit 152c switches between multiple different images acquired by the image acquisition unit 152a. The image switching unit 152c can switch the images displayed on the screen of the display device 120 based on the image switching instruction sent from the external device 200.

[0066] Furthermore, the image switching unit 152c can switch the images displayed on the screen of the display device 120 at a predetermined time without relying on instructions from the external device 200. Therefore, when the external device 200 acquires an image displayed on the screen of the display device 120, the probability that any of the switched images will not experience any abnormalities increases. Thus, the external device 200 can generate a control instruction based on the acquired image when it acquires an image that has not experienced any abnormalities.

[0067] The images generated by multiple vehicle-mounted cameras 110 can be associated with identification information (image ID). For example, Figure 3 The image can be an image with image ID "1". Figure 7The image on the left can be the image with image ID "2". Furthermore, the correspondence between the types of images generated by the multiple vehicle-mounted cameras 110 and their image IDs can be pre-shared between the vehicle system 100 and the external device 200, and stored in memory 154 and memory 234. By sharing the image IDs of the images displayed on the display device 120, the vehicle system 100 and the external device 200 can mutually identify which image is displayed on the display device 120.

[0068] The display processing unit 152d performs processing for displaying the image acquired by the image acquisition unit 152a on the display device 120. When the image is switched by the image switching unit 152c, the display processing unit 152d displays the switched image on the display device 120.

[0069] The vehicle control unit 152e controls the driving of the vehicle based on control instructions received from the external device 200. Specifically, the vehicle control unit 152e controls the vehicle control device 130 based on control instructions received from the external device 200, thereby controlling the driving of the vehicle.

[0070] The communication unit 152f receives control instructions from the external device 200. Furthermore, the communication unit 152f sends the image ID of the image currently displayed on the screen of the display device 120 to the external device 200. The communication unit 152f can also send the image displayed on the display device 120 to the external device 200 via wired or wireless means.

[0071] Figure 9 This is a schematic diagram showing the functional modules of the processor 232 of the external device 200. The processor 232 of the external device 200 includes an image acquisition unit 232a, an anomaly detection unit 232b, an image switching instruction generation unit 232c, an obstacle detection unit 232d, a control instruction generation unit 232e, and a communication unit 232f. Similar to the processor 152 of the ECU 150, these units of the processor 232 are functional modules implemented, for example, by a computer program running on the processor 232. The functional modules of the processor 232 consist of the processor 232 and the program (software) used to enable its functions. Furthermore, this program can be recorded in the memory 234 or in a recording medium connected externally. Alternatively, these units of the processor 232 can be dedicated arithmetic circuits provided in the processor 232.

[0072] The image acquisition unit 232a acquires images displayed on the screen of the display device 120. Specifically, the image acquisition unit 232a acquires an image representing the screen of the display device 120 generated by the camera 210 capturing the screen of the display device 120. When the image displayed on the display device 120 is transmitted to an external device 200 via wired or wireless means, the image acquisition unit 232a can acquire the transmitted image.

[0073] The anomaly determination unit 232b determines whether an anomaly has occurred in the image displayed on the display device 120, acquired by the image acquisition unit 232a. For example, such as... Figure 5 and Figure 6 As shown, when part or all of the image becomes unclear, the anomaly determination unit 232b determines that an anomaly has occurred in the image representing the screen of the display device 120. The anomaly determination unit 232b can determine whether an anomaly has occurred based on the duration of the state in which a detectable target is not detected on the screen, the size of the area where the target can be detected, and the brightness of the entire screen or a specific area of ​​the screen. Here, the target may be the vehicle itself displayed on the screen or a white line on the road surface, etc.

[0074] When an anomaly occurs in the image acquired by the image acquisition unit 232a, the image switching instruction generation unit 232c generates an image switching instruction for switching the image displayed on the screen of the display device 120. The image switching instruction may include an image ID that specifies the image displayed on the screen of the display device 120. Thus, for example, if the image switching instruction specifies an image ID "2" corresponding to the front view of the vehicle 20, the image switching unit 152c of the vehicle system 100 can switch the image displayed on the screen of the display device 120 to the front view based on the image ID.

[0075] The obstacle determination unit 232d determines whether there is an obstacle in the image displayed on the screen of the display device 120.

[0076] When no abnormality occurs in the image displayed on the screen of the display device 120, the control instruction generation unit 232e generates control instructions for driving the vehicle based on the image displayed on the screen of the display device 120. The control instruction generation unit 232e detects a target in the image displayed on the screen of the display device 120 and calculates control instruction values ​​for the vehicle 20 to cause the vehicle to move towards the target. For example, such as... Figure 3As shown, the control instruction generation unit 232e detects the white line 30 on the road surface based on the image displayed on the screen of the display device 120, sets a target point 40 on the white line 30, and calculates a control instruction value for the vehicle 20 so that the vehicle 20 drives towards the target point 40. In cases where the processing of generating control instructions based on the image currently displayed on the screen of the display device 120 differs, the control instruction generation unit 232e generates control instructions based on the image ID received from the vehicle system 100, using processing corresponding to the image currently displayed on the screen of the display device 120.

[0077] And, as Figure 7 As shown, when an obstacle 60 is indicated in an image taken in front of the vehicle 20, the control instruction generation unit 232e generates a control instruction to slow down or stop the vehicle 20, or generates a control instruction for the vehicle 20 to drive in a manner that avoids the obstacle 60.

[0078] Obstacles, white lines, etc., displayed on the screen of display device 120 can be detected, for example, by matching a template image with a template of the image displayed on the screen of display device 120, or by inputting the image displayed on the screen of display device 120 into a recognizer that has undergone machine learning for object detection. The same method can also be used to detect whether part or all of the image displayed on the screen of display device 120 has become unclear.

[0079] Furthermore, as the aforementioned recognizer, for example, a pre-learned segmentation recognizer can be used. This segmentation recognizer outputs the probability of an object appearing in each pixel of the input image according to the type of object that might appear in that pixel, and identifies it as the object with the highest probability. As such a recognizer, for example, a deep neural network (DNN) with a segmentation convolutional neural network (CNN) architecture, such as a fully convolutional neural network (FCN), can be used.

[0080] The communication unit 232f processes the transmission of control instructions to the vehicle system 100. In this case, the communication unit 232f functions as a control instruction transmitting unit that transmits control instructions to the processor 152. Furthermore, the communication unit 232f processes the transmission of image switching instructions to the vehicle system 100. In this case, the communication unit 232f functions as an image switching instruction transmitting unit that transmits image switching instructions to the processor 152. The communication unit 232f also receives the image ID of the image currently displayed on the screen of the display device 120, transmitted from the vehicle system 100. Moreover, the communication unit 232f can receive images transmitted from the vehicle system 100 via wired or wireless means and displayed on the screen of the display device 120.

[0081] Figure 10 This is a flowchart illustrating an example of the processing performed by the processor 152 of the ECU 150 according to each predetermined control cycle. First, the connection determination unit 152b of the processor 152 of the ECU 150 determines whether the external device 200 is connected to the vehicle system 100 (step S10). If the external device 200 is connected to the vehicle system 100, it determines whether an image switching instruction has been received by the communication unit 152f (step S12).

[0082] On the other hand, in step S10, when no external device 200 is connected to the vehicle system 100, the display processing unit 152d displays a preset default image on the display device 120 (step S14). Furthermore, the default image can be an image generated by a specific camera among the multiple vehicle-mounted cameras 110. Moreover, the default image can be set according to the driver's operation.

[0083] If an image switching instruction is received in step S12, it is determined whether the image indicated by the image switching instruction is any one of the multiple images 1 to N generated by the multiple vehicle cameras 110 (step S16). Then, if the image indicated by the image switching instruction is any one of images 1 to N, the image switching unit 152c performs the process of switching the image to be displayed on the display device 120 to the image indicated by the image switching instruction, and the display processing unit 152d displays the switched image on the display device 120 (step S18).

[0084] On the other hand, in step S16, if the image indicated by the image switching indicator is not any of the multiple images 1 to N, the display processing unit 152d displays the default image on the display device 120 (step S20).

[0085] As explained above, according to this embodiment, in autonomous driving within a factory, when the vehicle is controlled from the outside based on the surrounding monitoring images on the vehicle side, if a specific image is difficult to identify due to certain factors, the surrounding monitoring images can be automatically switched, and the vehicle can continue to drive autonomously based on the switched images.

[0086] Symbol Explanation

[0087] 150 - Electronic Control Unit (ECU), 152 - Processor, 152c - Image Switching Unit, 152e - Vehicle Control Unit, 230 - Control Unit, 232 - Processor, 232a - Image Acquisition Unit, 232b - Anomaly Detection Unit, 232e - Control Instruction Generation Unit, 232f - Communication Unit, 1000 - Vehicle Control System.

Claims

1. A vehicle control system comprising: a vehicle control unit capable of displaying images representing the vehicle's surrounding environment on a screen of a display device inside the vehicle; and an external device connected to the control unit from the outside, the vehicle control system being characterized in that... The external device includes: An image acquisition unit acquires the image displayed on the screen; Anomaly determination unit determines whether an anomaly has occurred in the acquired image; A control instruction generation unit, which, if no abnormality is found in the acquired image, generates control instructions for driving the vehicle based on the image; and A control instruction transmitting unit that sends the control instruction to the control device. The control device includes a vehicle control unit, which controls the driving of the vehicle based on the control instructions.

2. The vehicle control system according to claim 1, characterized in that, The external device also includes: An image switching instruction generation unit generates an image switching instruction for switching the image displayed on the screen when an anomaly occurs in the acquired image; and The image switching instruction transmitting unit sends the image switching instruction to the vehicle. The control device includes an image switching unit, which switches the images displayed on the screen based on the image switching instruction.

3. The vehicle control system according to claim 1, characterized in that, The control device includes an image switching unit, which switches the images displayed on the screen at predetermined times.

Images