Remote support device

Abstract

To provide a remote support device that remotely supports the travel of a vehicle, and during turning of the vehicle, allows a remote driver to grasp the subsequent movement of the vehicle.SOLUTION: A remote support device 11 comprises a remote support control unit 91 enabling wireless communication with a vehicle 100, and remotely supports the travel of the vehicle. The remote support control unit acquires, through the wireless communication, an image in an advancing direction of the vehicle acquired by an imaging apparatus 126 of the vehicle and displays the image on a display device 114 of the remote support device, and displays, on the image being displayed on the display device, a rear inner wheel line that is a line predicted as a line through which a rear inner wheel of the vehicle passes during turning of the vehicle.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a remote support device. [Background technology]

[0002] There is known a remote support device that remotely supports the driving of a vehicle. As this type of remote support device, there is also known a remote support device that is configured to provide information about the traveling route of the vehicle to an operator (remote driver) who drives the vehicle remotely using the remote support device by displaying the traveling route of the vehicle on a display of the remote support device (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-174921 A Summary of the Invention

[0004] If the remote driver can grasp the future movement of the vehicle while the vehicle is turning, the remote driver can more easily provide support using the remote support device.

[0005] An object of the present invention is to provide a remote support device that remotely supports the driving of a vehicle and allows a remote driver to grasp the future movement of the vehicle while the vehicle is turning.

[0006] A remote support device according to the present invention includes a remote support control device capable of wireless communication with a vehicle, and remotely supports driving of the vehicle. The remote support control device is configured to acquire an image of the traveling direction of the vehicle acquired by an imaging device of the vehicle via wireless communication, display the image on a display device of the remote support device, and display, on the image displayed on the display device, a rear inner wheel line that is a line predicted as a line along which the rear inner wheel of the vehicle will pass while the vehicle is turning.

[0007] According to the remote support device of the present invention, the rear inner wheel line is displayed on the image in the traveling direction of the vehicle while the vehicle is turning. Therefore, the operator (remote driver) who remotely supports the driving of the vehicle by operating the remote support device can grasp the future movement of the vehicle.

[0008] Furthermore, in the remote support device of the present invention, the remote support control device can be configured to display the rear inner wheel line at a position in the image that is predicted to be the position where the rear inner wheel of the vehicle will pass, and to predict the rear inner wheel line to a farther point when the steering angle of the vehicle is a second steering angle that is greater than the first steering angle than when the steering angle of the vehicle is a first steering angle.

[0009] According to the remote support device of the present invention, when the steering angle of the vehicle is large, the rear inner wheel line is predicted up to a distant point. Therefore, even if the steering angle of the vehicle is large, the rear inner wheel line can be displayed on the image.

[0010] Furthermore, in the remote support device according to the present invention, the remote support control device can be configured to display the rear inner wheel line on the image when the steering angle of the vehicle is equal to or greater than a predetermined display steering angle.

[0011] According to the remote support device of the present invention, when the steering angle of the vehicle is large, the rear inner wheel line is displayed. Therefore, the rear inner wheel line can be displayed according to the necessity of displaying the rear inner wheel line on the image.

[0012] Furthermore, in the remote support device according to the present invention, the remote support control device can be configured to display the rear inner wheel line on the image when the traveling speed of the vehicle is equal to or lower than a predetermined display speed.

[0013] According to the remote support device of the present invention, when the vehicle is traveling at a slow speed, the rear inner wheel line is displayed. Therefore, the rear inner wheel line can be displayed according to the necessity of displaying the rear inner wheel line on the image.

[0014] Furthermore, in the remote support device of the present invention, the remote support control device can be configured to display the rear inner wheel line on the image if, when the rear inner wheel line is displayed on the image, the rear inner wheel line intersects with an object in the image.

[0015] According to the remote support device of the present invention, it is possible to allow a user of the remote support device to know whether or not the vehicle will come into contact with an object in the traveling direction.

[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 associated 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] FIG. 1 is a diagram showing a remote support system including a remote support device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a flowchart showing a routine executed by the remote support device according to the embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram showing a display of a remote support device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] In the embodiment of the present invention, remote driving, which is one type of remote support, is taken as an example for explanation. Remote driving refers to remote support of a vehicle in which at least a part of the DDT (Dynamic Driving Task) is performed by a person in a remote location of the vehicle. The person in the remote location is also called a remote driver.

[0019] Hereinafter, a remote driving system including a remote driving device according to an embodiment of the present invention will be described with reference to the drawings. Here, Fig. 1 shows a remote driving system 10. The remote driving system 10 includes a remote driving device 11 and a vehicle 100. The vehicle 100 is equipped with a vehicle control device 12.

[0020] The remote driving device 11 is a device installed outside the vehicle 100, and as described below, is used to remotely support the driving of the vehicle 100. In particular, in this example, the remote driving device 11 is used to remotely drive the vehicle 100.

[0021] 1, the remote driving device 11 includes an ECU (remote driving ECU 91) as a control device. Similarly, the vehicle control device 12 also includes an ECU (vehicle control ECU 92) as a control device.

[0022] The remote driving ECU 91 and the vehicle control ECU 92 each include a microcomputer as a main part. The microcomputer includes a CPU, a storage medium such as a ROM, a RAM, and a non-volatile memory, and an interface. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the remote driving device 11 stores in a storage medium a program that realizes various controls executed by the remote driving device 11, and the vehicle control device 12 also stores in a storage medium a program that realizes various controls executed by the vehicle control device 12.

[0023] The remote driving device 11 and the vehicle control device 12 may be configured so that the programs stored in the storage media can be updated via wireless communication with an external device (for example, Internet communication).

[0024] The remote driving device 11 is equipped with a transceiver (remote driving transceiver 110) as a transmitting / receiving device. Also, the vehicle 100 is equipped with a transceiver (vehicle control transceiver 120) as a transmitting / receiving device. The remote driving transceiver 110 is electrically connected to the remote driving ECU 91. Also, the vehicle control transceiver 120 is electrically connected to the vehicle control ECU 92. The remote driving device 11 and the vehicle control device 12 can transmit and receive signals (information) to and from each other via the remote driving transceiver 110 and the vehicle control transceiver 120. That is, the remote driving device 11 is capable of wireless communication with the vehicle 100.

[0025] In particular, the remote driving device 11 and the vehicle control device 12 perform remote driving (remote support) of the vehicle 100, and the vehicle control device 12 transmits various information to the remote driving device 11, such as identification information (so-called ID) of the vehicle 100, the time the information was transmitted, the position of the vehicle 100, the driving speed, acceleration and direction of travel, turn signal and horn information, fuel amount and / or battery charge amount, abnormality information of the vehicle 100, and tire friction and / or road friction, as information used by the remote driving device 11 to remotely drive the vehicle 100.

[0026] The vehicle 100 is also equipped with a traveling device 121. The traveling device 121 is a device for causing the vehicle 100 to travel, and in this example includes a driving device, a braking device, and a steering device. The driving device is a device that applies a driving force to the vehicle 100. The braking device is a device that applies a braking force to the vehicle 100. The steering device is a device that applies a steering force to the vehicle 100.

[0027] Furthermore, the vehicle 100 is equipped with a steering angle sensor 122, a yaw rate sensor 123, a lateral acceleration sensor 124, a vehicle speed detection device 125, and a camera 126 as an imaging device.

[0028] The steering angle sensor 122, the yaw rate sensor 123, the lateral acceleration sensor 124, the vehicle speed detection device 125, and the camera 126 are electrically connected to the vehicle control ECU 92. The vehicle control device 12 acquires the steering angle of the vehicle 100 as a steering angle δ using the steering angle sensor 122, acquires the yaw rate of the vehicle 100 as a yaw rate YR using the yaw rate sensor 123, acquires the lateral acceleration of the vehicle 100 as a lateral acceleration Gy using the lateral acceleration sensor 124, acquires the traveling speed of the vehicle 100 as a vehicle speed V using the vehicle speed detection device 125, and acquires an image of the surroundings of the vehicle 100 as a camera image using the camera 126.

[0029] The vehicle control device 12 transmits the acquired information on the steering angle δ, the yaw rate YR, the lateral acceleration Gy, the vehicle speed V, and the camera image to the outside of the vehicle 100 via the vehicle control transceiver 120. The information transmitted from the vehicle control device 12 is acquired by the remote driving ECU 91 via the remote driving transceiver 110.

[0030] The remote driving device 11 is also equipped with an acceleration operation device 111, a deceleration operation device 112, a steering operation device 113, and a display 114 as a display device.

[0031] The acceleration operator 111 , the deceleration operator 112 , the steering operator 113 and the display 114 are electrically connected to the remote driving ECU 91 .

[0032] The acceleration operation device 111 is a device operated by a remote driver to provide driving force to the vehicle 100. When the acceleration operation device 111 is operated, the remote driving device 11 transmits information related to the operation of the acceleration operation device 111 (acceleration operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 acquires the acceleration operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120, and controls the operation of the traveling device 121 based on the acceleration operation information to provide driving force to the vehicle 100.

[0033] The remote driver is a person who remotely assists the vehicle 100 in traveling by using the remote driving device 11, and in this example, is a person who drives the vehicle 100 remotely by using the remote driving device 11.

[0034] The deceleration operation device 112 is a device operated by a remote driver to apply a braking force to the vehicle 100. When the deceleration operation device 112 is operated, the remote driving device 11 transmits information related to the operation of the deceleration operation device 112 (deceleration operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 acquires the deceleration operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120, and controls the operation of the traveling device 121 based on the deceleration operation information to apply a braking force to the vehicle 100.

[0035] The steering operation device 113 is a device operated by a remote driver to apply a steering force to the vehicle 100. When the steering operation device 113 is operated, the remote driving device 11 transmits information related to the operation of the steering operation device 113 (steering operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 acquires the steering operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120, and applies a steering force to the vehicle 100 by controlling the operation of the traveling device 121 based on the steering operation information.

[0036] The display 114 is a device that displays images. The remote driving device 11 can display various images on the display 114. In particular, the remote driving device 11 is configured to display on the display 114 a camera image of the traveling direction of the vehicle 100 acquired from the vehicle control device 12 via wireless communication.

[0037] Furthermore, the display 114 may include only a display that displays a camera image in the direction of travel of the vehicle 100, or in addition, it may include a left side monitor that displays an image of the left side of the vehicle 100 and an image of the scenery reflected in the left side mirror of the vehicle 100, and a right side monitor that displays an image of the right side of the vehicle 100 and an image of the scenery reflected in the right side mirror of the vehicle 100.

[0038] <Remote operation system operation> Next, a description will be given of the operation of the remote driving system 10. The remote driving system 10 is a system in which a remote driver operates the acceleration operation device 111, the deceleration operation device 112, and the steering operation device 113 of the remote driving device 11 to remotely drive the vehicle 100.

[0039] Therefore, as mentioned above, when the remote driver operates the acceleration operation device 111, the deceleration operation device 112 and the steering operation device 113, the remote driving device 11 transmits acceleration operation information, deceleration operation information and steering operation information to the vehicle 100, and the vehicle control device 12 controls the operation of the traveling device 121 based on this acceleration operation information, deceleration operation information and steering operation information to cause the vehicle 100 to travel.

[0040] In addition, the remote driving device 11 executes the routine shown in Figure 2 at a predetermined calculation period, and when predetermined conditions are met, displays the rear inner wheel line Lin, bumper line Lbp, and set steering angle line Lset as auxiliary lines on the display 114.

[0041] That is, at a predetermined timing, the remote driving device 11 starts the process from step S200 of the routine shown in Fig. 2, and proceeds to step S205 to determine whether the vehicle 100 is turning. The remote driving device 11 determines whether the vehicle 100 is turning based on the steering angle δ, the yaw rate YR, the lateral acceleration Gy, etc.

[0042] If the remote driving device 11 determines "Yes" in step S205, the process proceeds to step S210, where it obtains the rear inner wheel line Lin and the bumper line Lbp by calculation.

[0043] The inner rear wheel line Lin is a line predicted as a line along which the inner rear wheel of the left and right rear wheels of the vehicle 100 will pass in the future. Note that the remote driving device 11 may be configured to obtain, instead of the inner rear wheel line Lin, a line predicted as a line along which the inner part of the left or right part of the vehicle 100 that passes on the innermost side of the turn will pass in the future.

[0044] In addition, the bumper line Lbp is a line predicted as the line along which the left end of the front bumper of the vehicle 100 will pass in the future (bumper left end line Lbp_L), and a line predicted as the line along which the right end of the front bumper of the vehicle 100 will pass in the future (bumper right end line Lbp_R).

[0045] The remote driving device 11 calculates the rear inner wheel line Lin and the bumper line Lbp based on the steering angle δ, the yaw rate YR, the lateral acceleration Gy, and the like.

[0046] Also, the remote driving device 11 may calculate a rear inner wheel line Lin of a constant length regardless of the steering angle δ, but in this example, it is configured to calculate a rear inner wheel line Lin of a different length depending on the steering angle δ. Specifically, the remote driving device 11 is configured to calculate a rear inner wheel line Lin of a longer length as the steering angle δ increases. That is, the remote driving device 11 is configured to predict the rear inner wheel line Lin to a more distant point when the steering angle δ of the vehicle 100 is a second steering angle that is larger than a first steering angle, compared to when the steering angle δ is a first steering angle.

[0047] In addition, as the rear inner wheel line Lin, when the vehicle 100 is turning left, a line predicted as the line along which the left rear wheel will next pass is calculated, and when the vehicle 100 is turning right, a line predicted as the line along which the right rear wheel will next pass is calculated.

[0048] Next, the remote operation device 11 advances the process to step S215, and determines whether or not the display condition is met.

[0049] The display conditions are conditions for displaying the rear inner wheel line Lin, bumper line Lbp, and set steering angle line Lset on display 114, and in this example are at least one of a vehicle speed condition that the vehicle speed V is equal to or less than a relatively small predetermined vehicle speed (predetermined display speed Vdp), a steering angle condition that the steering angle δ is equal to or greater than a relatively large predetermined steering angle (predetermined display steering angle δdp), and an intersection condition that when the rear inner wheel line Lin and bumper line Lbp are displayed in the camera image of display 114, the rear inner wheel line Lin or bumper line Lbp intersects with an object in the camera image.

[0050] Furthermore, the camera image displayed on the display 114 is a camera image showing the direction of travel of the vehicle 100, and the remote driving device 11 determines whether the rear inner wheel line Lin or the bumper line Lbp intersects with an object in the camera image displayed on the display 114 by image processing based on the camera image information, information regarding the rear inner wheel line Lin, and information regarding the bumper line Lbp.

[0051] If the result of the determination in step S215 is "Yes," the remote driving device 11 advances the process to step S220, and acquires the set steering angle line Lset by calculation.

[0052] The set steering angle line Lset is a line predicted as a line through which the outer part of the turning vehicle 100 passes when the vehicle 100 turns at a relatively large predetermined steering angle (set steering angle δset), and in this example, in particular, is a line predicted as a line through which the outermost part of the turning vehicle 100 will pass in the future when the vehicle 100 turns at the set steering angle δset.

[0053] The set steering angle δset may be the maximum steering angle of the vehicle 100, but in this example, it is set to an angle within a predetermined range smaller than the maximum steering angle of the vehicle 100 based on at least one of the remote driver's operating proficiency, the camera image resolution, and the degree of communication delay.

[0054] Specifically, the lower the remote driver's operating proficiency, that is, the less experience the remote driver has in remotely driving the vehicle 100 using the remote driving device 11, the smaller the set steering angle δset is set to.

[0055] Moreover, the lower the camera image resolution, i.e., the lower the resolution of the camera image displayed on the display 114, the smaller the set steering angle δset is set to. In other words, when the resolution of the camera image displayed on the display 114 is a first resolution, the set steering angle δset is set to a smaller steering angle than when the resolution of the camera image displayed on the display 114 is a second resolution higher than the first resolution.

[0056] Moreover, the set steering angle δset is set to a smaller angle as the degree of communication delay increases, that is, as the degree of delay in wireless communication between the remote driving ECU 91 and the vehicle control ECU 92 increases. In other words, the set steering angle δset is set to a smaller steering angle when the delay amount in wireless communication with the vehicle 100 is the second delay amount that is larger than the first delay amount, than when the delay amount in wireless communication with the vehicle 100 is the first delay amount.

[0057] The upper limit of the set steering angle δset may be set appropriately, for example, at an angle that takes into consideration design variations and manufacturing variations of the vehicle 100 (for example, an angle that is 90% of the maximum steering angle of the vehicle 100).

[0058] Moreover, the remote driving device 11 calculates a set steering angle line Lset based on the turning radius ρ of the vehicle 100 when the vehicle 100 turns at the set steering angle δset.

[0059] For example, the turning radius ρ of the vehicle 100 when the vehicle 100 turns at the set steering angle δset can be obtained by calculation according to the following formula 1. In formula 1, "Kh" is the stability factor, "V" is the vehicle speed V, "L" is the wheelbase of the vehicle 100, and "δset" is the set steering angle δset.

[0060] ρ = (1 + Kh × V 2 ) × L / δset … (1)

[0061] When the set steering angle line Lset is calculated, the vehicle speed V is low and close to zero, so Equation 1 can be approximated as Equation 2 below.

[0062] ρ=L / δset …(2)

[0063] Therefore, the remote driving device 11 obtains the turning radius ρ of the vehicle 100 when the vehicle 100 turns at the set steering angle δset by calculation according to Equation 2, and calculates the set steering angle line Lset based on the turning radius ρ.

[0064] Furthermore, as the set steering angle line Lset, both the line that the right side of the vehicle 100 will pass in the future when the vehicle 100 turns left at the set steering angle δset and the line that the left side of the vehicle 100 will pass in the future when the vehicle 100 turns right at the set steering angle δset may be obtained by calculation, or when the vehicle 100 is turning left, only the line that the right side of the vehicle 100 will pass in the future may be obtained by calculation, and when the vehicle 100 is turning right, only the line that the left side of the vehicle 100 will pass in the future may be obtained by calculation.

[0065] Next, the remote driving device 11 advances the process to step S225, and sets the visibility (attractiveness) of the set steering angle line Lset.

[0066] In this example, the visibility of the set steering angle line Lset is determined according to at least one of the vehicle speed V, the steering angle δ, the operation proficiency of the remote driver, and whether or not the stopping range line Lsp is displayed on the display 114. Specifically, the visibility of the set steering angle line Lset is set to be higher as the vehicle speed V is lower. Also, the visibility of the set steering angle line Lset is set to be higher as the steering angle δ becomes closer to the set steering angle δset within a range equal to or less than the set steering angle δset. Also, the visibility of the set steering angle line Lset is set to be higher as the operation proficiency of the remote driver is lower. Also, the visibility of the set steering angle line Lset is set to be higher when the stopping range line Lsp is not displayed than when it is displayed on the display 114.

[0067] In this example, the vehicle control device 12 is configured to automatically stop the vehicle 100 when wireless communication with the remote driving device 11 is interrupted, and the stopping range line Lsp is a line indicating a position (predicted stopping position) at which the vehicle 100 will be automatically stopped. The remote driving device 11 is configured to display the stopping range line Lsp on the display 114. However, when the vehicle speed V is relatively high, the stopping range line Lsp is located relatively far from the vehicle 100, so the remote driving device 11 can display the stopping range line Lsp on the display 114, but when the vehicle speed V is relatively low, the stopping range line Lsp is located relatively close to the vehicle 100, so the remote driving device 11 cannot display the stopping range line Lsp on the display 114. For this reason, in this example, the stopping range line Lsp may or may not be displayed on the display 114. Therefore, when the predicted stopping position (stopping range line Lsp) is not a position that can be displayed in the camera image displayed on the display 114, the remote driving device 11 is configured to display the set steering angle line Lset in the camera image displayed on the display 114 with higher visibility than when the predicted stopping position (stopping range line Lsp) is a position that can be displayed in the camera image displayed on the display 114.

[0068] Next, the remote driving device 11 advances the processing to step S230, and displays the rear inner wheel line Lin and the bumper line Lbp in the camera image displayed on the display 114, as shown in FIG. 3, and also displays the set steering angle line Lset in the camera image displayed on the display 114 with the visibility set in step S225.

[0069] Furthermore, when the rear inner wheel line Lin, bumper line Lbp and set steering angle line Lset are displayed on the camera image displayed on display 114, the images of the rear inner wheel line Lin, bumper line Lbp and set steering angle line Lset may be displayed superimposed on the camera image, or the data of the images of the rear inner wheel line Lin, bumper line Lbp and set steering angle line Lset may be combined with the data of the camera image and then displayed.

[0070] Also, at this time, the remote driving device 11 displays a rear inner wheel line Lin at a position predicted as the position where the rear inner wheel of the vehicle 100 will pass, displays a bumper left end line Lbp_L at a position predicted as the position where the left end of the front bumper of the vehicle 100 will pass, displays a bumper right end line Lbp_R at a position predicted as the position where the right end of the front bumper of the vehicle 100 will pass, and displays a set steering angle line Lset at a position predicted as the position where the outermost part of the turning outer part of the vehicle 100 will pass when the steering angle δ is the set steering angle δset.

[0071] At this time, if the display 114 includes a left side monitor and a right side monitor, the rear inner wheel line Lin, the bumper line Lbp, or the set steering angle line Lset may be displayed on the left side monitor or the right side monitor.

[0072] In addition, the remote driving device 11 may be configured to set the visibility of the rear inner wheel line Lin and / or the bumper line Lbp, similar to the visibility of the set steering angle line Lset, and to display the rear inner wheel line Lin and / or the bumper line Lbp on the display 114 with the visibility thus set.

[0073] Furthermore, the remote driving device 11 may be configured to display the rear inner wheel line Lin with high visibility on the display 114 when the rear inner wheel line Lin intersects with an object in the camera image when the rear inner wheel line Lin is displayed on the camera image of the display 114. Furthermore, in this case, the remote driving device 11 may be configured to highlight the area where the rear inner wheel line Lin intersects with the object in the camera image by coloring the entire area or by blinking the area.

[0074] In this example, the visibility of the set steering angle line Lset is changed, for example, by changing the darkness of the set steering angle line Lset, changing the color of the set steering angle line Lset, switching the line type between a solid line and a dotted line, or switching the line between continuously lit and flashing.

[0075] Also in FIG. 3, the symbol OBJ denotes an object in the camera image.

[0076] Next, the remote operation device 11 advances the process to step S295, and ends the process of this routine for the time being.

[0077] Moreover, if the remote operation device 11 determines "No" in step S205 or step S215, the process proceeds directly to step S295, and ends the process of this routine for the time being.

[0078] The above is the operation of the remote driving system 10. In this way, the remote driving device 11 includes a remote driving control device (remote driving ECU 91) capable of wireless communication with the vehicle 100, and remotely supports the driving of the vehicle 100. The remote driving control device (remote driving ECU 91) obtains an image (camera image) of the traveling direction of the vehicle 100 acquired by an imaging device (camera 126) of the vehicle 100 via wireless communication, displays it on a display device (display 114) of the remote driving device 11, and displays a rear inner wheel line Lin, which is a line predicted as a line along which the rear inner wheel of the vehicle 100 will pass while the vehicle 100 is turning, on the camera image displayed on the display device (display 114).

[0079] According to this, while the vehicle 100 is turning, the rear inner wheel line Lin is displayed in an image (camera image) in the traveling direction of the vehicle 100. Therefore, an operator (remote driver) who operates the remote driving device 11 to remotely support the driving of the vehicle 100 can grasp the future movement of the vehicle 100.

[0080] Moreover, the remote driving device 11 displays the set steering angle line Lset on the image (camera image) displayed on the display device (display 114).

[0081] This allows the remote driver to grasp the line (set steering angle line Lset) along which the outer part of the turning vehicle 100 passes when the vehicle 100 is turned at the set steering angle δset.

[0082] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0083] The present invention is applicable not only to remote driving but also to remote support in general, including remote assistance and remote monitoring. Note that remote assistance refers to providing information for continuing autonomous driving by a remote assistant located remotely from the autonomous vehicle when the autonomous vehicle encounters a situation that it cannot handle. Also, remote monitoring refers to monitoring at least a part of the communication state, driving environment, vehicle state, autonomous driving system state, and passenger state of the autonomous vehicle by a person located remotely from the autonomous vehicle. [Explanation of symbols]

[0084] 10... remote driving system, 11... remote driving device, 12... vehicle control device, 91... remote driving ECU, 92... vehicle control ECU, 100... vehicle, 110... remote driving transceiver, 114... display, 120... vehicle control transceiver, 126... camera

Claims

1. A remote support device that is equipped with a remote support control device capable of wireless communication with a vehicle and remotely supports driving of the vehicle, The remote support control device includes: an image of the vehicle traveling direction captured by an imaging device of the vehicle via wireless communication and displayed on a display device of the remote support device; while the vehicle is turning, a rear inner wheel line, which is a line predicted as a line along which the rear inner wheel of the vehicle will pass, is displayed on the image displayed on the display device. It is configured as follows: Remote support equipment.

2. 2. The remote support device according to claim 1, The remote support control device includes: displaying the inner rear wheel line at a position in the image that is predicted as a position where the inner rear wheel of the vehicle will pass; predicting the rear inner wheel line to a farther point when the steering angle of the vehicle is a second steering angle that is larger than the first steering angle than when the steering angle is a first steering angle; It is configured as follows: Remote support equipment.

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

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

5. 3. The remote support device according to claim 1, the remote support control device is configured to display the rear inner wheel line on the image if the rear inner wheel line intersects with an object in the image when the rear inner wheel line is displayed on the image, Remote support equipment.

Images