Display control device and display device

Abstract

To provide a technique for enabling an operator to visually recognize an image showing a surrounding situation of a moving object when the operator remotely controls the moving object from a location different from the moving object.SOLUTION: A display control device includes at least one of an on-board acquisition unit for acquiring on-board information and an image quality acquisition unit for acquiring image quality information, and a display control unit for displaying an image on a display screen. The display control unit displays an on-board camera image on the display screen when at least one of a case where the on-board camera is installed in the moving object and a case where the image quality is equal to or higher than a predetermined standard, and displays an external camera image on the display screen when at least one of a case where the on-board camera is not installed on the moving body and a case where the image quality is less than the standard.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a display control device and a display device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, vehicles that run autonomously under remote control are known (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-538619 Summary of the Invention [Problem to be solved by the invention]

[0004] When a moving object such as a vehicle stops during the period when control of automatic driving is being executed, the moving object may be remotely controlled by an operator operating an operator input device provided in a different location from the moving object. In this case, a technology is desired that allows the operator to visually check an image showing the surrounding situation of the moving object in order to operate the operator input device. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] (1) According to one aspect of the present disclosure, there is provided a display control device, the display control device controlling a display device used to move a moving body capable of moving by unmanned driving, the moving body having a remote manual driving mode in which the moving body travels using a driving control signal that specifies a driving operation of the moving body and that is generated in response to an operation by an operator of an operator input device provided at a location different from the moving body, the driving control signal being generated in response to the operation of the operator input device by the operator using an image acquired by a camera and displayed on a display screen of the display device provided at a location different from the moving body during a period in which control of the remote manual driving mode is being performed, the driving control signal being generated in response to the operation of the operator input device by the operator using an image acquired by a camera and displayed on a display screen of the display device provided at a location different from the moving body, the display control device being configured to control a display device that controls the moving body as the camera mounted on the moving body, The display control device includes at least one of an on-board acquisition unit that acquires on-board information indicating whether the on-board camera is mounted on the moving body, an image quality acquisition unit that acquires image quality information indicating the image quality of an on-board camera image, which is the image acquired by the on-board camera, and a display control unit that displays the image on the display screen, and the display control unit displays the on-board camera image on the display screen when the on-board camera is mounted on the moving body or when the image quality is equal to or higher than a predetermined standard, and displays an external camera image, which is the image acquired by an external camera that is provided in a place different from the moving body and serves as the camera that captures the moving body from the outside, on the display screen when the on-board camera is not mounted on the moving body or when the image quality is lower than the standard. According to this embodiment, the display control device can display at least one of the on-board camera image and the external camera image on the display screen according to the on-board information and the image quality information. In other words, when the moving body is remotely controlled by the operator operating the operator input device, the display control device can provide the operator with an image showing the surrounding situation of the moving body. (2) In the above aspect, the image quality may be determined by at least one of the resolution of the on-board camera image, the distortion of the on-board camera image, and the detection range of the on-board camera. According to this aspect, the image quality of the on-board camera image can be determined by at least one of the resolution of the on-board camera image, the distortion of the on-board camera image, and the detection range of the on-board camera that acquired the on-board camera image. (3) In the above embodiment, the moving body further has an automatic driving mode in which the moving body drives using the driving control signal generated without responding to the operation of the operator input device by the operator, and the display control unit may display at least one of the mounted camera image and the external camera image on the display screen in accordance with the mounted information and the image quality information when the automatic driving mode is switched to the remote manual driving mode and when it is expected that the automatic driving mode will be switched to the remote manual driving mode. According to this embodiment, the display control device can display at least one of the mounted camera image and the external camera image on the display screen in accordance with the mounted information and the image quality information when the automatic driving mode is switched to the remote manual driving mode. In this way, the display control device can provide the operator with an image showing the surrounding situation of the moving body during the period when the control of the remote manual driving mode is being performed. Also, according to this embodiment, the display control device can display at least one of the mounted camera image and the external camera image on the display screen in accordance with the mounted information and the image quality information when it is expected that the automatic driving mode will be switched to the remote manual driving mode. In this way, the display control device can provide the operator with an image showing the surrounding situation of the moving object before switching from the automatic driving mode to the remote manual driving mode. As a result, when switching from the automatic driving mode to the remote manual driving mode, the display control device can allow the operator to quickly start operating the operator input device by allowing the operator to visually recognize the image displayed on the display screen. (4) In the above embodiment, when the display control unit causes the onboard camera image to be displayed on the display screen, the display control unit may cause the external camera image to be displayed on the display screen in addition to the onboard camera image. According to this embodiment, when the display control device causes the onboard camera image to be displayed on the display screen, the display control device can cause the external camera image to be displayed on the display screen in addition to the onboard camera image. In this way, the display control device can provide the operator with the status of an area that cannot be seen from the onboard camera image by the external camera image. (5) According to another aspect of the present disclosure, a display device is provided. In a display device used to move a moving body that can move by unmanned driving, the moving body has a remote manual driving mode in which the moving body receives a driving control signal that specifies the driving operation of the moving body, the driving control signal being generated in response to operation by an operator of an operator input device provided at a location different from the moving body, and drives using the received driving control signal, the display device is provided at a location different from the moving body and has a display screen that displays an image acquired by a camera, and the driving control signal is generated in response to operation of the operator input device by the operator using the image displayed on the display screen during a period in which control of the remote manual driving mode is being executed, and the display screen displays the onboard camera image in at least one of the cases where an onboard camera is mounted on the moving body as the camera mounted on the moving body and where the image quality of the onboard camera image, which is the image acquired by the onboard camera, is equal to or higher than a predetermined standard, and displays an external camera image, which is the image acquired by an external camera provided at a location different from the moving body and which is the camera that images the moving body from the outside, in at least one of the cases where the onboard camera is not mounted on the moving body and where the image quality is below the standard. According to this aspect, the display device can display at least one of the mounted camera image and the external camera image on the display screen depending on whether the mobile object is equipped with an mounted camera and the image quality of the mounted camera image. In other words, when the mobile object is remotely controlled by the operator operating the operator input device, the display device can provide the operator with an image showing the surrounding situation of the mobile object. The present disclosure can be realized in various forms other than the above-mentioned display control device and display device, for example, in the form of a display system including a display control device and a display device, a manufacturing method for the display control device and the display device, a control method for the display control device and the display device, a computer program for implementing the control method, a non-transitory recording medium on which the computer program is recorded, etc. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing a configuration of a traveling system in a first embodiment. [Diagram 2] FIG. 1 is a diagram showing a configuration of an input system. [Diagram 3] FIG. 1 is a diagram showing a configuration of an information processing system. [Figure 4] 4 is a flowchart showing a method for controlling the operation of a vehicle in a remote automatic driving mode. [Diagram 5] 5 is a flowchart showing a display control method for a display screen in a remote manual operation mode. [Figure 6] 4 is a flowchart showing a vehicle operation control method in a remote manual driving mode. [Figure 7] FIG. 13 is a diagram showing the configuration of a traveling system according to a second embodiment. [Figure 8] 4 is a flowchart showing a method for controlling the operation of a vehicle in an autonomous driving mode. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: 1 is a diagram showing the configuration of a traveling system 1 in the first embodiment. The traveling system 1 is a system for traveling a moving body without being operated by a passenger on the moving body. The traveling system 1 includes one or more moving bodies, an external camera 90, an input system 2 having an operator input device 3 and a display device 4, and an information processing system 5 having a remote manual control device 6, a remote automatic control device 7, and a display control device 8.

[0009] The term "mobile body" refers to an object that can move, such as a vehicle 10 or an electric vertical take-off and landing aircraft (a so-called flying car). In this embodiment, the mobile body is the vehicle 10. The vehicle 10 may be a vehicle that runs on wheels or a vehicle that runs on caterpillar tracks, such as a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, a construction vehicle, etc. The vehicle 10 includes an electric vehicle (BEV: Battery Electric Vehicle), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. In addition, when the mobile body is other than the vehicle 10, the expressions "vehicle" and "car" in this disclosure can be appropriately replaced with "mobile body", and the expression "running" can be appropriately replaced with "movement".

[0010] The vehicle 10 includes a driving device 11, a steering device 12, a braking device 13, a communication device 14, and a vehicle control device 15. The driving device 11 accelerates the vehicle 10. The steering device 12 changes the traveling direction of the vehicle 10. The braking device 13 decelerates the vehicle 10. The communication device 14 communicates with an external device using wireless communication or the like. The external device is another device such as a remote manual control device 6 and another vehicle 10. The communication device 14 is, for example, a wireless communication device. The vehicle control device 15 controls the operation of the vehicle 10.

[0011] The vehicle control device 15 includes an input / output interface 159, a storage unit 157, and a CPU 150. The input / output interface 159 is used to communicate with various devices mounted on the vehicle 10. The storage unit 157 of the vehicle control device 15 stores various information including various programs P15 that control the operation of the vehicle control device 15. The CPU 150 of the vehicle control device 15 functions as an operation control unit 153 and a vehicle transmission unit 154 by developing the various programs P15 stored in the storage unit 15. The operation control unit 153 executes driving control of the vehicle 10 by controlling the operation of an actuator that changes the acceleration / deceleration and steering angle of the vehicle 10. The "driving control" is, for example, various controls for driving actuators that perform the three functions of the vehicle 10, "running", "turning" and "stopping", such as adjusting the acceleration, speed, and steering angle of the vehicle 10. In this embodiment, the actuators include the actuators of the drive device 11, the actuators of the steering device 12, and the actuators of the braking device 13. The vehicle transmission unit 154 transmits mounted camera images, which will be described later, to the display control device 8 in response to a request from the display control device 8.

[0012] The configuration of the vehicle 10 is not limited to the above. The vehicle 10 may further include an on-board camera 16 as a camera mounted on the vehicle 10. When the vehicle 10 includes one on-board camera 16, the on-board camera 16 is attached to the front of the vehicle 10 so as to capture an image of the scenery in front of the vehicle 10.

[0013] The vehicle 10 can run by unmanned driving. "Unmanned driving" means driving without the driving operation of a passenger. Driving operation means at least one of the operations of "running", "turning" and "stopping" of the vehicle 10. Unmanned driving is realized by automatic / manual remote control using a device provided outside the vehicle 10, or autonomous control of the vehicle 10. The vehicle 10 running by unmanned driving may have a passenger who does not perform driving operation on board. The passenger who does not perform driving operation includes, for example, a person who simply sits in the seat of the vehicle 10, or a person who performs a task other than driving operation, such as assembly, inspection, and operation of switches, while riding on the vehicle 10. Note that driving by a passenger's driving operation is sometimes called "manned driving".

[0014] In this embodiment, the vehicle 10 travels in a factory where the vehicle 10 is manufactured in either a remote manual driving mode or a remote automatic driving mode. In the remote manual driving mode, the vehicle 10 receives from the outside a driving control signal that specifies the driving operation of the vehicle 10 and is generated in response to an operation by an operator of the operator input device 3 (hereinafter, a manual control signal). As a result, the vehicle 10 travels using the received manual control signal. In the remote automatic driving mode, the vehicle 10 receives from the outside a driving control signal that is generated without responding to an operation by an operator (hereinafter, an automatic control signal). As a result, the vehicle 10 travels using the received automatic control signal. For example, if the vehicle 10 unexpectedly stops despite receiving an automatic control signal during a period in which control in the remote automatic driving mode is being executed, the driving mode of the vehicle 10 is switched from the remote automatic driving mode to the remote manual driving mode. The vehicle 10 may travel in a place other than the factory.

[0015] The external camera 90 is a camera installed at a location different from the vehicle 10. The installation position, orientation, and number of the external cameras 90 are determined taking into consideration the detection range RG (angle of view) of the external camera 90, etc. In this embodiment, the external camera 90 is a camera installed in a factory. The external camera 90 captures an image of the detection range RG including the vehicle 10 from outside the vehicle 10. As a result, the external camera 90 outputs an image (hereinafter, external camera image) as a detection result.

[0016] 2 is a diagram showing a configuration of the input system 2. The input system 2 is a system that enables an operator Op to remotely control the traveling operation of the vehicle 10 from a location different from the vehicle 10. As described above, the input system 2 has the operator input device 3 and the display device 4.

[0017] The operator input device 3 is an input device for an operator Op to remotely control the traveling operation of the vehicle 10. The operator input device 3 is provided at a location different from the vehicle 10. The operator input device 3 is communicably connected to the remote manual control device 6. The operator input device 3 has one or more input operation units 30 operated by the operator Op. In this embodiment, the operator input device 3 includes a steering wheel 31, an accelerator pedal 32, and a brake pedal 33 as the input operation units 30. The steering wheel 31 changes the traveling direction of the vehicle 10 by remote control. The accelerator pedal 32 accelerates the vehicle 10 by remote control. The brake pedal 33 decelerates the vehicle 10 by remote control. The configuration of the operator input device 3 is not limited to the above. The operator input device 3 may include, for example, a push button switch or a lever switch as the input operation unit 30.

[0018] The display device 4 is used for driving the vehicle 10. Specifically, the display device 4 is used for visually checking the surrounding conditions of the vehicle 10 to be controlled when the operator Op operates the operator input device 3. The display device 4 is provided at a location different from the vehicle 10. The display device 4 is communicably connected to the display control device 8. The display device 4 includes a display screen 45. The display screen 45 displays images acquired by the cameras 16, 90 that include at least the surrounding area of ​​the vehicle 10 to be controlled in a detection range RG. The display device 4 is disposed at a position where the operator Op can visually check the display screen 45. The operator Op operates the operator input device 3 using the image displayed on the display screen 45 during the period when the control of the remote manual driving mode is being executed.

[0019] 3 is a diagram showing a configuration of the information processing system 5. As described above, the information processing system 5 has the remote manual control device 6, the remote automatic control device 7, and the display control device 8. The functions of the information processing system 5 are realized by, for example, a server.

[0020] The remote manual control device 6 generates a manual control signal and transmits it to the vehicle 10 to be controlled. The remote manual control device 6 includes a communication unit 61, a storage unit 63, and a CPU 62. In the remote manual control device 6, the communication unit 61, the storage unit 63, and the CPU 62 are each connected to each other via, for example, an internal bus.

[0021] The communication unit 61 of the remote manual control device 6 communicably connects the remote manual control device 6 to devices other than the remote manual control device 6. The communication unit 61 of the remote manual control device 6 is, for example, a wireless communication device.

[0022] The storage unit 63 of the remote manual control device 6 stores various information including various programs P6 that control the operation of the remote manual control device 6. The storage unit 63 of the remote manual control device 6 includes, for example, a RAM, a ROM, and a hard disk drive (HDD).

[0023] The CPU 62 of the remote manual control device 6 deploys various programs P6 stored in the storage unit 63, thereby functioning as a manual signal generating unit 621 and a manual transmitting unit 622. The manual signal generating unit 621 generates a manual control signal. In this embodiment, the manual control signal includes the acceleration and steering angle of the vehicle 10 as parameters. The manual transmitting unit 622 transmits the manual control signal to the vehicle 10 to be controlled. As a result, the vehicle control device 15 mounted on the vehicle 10 receives the manual control signal from the remote manual control device 6 and drives the actuator using the received manual control signal, whereby the vehicle 10 travels in accordance with the operation by the operator Op of the operator input device 3.

[0024] The remote automatic control device 7 generates an automatic control signal and transmits it to the vehicle 10 to be controlled. The remote automatic control device 7 includes a communication unit 71, a storage unit 73, and a CPU 72. In the remote automatic control device 7, the communication unit 71, the storage unit 73, and the CPU 72 are each connected to each other via, for example, an internal bus.

[0025] The communication unit 71 of the remote automatic control device 7 communicably connects the remote automatic control device 7 to devices other than the remote automatic control device 7. The communication unit 71 of the remote automatic control device 7 is, for example, a wireless communication device.

[0026] The storage unit 73 of the remote automatic control device 7 stores various information including various programs P7 that control the operation of the remote automatic control device 7, a detection model Md, and an ideal path Ip. Details of the detection model Md and the ideal path Ip will be described later. The storage unit 63 of the remote automatic control device 7 includes, for example, a RAM, a ROM, and a hard disk drive (HDD).

[0027] The CPU 72 of the remote automatic control device 7 deploys various programs P7 stored in the storage unit 73, thereby functioning as a calculation unit 721, an automatic signal generation unit 722, and an automatic transmission unit 723.

[0028] The calculation unit 721 calculates the position of the vehicle 10. In this embodiment, the calculation unit 721 calculates the position of the vehicle 10 using an external camera image output from an external camera 90 serving as an external sensor Se provided at a location different from the vehicle 10. The calculation unit 721 calculates the coordinates of the positioning point 10e of the vehicle 10 in the image coordinate system, for example, using the external shape of the vehicle 10 detected from the external camera image. Then, the calculation unit 721 calculates the position of the vehicle 10 by converting the calculated coordinates into coordinates in the global coordinate system. In this embodiment, the position information of the vehicle 10 includes X, Y, and Z coordinates in the global coordinate system of the factory.

[0029] The external shape of the vehicle 10 included in the external camera image can be detected, for example, by inputting the external camera image into a detection model Md that utilizes artificial intelligence. The detection model Md can be, for example, a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation. The detection model Md can be, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset. The training dataset has, for example, a plurality of training images including the vehicle 10, and a correct answer label indicating whether each area in the training image is an area indicating the vehicle 10 or an area indicating something other than the vehicle 10. During training of the CNN, it is preferable that the parameters of the CNN are updated by backpropagation (error backpropagation method) so as to reduce an error between the output result by the detection model Md and the correct answer label.

[0030] The calculation unit 721 may further calculate the orientation of the vehicle 10. The orientation of the vehicle 10 may be calculated based on the orientation of a movement vector of the vehicle 10 calculated from a position change of a feature point of the vehicle 10 between frames of an external camera image, for example, using an optical flow method. The orientation of the vehicle 10 may be calculated using an output result of a yaw rate sensor or the like mounted on the vehicle 10. The calculation unit 721 may also be a function of a device other than the remote automatic control device 7, such as the external camera 90. In this case, the remote automatic control device 7 includes an acquisition unit that acquires position information of the vehicle 10, instead of the calculation unit 721.

[0031] The automatic signal generating unit 722 generates an automatic control signal. In order to generate an automatic control signal, the automatic signal generating unit 722 first determines a target position to which the vehicle 10 should next head. In this embodiment, the target position is expressed by X, Y, and Z coordinates in the global coordinate system of the factory. The automatic signal generating unit 722 determines a target position to which the vehicle 10 should next head, using the position information of the vehicle 10 and an ideal route Ip stored in advance in the storage unit 73 of the remote automatic control device 7. The ideal route Ip is a route along which the vehicle 10 should travel. The route is represented by a node indicating the starting point, a node indicating a passing point, a node indicating the destination, and links connecting the nodes. The automatic signal generating unit 722 determines a target position on the ideal route Ip ahead of the current position of the vehicle 10. The automatic signal generating unit 722 generates an automatic control signal for driving the vehicle 10 toward the determined target position. The automatic signal generating unit 722 calculates the traveling speed of the vehicle 10 from the transition of the position of the vehicle 10, and compares the calculated traveling speed with a predetermined target speed of the vehicle 10. When the traveling speed is lower than the target speed, the automatic signal generating unit 722 determines the acceleration so that the vehicle 10 accelerates, and when the traveling speed is higher than the target speed, the automatic signal generating unit 722 determines the acceleration so that the vehicle 10 decelerates. When the vehicle 10 is located on the ideal route Ip, the automatic signal generating unit 722 determines the steering angle so that the vehicle 10 does not deviate from the ideal route Ip, and when the vehicle 10 is not located on the ideal route Ip, in other words, when the vehicle 10 deviates from the ideal route Ip, the automatic signal generating unit 722 determines the steering angle so that the vehicle 10 returns to the ideal route Ip. In this way, the automatic signal generating unit 722 generates a traveling control signal including the acceleration and steering angle of the vehicle 10 as parameters.

[0032] The automatic transmission unit 723 transmits the automatic control signal to the vehicle 10 to be controlled. As a result, the vehicle control device 15 receives the automatic control signal from the remote automatic control device 7 and drives the actuator using the automatic control signal, whereby the vehicle 10 travels automatically without responding to an operation by the operator Op of the operator input device 3.

[0033] During the period when control of the remote automatic driving mode is being executed, the remote automatic control device 7 repeats, at a predetermined cycle, obtaining position information of the vehicle 10, determining a target position, generating an automatic control signal, and transmitting the automatic control signal. The vehicle control device 15 repeats, at a predetermined cycle, receiving the automatic control signal and controlling the actuator.

[0034] The display control device 8 controls the display contents to be displayed on the display screen 45. The display control device 8 includes a communication unit 81, a storage unit 83, and a CPU 82. In the display control device 8, the communication unit 81, the storage unit 83, and the CPU 82 are connected to each other, for example, via an internal bus.

[0035] The communication unit 81 of the display control device 8 communicably connects the display control device 8 to devices other than the display control device 8. The communication unit 81 of the display control device 8 is, for example, a wireless communication device.

[0036] The storage unit 83 of the display control device 8 stores various information including various programs P8 that control the operation of the display control device 8. The storage unit 83 of the display control device 8 includes, for example, a RAM, a ROM, and a hard disk drive (HDD).

[0037] The CPU 82 of the display control device 8 develops various programs P8 stored in the storage unit 83, and thereby functions as a mounting acquisition unit 821, an image quality acquisition unit 822, and a display control unit 823.

[0038] The on-board acquisition unit 821 acquires on-board information. The on-board information is information indicating whether or not the on-board camera 16 is mounted on the vehicle 10 to be controlled.

[0039] The image quality acquisition unit 822 acquires image quality information. The image quality information is information indicating the image quality of an image acquired by the mounted camera 16 mounted on the vehicle 10 to be controlled (hereinafter, the mounted camera image). The image quality of the mounted camera image is determined by, for example, at least one of the resolution of the mounted camera image, the distortion of the mounted camera image, and the detection range (angle of view) of the mounted camera 16 mounted on the vehicle 10 to be controlled. The resolution of the mounted camera image is calculated, for example, by identifying the model number, etc. of the mounted camera 16 mounted on the vehicle 10 to be controlled, and acquiring information indicating the performance of the mounted camera 16 (hereinafter, performance information). The resolution of the mounted camera image may be calculated based on the number of pixels and image size, etc. of the actually acquired mounted camera image. In addition, the distortion of the mounted camera image is calculated, for example, by analyzing the actually acquired mounted camera image. The detection range of the mounted camera 16 mounted on the vehicle 10 to be controlled is calculated, for example, by identifying the model number, etc. of the mounted camera 16 mounted on the vehicle 10 to be controlled, and acquiring performance information.

[0040] The image quality of the on-board camera image in the image quality information refers to the image quality when the display device 4 receives the on-board camera image. When the on-board camera 16 mounted on the vehicle 10 to be controlled has a processing function, the image quality of the on-board camera image in the image quality information refers to the image quality of an image (hereinafter, processed image) obtained by processing raw data (hereinafter, original image) acquired by the on-board camera 16 mounted on the vehicle 10 to be controlled. The processing function is a function of processing the original image to generate a processed image. The processing function is, for example, a correction function for correcting distortion of the original image, a noise removal function for removing noise in the original image, and an adjustment function for adjusting the resolution of the original image. In addition, when the on-board camera image is transmitted from the on-board camera 16 to the display device 4 via the display control device 8, when the display control device 8 has a processing function, the image quality of the on-board camera image in the image quality information refers to the image quality of the processed image. Note that the evaluation method of the image quality of the on-board camera image is not limited to the above. The image quality of the on-board camera image may be evaluated by an evaluation index other than the above, such as the amount of noise in the on-board camera image.

[0041] The display control unit 823 displays at least one of the mounted camera image and the external camera image on the display screen 45. In this embodiment, when the driving mode of the vehicle 10 is switched from the remote automatic driving mode to the remote manual driving mode, the display control unit 823 displays at least one of the mounted camera image and the external camera image on the display screen 45 in accordance with the mounting information and the image quality information.

[0042] When the mounted camera 16 is mounted on the vehicle 10 to be controlled and / or when the image quality of the mounted camera image is equal to or higher than a predetermined standard, the display control unit 823 displays the mounted camera image on the display screen 45. On the other hand, when the mounted camera 16 is not mounted on the vehicle 10 to be controlled and / or when the image quality of the mounted camera image is lower than the standard, the display control unit 823 displays the external camera image on the display screen 45.

[0043] For example, when the image quality of the mounted camera image is determined by the resolution of the mounted camera image, the display control unit 823 determines that the image quality of the mounted camera image is equal to or higher than the standard when the resolution of the mounted camera image is equal to or higher than a predetermined resolution threshold. Also, for example, when the image quality of the mounted camera image is determined by the resolution of the mounted camera image, the distortion of the mounted camera image, and the detection range of the mounted camera 16, the display control unit 823 determines that the image quality of the mounted camera image is equal to or higher than the standard in the following cases. In this case, the display control unit 823 determines that the image quality of the mounted camera image is equal to or higher than the standard in at least one of the first case, the second case, and the third case. In the first case, the resolution of the mounted camera image is equal to or higher than the resolution threshold. In the second case, the distortion of the mounted camera image is less than a predetermined distortion threshold. In the third case, the detection range of the mounted camera 16 is equal to or higher than a predetermined range threshold.

[0044] In this embodiment, when the mounted camera 16 is mounted on the vehicle 10 to be controlled and the image quality of the mounted camera image is equal to or higher than the standard, the display control unit 823 displays only the mounted camera image on the display screen 45. On the other hand, when the mounted camera 16 is mounted on the vehicle 10 to be controlled and the image quality of the mounted camera image is lower than the standard, the display control unit 823 displays the mounted camera image and the external camera image on the display screen 45. In addition, when the mounted camera 16 is not mounted on the vehicle 10 to be controlled, the display control unit 823 displays the external camera image on the display screen 45.

[0045] Fig. 4 is a flowchart showing an example of an operation control method for the vehicle 10 during a period in which control of the remote automatic driving mode is being executed. The operation control method shown in Fig. 4 is executed repeatedly at predetermined time intervals from the time when the controlled vehicle 10 starts traveling in the remote automatic driving mode to the time when the driving mode of the vehicle 10 switches from the remote automatic driving mode to the remote manual driving mode, for example.

[0046] In step S101, the calculation unit 721 of the remote automatic control device 7 transmits a request signal to the external camera 90 to acquire an external camera image. In step S102, the external camera 90 that has received the request signal transmits the external camera image to the remote automatic control device 7. In step S103, the calculation unit 721 of the remote automatic control device 7 calculates the position of the vehicle 10 to be controlled using the external camera image. In step S104, the automatic signal generation unit 722 determines a target position to which the vehicle 10 to be controlled should next head, using the position information of the vehicle 10 and the ideal route Ip. In step S105, the automatic signal generation unit 722 generates an automatic control signal for driving the vehicle 10 to be controlled toward the determined target position. In step S106, the automatic transmission unit 723 transmits the automatic control signal to the vehicle 10 to be controlled. In step S107, the operation control unit 153 of the vehicle control device 15 mounted on the vehicle 10 controls the actuator using the received automatic control signal to drive the vehicle 10 at the acceleration and steering angle represented in the automatic control signal.

[0047] Fig. 5 is a flowchart showing a display control method for the display screen 45 during a period when control of the remote manual driving mode is being executed. The display control method shown in Fig. 5 is executed, for example, when the driving mode of the vehicle 10 is switched from the remote automatic driving mode to the remote manual driving mode.

[0048] In step S201, the on-board acquisition unit 821 of the display control device 8 acquires on-board information. If the on-board camera 16 is mounted on the vehicle 10 to be controlled (step S202: Yes), the display control unit 823 executes step S203. In step S203, the display control unit 823 transmits a request signal to the vehicle 10 to be controlled to acquire an on-board camera image. When the vehicle 10 receives the request signal, in step S204, the vehicle transmission unit 154 of the vehicle control device 15 mounted on the vehicle 10 acquires the on-board camera image and transmits the on-board camera image to the display control device 8. In step S205, the image quality acquisition unit 822 of the display control device 8 acquires image quality information. If the image quality of the on-board camera image is equal to or higher than the standard (step S206: Yes), in step S207, the display control unit 823 transmits the on-board camera image to the display device 4. On the other hand, if the mounted camera 16 is not mounted on the vehicle 10 (step S202: No) and if the image quality of the mounted camera image is below the standard (step S206: No), in step S208, the display control unit 823 transmits a request signal to the external camera 90 to acquire the external camera image. The external camera 90 that has received the request signal transmits the external camera image to the display control device 8 in step S209. If the mounted camera 16 is mounted on the vehicle 10 to be controlled (step S202: Yes) and if the image quality of the mounted camera image is below the standard (step S206: No), the display control unit 823 of the display control device 8 executes step S210. In step S210, the display control unit 823 transmits the mounted camera image and the external camera image to the display device 4. If the mounted camera 16 is not mounted on the vehicle 10 (step S202: No), the display control unit 823 executes step S211. In step S211, the display control device 8 transmits the external camera image to the display device 4. In step S212, the display device 4 displays the received image on the display screen 45.

[0049] Fig. 6 is a flowchart showing an operation control method for the vehicle 10 during a period in which control of the remote manual driving mode is being executed. The operation control method shown in Fig. 6 is repeatedly executed at predetermined time intervals from the time when the controlled vehicle 10 starts traveling in the remote manual driving mode to the time when the driving mode of the vehicle 10 switches from the remote manual driving mode to the remote automatic driving mode.

[0050] In step S301, the operator input device 3 accepts an input from an operator Op. In step S302, the operator input device 3 transmits the operation amount of each input operation unit 30 to the remote manual control device 6. In step S303, the manual signal generating unit 621 of the remote manual control device 6 generates a manual control signal. In step S304, the manual transmitting unit 622 transmits the manual control signal to the vehicle 10 to be controlled. In step S305, the operation control unit 153 of the vehicle control device 15 mounted on the vehicle 10 controls the actuator using the received manual control signal, thereby causing the vehicle 10 to travel at the acceleration and steering angle represented by the manual control signal.

[0051] According to the first embodiment, the display control device 8 can display images acquired by the cameras 16, 90, whose detection range RG includes at least the peripheral area of ​​the vehicle 10 to be controlled, on the display screen 45 of the display device 4 arranged at a position visible to the operator Op. In other words, when the operator Op operates the operator input device 3 to remotely control the vehicle 10, the display control device 8 can provide the operator Op with an image showing the peripheral situation of the vehicle 10. This allows the operator Op to operate the operator input device 3 while visually checking the image displayed on the display screen 45.

[0052] According to the first embodiment, the display control device 8 can recognize whether or not the vehicle 10 to be controlled is equipped with the mounted camera 16 by acquiring the mounting information. In this way, when the vehicle 10 to be controlled is equipped with the mounted camera 16, the display control device 8 can acquire the mounted camera image from the vehicle 10 to be controlled, and display the mounted camera image on the display screen 45. The scenery represented by the mounted camera image acquired by the mounted camera 16 attached to the front side of the vehicle 10 is close to the scenery seen from the driver's seat of the vehicle 10 to be controlled. Therefore, by displaying the mounted camera image on the display screen 45, a situation close to the situation when the driver (driver) who boards the vehicle 10 to be controlled operates the steering wheel or the like mounted on the vehicle 10 can be reproduced in the input system 2. In this way, when the operator Op operates the operator input device 3 to remotely control the vehicle 10, the display control device 8 can make the operator Op easily recognize objects and the like present around the vehicle 10. In other words, the display control device 8 can create a state in which the operator Op can easily operate the operator input device 3. This can reduce the possibility that the vehicle 10 will collide with another object or deviate from the route it should travel due to an operational error by the operator Op.

[0053] Furthermore, according to the first embodiment, when the vehicle 10 to be controlled is not equipped with the mounted camera 16, the display control device 8 can acquire the external camera image from the external camera 90, and display the external camera image on the display screen 45. This allows the operator Op to operate the operator input device 3 using the external camera image, even when the vehicle 10 is not equipped with the mounted camera 16.

[0054] According to the first embodiment, the display control device 8 can determine whether the image quality of the onboard camera image is equal to or higher than the standard by acquiring image quality information and comparing it with a predetermined standard. As a result, when the image quality of the onboard camera image is equal to or higher than the standard, the display control device 8 can acquire the onboard camera image from the vehicle 10 to be controlled, and display the onboard camera image on the display screen 45. In this way, the display control device 8 can display an image with ensured visibility on the display screen 45. As a result, when the operator Op operates the operator input device 3 to remotely control the vehicle 10, the display control device 8 can make it easier for the operator Op to recognize objects and the like present around the vehicle 10. Therefore, the possibility that the vehicle 10 will collide with another object or deviate from the route to be traveled due to an operation error by the operator Op can be further reduced.

[0055] Furthermore, according to the first embodiment, even if the vehicle 10 to be controlled is equipped with the onboard camera 16, if the image quality of the onboard camera image is below a standard, the display control device 8 can display the external camera image on the display screen 45 in addition to the onboard camera image. In this way, the display control device 8 can display the onboard camera image on the display screen 45 in a state in which the part that is difficult to view in the onboard camera image is compensated for by the external camera image. This allows the operator Op to view both the onboard camera image and the external camera image, and to operate the operator input device 3 while visually compensating for the part that is difficult to view in the onboard camera image by visually viewing the external camera image.

[0056] According to the first embodiment, the image quality of the on-board camera image can be determined by at least one of the resolution of the on-board camera image, the distortion of the on-board camera image, and the detection range of the on-board camera 16 that acquired the on-board camera image. This makes it possible to easily evaluate the image quality of the on-board camera image.

[0057] According to the first embodiment, in a case where the image quality of the on-board camera image is determined by the resolution and distortion of the on-board camera image, if the image quality of the on-board camera image is below the standard, the display control device 8 can display the on-board camera image and the external camera image on the display screen 45. In this way, even if the on-board camera image is unclear or distorted and difficult to view, the display control device 8 can display the external camera image on the display screen 45 to allow the operator Op to operate the operator input device 3. This makes it possible to avoid a situation where the operator Op cannot operate the operator input device 3 due to the image quality of the on-board camera image. In addition, in a case where the image quality of the on-board camera image is determined by the detection range of the on-board camera 16 that acquired the on-board camera image, if the image quality of the on-board camera image is below the standard, the display control device 8 can display the on-board camera image and the external camera image on the display screen 45. In this way, it is possible to avoid a situation where the operation of the operator input device 3 is hindered or the vehicle is more likely to collide with objects other than the vehicle 10 to be controlled due to the detection range of the on-board camera 16 being narrower than desired.

[0058] Furthermore, according to the first embodiment, when switching from the remote automatic driving mode to the remote manual driving mode, the display control device 8 can display at least one of the mounted camera image and the external camera image on the display screen 45 in accordance with the mounted information and the image quality information. In this way, the display control device 8 can provide the operator Op with an image showing the surrounding situation of the vehicle 10 during the period when control of the remote manual driving mode is being executed.

[0059] According to the first embodiment, the traveling system 1 can remotely control the vehicle 10 to travel within the factory. Therefore, the traveling system 1 can move the vehicle 10 within the factory without using any transport equipment such as a crane or a belt conveyor.

[0060] B. Second embodiment: FIG. 7 is a diagram showing the configuration of a traveling system 1a in the second embodiment. The traveling system 1a includes a vehicle 10a as one or more moving bodies, an external camera 90, an input system 2, and an information processing system 5a. The traveling system 1a of this embodiment is different from the first embodiment in that it does not include a remote automatic control device 7. That is, the information processing system 5a includes a remote manual control device 6 and a display control device 8 without including a remote automatic control device 7. As a result, the vehicle control device 15a mounted on the vehicle 10a determines a target position to be next headed and generates an automatic control signal for traveling toward the determined target position. That is, the vehicle 10a has an autonomous driving mode in which it determines a target position and generates an automatic control signal by itself as an automatic driving mode in which it travels using the generated automatic control signal without responding to the operation by the operator Op.

[0061] The vehicle control device 15a includes an input / output interface 159, a storage unit 157a, and a CPU 150a. The storage unit 157a of the vehicle control device 15a stores various information including various programs P15a for controlling the operation of the vehicle control device 15a, a detection model Md, and an ideal route Ip. The CPU 150a of the vehicle control device 15a functions as a calculation unit 151, an automatic signal generation unit 152, an operation control unit 153, and a vehicle transmission unit 154 by deploying the various programs P15a stored in the storage unit 157a. The calculation unit 151 calculates the position of the vehicle 10a using an external camera image, similar to the calculation unit 721 in the first embodiment. In addition, the automatic signal generation unit 152 determines a target position to which the vehicle 10a should next head, using the calculated position information of the vehicle 10a and the ideal route Ip stored in advance in the storage unit 157a of the vehicle control device 15a. Then, the automatic signal generating unit 722 generates an automatic control signal for driving the vehicle 10a toward the determined target position. The operation control unit 153 controls the actuator using the generated automatic control signal to drive the vehicle 10a at the acceleration and steering angle indicated in the automatic control signal. During the period in which the control of the autonomous driving mode is being executed, the vehicle control device 15a repeats, at a predetermined cycle, the acquisition of position information of the vehicle 10a, the determination of the target position, the generation of the automatic control signal, and the control of the actuator. Note that the same reference numerals are used for the same configurations as those in the first embodiment.

[0062] Fig. 8 is a flowchart showing an example of an operation control method for the vehicle 10a during a period in which control of the autonomous driving mode is being performed. The operation control method shown in Fig. 8 is repeatedly executed at predetermined time intervals from the time when the controlled vehicle 10a starts traveling in the autonomous driving mode to the time when the driving mode of the vehicle 10a is switched from the autonomous driving mode to the remote manual driving mode.

[0063] In step S401, the calculation unit 151 of the vehicle control device 15a mounted on the vehicle 10a transmits a request signal to the external camera 90 to acquire an external camera image. In step S402, the external camera 90, which has received the request signal, transmits the external camera image to the vehicle 10a. In step S403, the calculation unit 151 of the vehicle control device 15a mounted on the vehicle 10a calculates the position of the vehicle 10a to be controlled using the external camera image. In step S404, the automatic signal generation unit 152 uses the position information of the vehicle 10a and the ideal route Ip to determine a target position to which the vehicle 10a to be controlled should next head. In step S405, the automatic signal generation unit 152 generates an automatic control signal for traveling toward the determined target position. In step S406, the operation control unit 153 controls the actuator using the automatic control signal to cause the vehicle 10a to travel at the acceleration and steering angle represented in the automatic control signal.

[0064] According to the second embodiment, the traveling system 1a can autonomously travel the vehicle 10a. Therefore, the traveling system 1a can move the vehicle 10a without using any transportation equipment such as a crane or a belt conveyor.

[0065] The calculation unit 151 may be a function of a device other than the remote automatic control device 7, such as the external camera 90. In this case, the vehicle control device 15a of the vehicle 10a includes, instead of the calculation unit 151, an acquisition unit that acquires position information of the vehicle 10a.

[0066] C. Other embodiments: C-1. Alternative embodiment 1: The display control device 8 may include the on-board acquisition unit 821 without including the image quality acquisition unit 822. In this case, when the on-board camera 16 is mounted on the vehicle 10, 10a to be controlled, the display control unit 823 displays the on-board camera image on the display screen 45 regardless of whether the image quality of the on-board camera image is equal to or higher than the standard. The display control device 8 may also include the image quality acquisition unit 822 without including the on-board acquisition unit 821. In this case, when the image quality acquisition unit 822 can acquire image quality information, it determines that the on-board camera 16 is mounted on the vehicle 10, 10a to be controlled. Then, when the image quality of the on-board camera image is equal to or higher than the standard, the display control unit 823 displays the on-board camera image on the display screen 45. When the image quality acquisition unit 822 can acquire image quality information and the image quality of the on-board camera image is lower than the standard, the display control unit 823 displays the on-board camera image and the external camera image on the display screen 45. Even in this form, the display control unit 823 can display at least one of the mounted camera image and the external camera image on the display screen 45 according to either the mounting information or the image quality information.

[0067] C-2. Alternative embodiment 2: The display control unit 823 may display at least one of the mounted camera image and the external camera image on the display screen 45 according to the mounted information and the image quality information when it is expected that the automatic driving mode will be switched to the remote manual driving mode. In this embodiment, the display control device 8 can display at least one of the mounted camera image and the external camera image on the display screen 45 according to the mounted information and the image quality information when it is expected that the automatic driving mode will be switched to the remote manual driving mode. In this way, the display control unit 823 can display at least one of the mounted camera image and the external camera image on the display screen 45 before switching from the remote automatic driving mode to the remote manual driving mode. This allows the operator Op to visually recognize the image displayed on the display screen 45 and promptly start operating the operator input device 3 when switching from the automatic driving mode to the remote manual driving mode when the vehicle 10, 10a unexpectedly stops during the period when the control of the remote automatic driving mode is being executed. In this manner, the time during which the vehicle 10, 10a unexpectedly stops can be minimized when switching from the automatic driving mode to the remote manual driving mode.

[0068] C-3. Alternative embodiment 3: The display control unit 823 may display at least one of the mounted camera image and the external camera image on the display screen 45 according to the onboard information and the image quality information, except when the automatic driving mode is switched to the remote manual driving mode and when the switching is expected. For example, the display control unit 823 may display at least one of the mounted camera image and the external camera image on the display screen 45 according to the onboard information and the image quality information, even during the period when the control of the automatic driving mode is being executed. In this form, when it becomes necessary to switch from the automatic driving mode to the remote manual driving mode, the operator Op can visually recognize the image displayed on the display screen 45 and operate the operator input device 3 more quickly. Furthermore, the operator Op can appropriately check the traveling status of the vehicle 10, 10a during the period when the control of the automatic driving mode is being executed.

[0069] C-4. Alternative embodiment 4: The traveling system 1 may detect an area outside the detection range of the mounted camera 16 among the surrounding areas of the vehicle 10, 10a by the external camera 90. When the display control unit 823 displays the mounted camera image on the display screen 45, the display control unit 823 may display the external camera image on the display screen 45 in addition to the mounted camera image. In other words, when the image quality of the mounted camera image is equal to or higher than the standard, or when the mounted camera image is uniformly displayed on the display screen 45 regardless of whether the image quality of the mounted camera image is equal to or higher than the standard, the display control unit 823 may display the mounted camera image and the external camera image on the display screen 45. In this form, the operator Op can visually recognize the situation of the area that cannot be visually recognized by the mounted camera image by using the external camera image. Therefore, when the operator Op operates the operator input device 3 using the image displayed on the display screen 45, the blind spot occurring in the surrounding area of ​​the vehicle 10, 10a can be reduced.

[0070] C-5. Alternative embodiment 5: The vehicle 10, 10a may be equipped with multiple on-board cameras 16. In this case, the multiple on-board cameras 16 are attached to the vehicle 10, 10a so that, for example, the overlap of the detection ranges of the adjacent on-board cameras 16 is smaller. Then, the display control device 8 displays on the display screen 45 the on-board camera images acquired by the multiple on-board cameras 16. In this form, when the operator Op operates the operator input device 3 using the image displayed on the display screen 45, the possibility of blind spots occurring in the surrounding area of ​​the vehicle 10, 10a can be reduced compared to when the vehicle 10, 10a is equipped with one on-board camera 16. In addition, when the vehicle 10, 10a is equipped with four on-board cameras 16, the multiple on-board cameras 16 may be attached, for example, to the front, rear, left, and right sides of the vehicle 10, 10a. The scenery represented by the on-board camera images acquired by the on-board camera 16 attached to the rear side of the vehicle 10, 10a is close to the scenery seen when looking back from the driver's seat of the vehicle 10, 10a to be controlled. The scenery represented by the on-board camera image acquired by the on-board camera 16 attached to the left side of the vehicle 10, 10a is close to the scenery seen from the driver's seat of the vehicle 10, 10a to be controlled as viewed to the left. The scenery represented by the on-board camera image acquired by the on-board camera 16 attached to the right side of the vehicle 10, 10a is close to the scenery seen from the driver's seat of the vehicle 10, 10a to be controlled as viewed to the right. Therefore, by displaying on the display screen 45 the on-board camera images acquired by the on-board cameras 16 attached to the front, rear, left, and right sides of the vehicle 10, 10a, respectively, the scenery can be made closer to the scenery seen from the driver's seat.

[0071] C-6. Alternative embodiment 6: The traveling system 1 may detect the surrounding area of ​​the vehicle 10, 10a by a plurality of external cameras 90. Then, the display control unit 823 may display the external camera images acquired by the plurality of external cameras 90 on the display screen 45. In this embodiment, the display control unit 823 can display the external camera images, which are obtained by detecting the surrounding area of ​​the vehicle 10, 10a to be controlled from a plurality of different directions, on the display screen 45. Therefore, when the operator Op operates the operator input device 3 using the images displayed on the display screen 45, blind spots occurring in the surrounding area of ​​the vehicle 10, 10a can be reduced.

[0072] C-7. Alternative embodiment 7: The display control device 8 may further include a communication information acquisition unit that acquires communication information. The communication information is information indicating whether the vehicle 10, 10a to be controlled can transmit the mounted camera image to the display control device 8. In this case, when the vehicle 10, 10a to be controlled can transmit the mounted camera image to the display control device 8, the display control device 8 acquires image quality information and displays the mounted camera image on the display screen 45. On the other hand, when the vehicle 10, 10a to be controlled cannot transmit the mounted camera image to the display control device 8, the display control device 8 displays the external camera image on the display screen 45. In this form, when the mounted camera image cannot be transmitted to the display control device 8 due to a communication load or the like, the display control unit 823 can display the external camera image on the display screen 45.

[0073] C-8. Other embodiment 8: At least one of the remote manual control device 6, the remote automatic control device 7, and the display control device 8 may be configured integrally. Furthermore, each part of the remote manual control device 6, the remote automatic control device 7, and the display control device 8 may be realized by, for example, cloud computing configured by one or more computers. In such a form, the configurations of the remote manual control device 6, the remote automatic control device 7, and the display control device 8 can be changed as appropriate.

[0074] C-9. Other embodiment 9: In the first embodiment, the remote automatic control device 7 executes the processes from obtaining the position information of the vehicle 10 to generating the driving control signal. In contrast, at least a part of the processes from obtaining the position information of the vehicle 10 to generating the automatic control signal may be executed by the vehicle 10. For example, the following forms (1) to (3) may be used.

[0075] (1) The remote automatic control device 7 may acquire position information of the vehicle 10, determine a target position to which the vehicle 10 should next head, and generate a route from the current location of the vehicle 10 indicated in the acquired position information to the target position. The remote automatic control device 7 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The remote automatic control device 7 may transmit the generated route to the vehicle 10. The vehicle 10 may generate an automatic control signal so that the vehicle 10 travels on the route received from the remote automatic control device 7, and control an actuator using the generated automatic control signal.

[0076] (2) The remote automatic control device 7 may acquire position information of the vehicle 10 and transmit the acquired position information to the vehicle 10. The vehicle 10 may determine a target position to which the vehicle 10 should next head, generate a route from the current position of the vehicle 10 represented in the received position information to the target position, generate an automatic control signal so that the vehicle 10 travels on the generated route, and control an actuator using the generated automatic control signal.

[0077] (3) In the above-mentioned (1) and (2) modes, the vehicle 10 may be equipped with an internal sensor Si, and a detection result output from the internal sensor Si may be used for at least one of generating a route and generating an automatic control signal. The internal sensor Si may include, for example, an on-board camera 16, an on-board LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and the like. For example, in the above-mentioned (1) mode, the remote automatic control device 7 may acquire the detection result of the internal sensor Si, and may reflect the detection result of the internal sensor Si in the route when generating a route. In the above-mentioned (1) mode, the vehicle 10 may acquire the detection result of the internal sensor Si, and may reflect the detection result of the internal sensor Si in the automatic control signal when generating an automatic control signal. In the above-mentioned (2) mode, the vehicle 10 may acquire the detection result of the internal sensor Si, and may reflect the detection result of the internal sensor Si in the route when generating a route ... automatic control signal when generating an automatic control signal.

[0078] (4) In the above second embodiment, the vehicle 10a may be equipped with an internal sensor Si, and a detection result output from the internal sensor Si may be used for at least one of generating a route and generating an automatic control signal. For example, the vehicle 10a may acquire the detection result of the internal sensor Si, and when generating a route, may reflect the detection result of the internal sensor Si in the route. The vehicle 10a may acquire the detection result of the internal sensor Si, and when generating an automatic control signal, may reflect the detection result of the internal sensor Si in the automatic control signal.

[0079] (5) In the second embodiment, the vehicle 10a acquires the position information of the vehicle 10a using the detection result of the external sensor Se. In contrast, the vehicle 10a may be equipped with an internal sensor Si, and the vehicle 10a may acquire position information using the detection result of the internal sensor Si, determine a target position to which the vehicle 10a should next go, generate a route from the current location of the vehicle 10a represented in the acquired position information to the target position, generate an automatic control signal for traveling along the generated route, and control the actuator using the generated automatic control signal. In this case, the vehicle 10a can travel without using any detection result of the external sensor Se. The vehicle 10a may acquire a target arrival time or traffic congestion information from outside the vehicle 10a, and reflect the target arrival time or traffic congestion information in at least one of the route and the automatic control signal. In addition, all of the functional configurations of the traveling systems 1, 1a may be provided in the vehicles 10, 10a. That is, the processes realized by the driving system 1, 1a, such as the driving control of the vehicle 10, 10a and the display control of the display device 4 described in the present disclosure, may be realized by the vehicle 10, 10a alone.

[0080] C-10. Other embodiment 10: The calculation unit 151, 721 may calculate the position and orientation of the vehicle 10, 10a using sensor information acquired by a type of sensor different from the external camera 90. The calculation unit 151, 721 may calculate the position and orientation of the vehicle 10, 10a using, for example, measurement point cloud data that three-dimensionally represents the external shape of the vehicle 10, 10a acquired by a LiDAR (Light Detection And Ranging) (hereinafter, external LiDAR) as an external sensor Se. In this case, the calculation unit 151, 721 calculates the position and orientation of the vehicle 10, 10a by, for example, matching the measurement point cloud data with the reference point cloud data. The reference point cloud data is reference data used as a template in matching with the measurement point cloud data. The reference point cloud data is, for example, virtual three-dimensional point cloud data generated based on three-dimensional CAD data that represents the external shape of the vehicle 10, 10a. For example, one of ICP (Iteractive Closest Point) and NDT (Normal Distributions Transform) is used as the matching algorithm by the calculation unit 151, 721. The calculation unit 151, 721 may calculate the position and orientation of the vehicle 10, 10a using measurement point cloud data acquired by detecting the vehicle 10, 10a of the calculation target by an on-board LIDAR mounted on another vehicle 10, 10a different from the vehicle 10, 10a of the calculation target.

[0081] C-11. Other embodiment 11: The manual signal generating unit 621 may process the operation amounts of the input operation units 30 of the operator input device 3, which correspond to each element such as acceleration and steering angle that define the traveling operation of the vehicle 10, 10a, by a predetermined constant to generate a manual control signal. Specifically, when the manual control signal includes the acceleration and steering angle of the vehicle 10, 10a as parameters, the manual signal generating unit 621 multiplies the operation amounts of the steering wheel 31, accelerator pedal 32, and brake pedal 33 of the operator input device 3 by a predetermined constant. Then, the manual command generating unit 521 generates a manual control signal so that the acceleration of the vehicle 10, 10a is a value obtained by multiplying the operation amounts of the accelerator pedal 32 and brake pedal 33 of the operator input device 3 by a constant. Also, the manual command generating unit 521 generates a manual control signal so that the steering angle of the vehicle 10, 10a is a value obtained by multiplying the operation amount of the steering wheel 31 of the operator input device 3 by a constant. In this configuration, when the upper and lower limit values ​​of the output value of the operator input device 3 differ from the upper and lower limit values ​​of the output value of an actuator such as the drive unit 110 of the vehicle 10, 10a, a manual control signal can be generated that matches the output possible range of the actuator of the receiving vehicle 10, 10a.

[0082] C-12. Other embodiment 12: The manual signal generating unit 621 may set an upper limit value for each element that defines the traveling operation of the vehicle 10, 10a with respect to the operation amount of each input operation unit 30 of the operator input device 3, which corresponds to each element such as acceleration and steering angle that defines the traveling operation of the vehicle 10, 10a. For example, when the manual control signal includes the acceleration and steering angle of the vehicle 10, 10a as parameters, the manual signal generating unit 621 executes the following process. In this case, when the operation amount of the accelerator pedal 32 of the operator input device 3 is equal to or greater than a first upper limit value, the manual signal generating unit 621 generates a manual control signal so that the acceleration of the vehicle 10, 10a becomes the first upper limit value. Also, when the operation amount of the steering wheel 31 of the operator input device 3 is equal to or greater than a second upper limit value, the manual signal generating unit 621 generates a manual control signal so that the steering angle of the vehicle 10, 10a becomes the second upper limit value. In this manner, by setting an upper limit value for each element that defines the driving behavior of the vehicle 10, 10a, it is possible to prevent the vehicle 10, 10a from suddenly changing its driving behavior, such as suddenly accelerating or turning.

[0083] C-13. Other embodiment 13: In each of the above embodiments, the vehicle 10, 10a may have a configuration capable of moving by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 10, 10a may have at least a vehicle control device 15, 15a, a drive device 11, a steering device 12, and a braking device 13 in order to perform the three functions of "running", "turning", and "stopping" by unmanned driving. When the vehicle 10, 10a acquires information from the outside for unmanned driving, the vehicle 10, 10a may further have a communication device 14. That is, the vehicle 10, 10a capable of moving by unmanned driving may not be equipped with at least a part of interior parts such as a driver's seat and a dashboard, may not be equipped with at least a part of exterior parts such as a bumper and a fender, and may not be equipped with a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 10, 10a before the vehicle 10, 10a is shipped from the factory, or the remaining parts such as the body shell may be attached to the vehicle 10, 10a after the vehicle 10, 10a is shipped from the factory without the remaining parts such as the body shell being attached to the vehicle 10, 10a. Each part may be attached from any direction such as the upper side, lower side, front side, rear side, right side, or left side of the vehicle 10, 10a, and may be attached from the same direction or from different directions. Note that the position of the platform shape may be determined in the same manner as the vehicle 10, 10a in each of the above embodiments.

[0084] C-14. Other embodiment 14: The vehicle 10, 10a may be manufactured by combining a plurality of modules. A module means a unit composed of a plurality of parts grouped according to the location or function of the vehicle 10, 10a. For example, the platform of the vehicle 10, 10a may be manufactured by combining a front module constituting the front part of the platform, a central module constituting the central part of the platform, and a rear module constituting the rear part of the platform. The number of modules constituting the platform is not limited to three, and may be two or less or four or more. In addition to or instead of the parts constituting the platform, parts constituting parts of the vehicle 10, 10a other than the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. In addition, not limited to the vehicle 10, 10a, any type of moving body may be manufactured by combining a plurality of modules. Such a module may be manufactured, for example, by joining a plurality of parts by welding or a fastener, or may be manufactured by integrally molding at least a part of the parts constituting the module as one part by casting. The molding method for integrally molding a single component, particularly a relatively large component, is also called gigacast or megacast. For example, the front module, the center module, and the rear module may be manufactured using gigacast.

[0085] C-15. Other embodiment 15: The transportation of the vehicles 10, 10a using the unmanned driving of the vehicles 10, 10a is also called "self-propelled transportation." The configuration for realizing the self-propelled transportation is also called "vehicle remote control autonomous traveling transportation system." The production method for producing the vehicles 10, 10a using the self-propelled transportation is also called "self-propelled production." In the self-propelled production, for example, at a factory where the vehicles 10, 10a are manufactured, at least a part of the transportation of the vehicles 10, 10a is realized by the self-propelled transportation.

[0086] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features of the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention can be appropriately replaced or combined to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0087] 1,1a...driving system, 2...input system, 3...operator input device, 4...display device, 5,5a...information processing system, 6...remote manual control device, 7...remote automatic control device, 8...display control device, 10,10a...vehicle, 10e...positioning point, 11...driving device, 12...steering device, 13...braking device, 14...communication device, 15,15a...vehicle control device, 16...mounted camera, 30...input operation unit, 31...steering wheel, 32...accelerator pedal, 33...brake pedal, 45...display screen, 61...communication unit of remote manual control device, 62...CPU of remote manual control device, 63...storage unit of remote manual control device, 71...communication unit of remote automatic control device, 72...CPU of remote automatic control device, 73...remote automatic control device memory unit of the display control device, 81... communication unit of the display control device, 82... CPU of the display control device, 83... memory unit of the display control device, 90... external camera, 150, 150a... CPU of the vehicle control device, 151, 721... calculation unit, 152, 722... automatic signal generation unit, 153... operation control unit, 154... vehicle transmission unit, 157, 157a... memory unit of the vehicle control device, 159... input / output interface, 621... manual signal generation unit, 622... manual transmission unit, 723... automatic transmission unit, 821... on-board acquisition unit, 822... image quality acquisition unit, 823... display control unit, Ip... ideal path, Md... detection model, Op... operator, P6, P7, P8, P15, P15a... program, RG... detection range, Se... external sensor, Si... internal sensor

Claims

1. A display control device that controls a display device used to move a moving body that can be moved by unmanned operation, the moving body has a remote manual driving mode in which the moving body travels using a driving control signal that specifies a driving operation of the moving body and that is generated in response to an operation by an operator of an operator input device that is provided at a location different from the moving body; During a period in which control of the remote manual driving mode is being performed, the driving control signal is generated in response to the operation of the operator input device by the operator using an image acquired by a camera and displayed on a display screen of the display device provided at a location different from the moving body, The display control device includes: At least one of an on-board acquisition unit that acquires on-board information indicating whether or not an on-board camera as the camera mounted on the moving body is mounted on the moving body, and an image quality acquisition unit that acquires image quality information indicating the image quality of an on-board camera image, which is the image acquired by the on-board camera; a display control unit that displays the image on the display screen, The display control unit is A display control device that displays the mounted camera image on the display screen when at least one of the following cases occurs: the mounted camera is mounted on the moving body and the image quality is above a predetermined standard, and displays an external camera image on the display screen, which is an image obtained by an external camera that is provided at a location different from the moving body and serves as a camera that images the moving body from outside, when at least one of the following cases occurs: the mounted camera is mounted on the moving body and the image quality is above a predetermined standard,

2. The display control device according to claim 1 , A display control device, wherein the image quality is determined by at least one of a resolution of the mounted camera image, a distortion of the mounted camera image, and a detection range of the mounted camera.

3. The display control device according to claim 1 , The moving body further has an automatic driving mode in which the moving body travels using the driving control signal generated without responding to the operation of the operator input device by the operator, The display control unit is a display control device that displays at least one of the mounted camera image and the external camera image on the display screen in accordance with the mounted information and the image quality information when the automatic driving mode is switched to the remote manual driving mode or when it is expected that the automatic driving mode will be switched to the remote manual driving mode.

4. The display control device according to claim 1 , The display control device is configured to, when the mounted camera image is to be displayed on the display screen, display the external camera image on the display screen in addition to the mounted camera image.

5. A display device used to move a moving body that can be moved by unmanned operation, the moving body has a remote manual driving mode in which the moving body travels using a driving control signal that specifies a driving operation of the moving body and that is generated in response to an operation by an operator of an operator input device that is provided at a location different from the moving body; The display device includes: a display screen provided at a location different from the moving body and displaying an image captured by the camera; The driving control signal is generated in response to the operation of the operator input device by the operator using the image displayed on the display screen during a period in which control of the remote manual driving mode is being performed, The display screen includes: A display device which displays the onboard camera image when an onboard camera serving as the camera mounted on the moving body is mounted on the moving body and / or when the image quality of the onboard camera image, which is the image captured by the onboard camera, is equal to or higher than a predetermined standard, and which displays an external camera image, which is the image captured by an external camera provided at a location different from the moving body and serving as the camera that captures an image of the moving body from the outside, when at least one of the onboard camera is not mounted on the moving body and / or when the image quality is below the standard.

Images