Remote travel control apparatus

Abstract

To provide a remote travel control apparatus capable of preventing the possibility of contact from increasing even in a case where there is an obstacle article that impedes user visibility of a vehicle.SOLUTION: A remote travel control apparatus executes remote travel control to enable a vehicle to travel to a target space on the basis of a travel instruction from the remote travel control apparatus operated by a user outside the vehicle. In a case where, between the remote travel control apparatus and the vehicle, there is an obstacle article that impedes user visibility of the vehicle, the remote travel control apparatus executes, as on-impedance control, at least one of notification control for notifying the user of a fact that there is an obstacle article and low speed control for controlling an upper limit speed of the remote travel control lower than in the case of no obstacle article existing.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a remote driving control device that performs remote driving control to drive a vehicle to a target space based on driving instructions from a remote control device operated by a user outside the vehicle. [Background technology]

[0002] Conventionally, remote driving control devices that perform remote driving control have been known. For example, a remote driving control device described in Patent Document 1 (hereinafter referred to as a "conventional device") performs remote driving control to park or pull out a vehicle by operating a remote operation device by a user located relatively close to the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-109616 Summary of the Invention

[0004] During remote operation control, the user needs to visually monitor the vehicle. If there is an obstructing object between the user and the vehicle that obstructs the user's view, the user is more likely to be unable to visually monitor the vehicle. In a situation where the user cannot monitor the vehicle, the "possibility of the vehicle coming into contact with another object" is higher than in a situation where the user is monitoring the vehicle.

[0005] However, the conventional device does not perform any special control when an obstructing object is present, and therefore the possibility of contact increases when an obstructing object is present.

[0006] The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide a remote traveling control device that can prevent an increase in the possibility of contact even when an obstructing object is present.

[0007] The remote driving control device of the present invention (hereinafter referred to as the "device of the present invention") performs remote driving control to drive a vehicle (VA) to a target space based on driving instructions from a remote control device (20) operated by a user outside the vehicle. When an obstructing object (OBS) that obstructs the user's view of the vehicle is present between the remote control device and the vehicle (step 330 "No"), the remote driving control device is configured to execute at least one of the following obstruction control: notification control (step 360) to inform the user of the presence of the obstructing object; and low-speed control (step 355) to limit the upper speed limit of the remote driving control to a speed lower than when the obstructing object is not present.

[0008] According to the device of the present invention, when an obstructing object is present, at least one of a notification control and a low-speed control is executed. When the notification control is executed, the user becomes aware of the presence of the obstructing object and is more likely to take appropriate action, such as moving the vehicle to a position where it can be seen without being affected by the obstructing object. This prevents an increase in the possibility of contact. When the low-speed control is executed, the time it takes for the vehicle to stop is shorter, thereby preventing an increase in the possibility of contact. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic system configuration diagram of a remote travel control device and a remote operation device according to an embodiment of the present invention; [Figure 2] FIG. 2 is an explanatory diagram illustrating an outline of the operation of remote travel control according to the embodiment of the present invention. [Figure 3] 2 is a flowchart of a remote travel control routine executed by a CPU of the ECU shown in FIG. 1. [Figure 4] 2 is a flowchart of an obstructing object determination routine executed by a CPU of the ECU shown in FIG. 1. [Figure 5] 10 is a flowchart of a part of a remote traveling control routine executed by a CPU of an ECU of a remote traveling control device according to a first modified example of the embodiment of the present invention. [Figure 6]10 is a flowchart of a part of a remote traveling control routine executed by a CPU of an ECU of a remote traveling control device according to a second modified example of the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] 1, a remote-controlled vehicle VA is equipped with a remote control device 10 (hereinafter referred to as "the device 10") according to this embodiment. The remote-controlled vehicle VA is communicably connected to a remote control device 20 via a network NW.

[0011] The remote traveling control device 10 includes the components shown in FIG. 1. In this specification, "ECU 30" is an electronic control device that includes a microcomputer as its main component. The ECU 30 is also referred to as a control unit, a controller, and a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, an interface, and the like. The functions realized by the ECU 30 may be realized by multiple ECUs.

[0012] The camera 32 includes a front camera and a rear camera. The front camera captures a front image by capturing an image of the scenery in front of the vehicle VA. The rear camera captures an image of the scenery behind the vehicle VA. The sonar 34 acquires sonar data related to the positions of objects present in the vicinity of the vehicle VA relative to the vehicle VA. The ECU 30 acquires a front image and a rear image from the front camera and the rear camera, respectively, and acquires sonar data from the sonar 34. The ECU 30 recognizes objects located in the vicinity of the vehicle VA based on the front image, rear image, and sonar data.

[0013] The vehicle speed sensor 36 measures the vehicle speed Vs, which indicates the speed of the vehicle VA. The ECU 30 acquires the detected value of the vehicle speed sensor 36.

[0014] A UWB (Ultra-Wide Band) antenna 38 performs UWB wireless communication with other devices equipped with UWB antennas.

[0015] The GNSS (Global Navigation Satellite System) receiver 40 receives signals from multiple satellites and identifies the current position (latitude and longitude) of the vehicle VA based on the received signals. The communication interface (I / F) 44 is an interface for connecting the device 10 to a network NW.

[0016] The power train actuator 46 changes the driving force generated by a drive device (e.g., an internal combustion engine and / or an electric motor) of the vehicle VA. The brake actuator 48 changes the braking force applied to the vehicle VA. The steering motor 50 is incorporated into a steering mechanism 52. The steering mechanism 52 is a mechanism for steering the steered wheels in response to the operation of the steering wheel. In response to a command from the ECU 30, the steering motor 50 causes the steering mechanism 52 to generate an automatic steering torque for changing the steering angle θ of the steered wheels of the vehicle VA.

[0017] The remote control device 20 is a device that can be operated by the user US (see FIG. 2) even when outside the vehicle, and is, for example, a smartphone. The remote control device 20 includes the components shown in FIG.

[0018] The control unit 60 includes a CPU (processor), ROM, RAM, an interface, etc. The UWB antenna 62, the communication I / F 64, and the GNSS receiver 66 are the same as the UWB antenna 38, the communication I / F 44, and the GNSS receiver 40, respectively. Descriptions of these will be omitted.

[0019] The vibration motor 68 is a motor for vibrating the remote control device 20. The display device 706 is a touch panel display that allows the user US to input to the remote control device 20 by touching the display device 70. The speaker 72 produces sounds.

[0020] <Remote driving control> When a user US outside the vehicle performs a predetermined operation on the remote control device 20, the remote control device 20 transmits a driving instruction to the device 10 via the network NW. The device 10 executes "remote driving control for automatically driving the vehicle VA to the target space" in accordance with the driving instruction. For example, Smart Summon and Reverse Summon are known as remote driving controls.

[0021] In Smart Summon, the vehicle VA automatically travels from the parking space in which it is parked to a target space (the current position of the remote control device 20 identified by the GNSS receiver 66 or a designated position designated by the user US). In Reverse Summon, when the user US gets off at the entrance to the parking lot or the like and operates the remote control device 20, the vehicle VA parks in the parking space (target space) designated by the user US.

[0022] In the remote driving control, an upper limit speed Vlmt is set, and the device 10 controls the power train actuator 46 and the brake actuator 48 so that the vehicle speed Vs does not exceed the upper limit speed Vlmt. Note that, if no obstructing object OBS (described later) is present, the upper limit speed Vlmt is set to a predetermined speed Vs1.

[0023] (Overview of operation) Referring to FIG. 2, an overview of the operation of the device 10 will now be described. When remote driving control is being performed, the device 10 determines the position of the remote control device 20 relative to the vehicle VA. The device 10 and the remote control device 20 perform UWB wireless communication using UWB antennas 38 and 62. The device 10 determines the position of the remote control device 20 relative to the vehicle VA using UWB wireless communication.

[0024] The device 10 recognizes (identifies) the positions of objects around the vehicle VA relative to the vehicle VA based on the forward image, rearward image, and sonar data. If there is an object blocking the virtual line VL between the position of the remote control device 20 and a predetermined reference point BP of the vehicle VA, the device 10 determines that an obstructing object OBS exists between the vehicle VA and the remote control device 20. The obstructing object OBS is an object that obstructs the user US's view of the vehicle VA.

[0025] When an obstructing object OBS is present, the device 10 executes notification control and low-speed control as obstruction control. Notification control is a control for informing the user US that an obstructing object OBS is present. In low-speed control, the upper limit speed Vlmt of the remote travel control is set to "a speed Vs2 lower than the above speed Vs1."

[0026] The notification control includes at least one of vibration control, display control, and sound control. The vibration control is a control for vibrating the vibration motor 68 of the remote control device 20. The display control is a control for displaying an "notification screen for notifying the user US that an obstructing object OBS is present" on the display device 70 of the remote control device 20. The sound control is a control for making the speaker 72 of the remote control device 20 emit a predetermined notification sound.

[0027] Therefore, the device 10 can notify the user US of the presence of an obstructing object OBS by executing notification control. When notification control is performed, the user US can move to a position where their vision is not obstructed by the obstructing object OBS, increasing the likelihood that they will visually monitor the vehicle VA. This prevents an increase in the likelihood that the vehicle VA will come into contact with another object when an obstructing object OBS is present.

[0028] Furthermore, the device 10 executes low-speed control to lower the upper limit speed Vlmt when an obstructing object OBS is present. This allows the vehicle VA to immediately stop when the possibility of contact with another object increases. This prevents the possibility of contact from increasing when an obstructing object OBS is present.

[0029] (Specific operation) 3 and 4 every time a predetermined time elapses. Hereinafter, the "CPU" refers to the CPU of the ECU 30.

[0030] <Remote driving control routine> When an appropriate time arrives, the CPU starts the process from step 300 in FIG. 3, and determines in step 305 whether the execution flag Xexe is "0".

[0031] The execution flag Xexe is set to "1" when remote driving control starts, and is set to "0" when remote driving control ends. The execution flag Xexe is set to "0" in the initialization routine. The initialization routine is executed by the CPU when the ignition key switch (not shown) of the vehicle VA is changed from the OFF position to the ON position.

[0032] If the execution flag Xexe is "0", the CPU determines "Yes" in step 305, and the process proceeds to step 310. In step 310, the CPU determines whether the device 10 has received a start instruction from the remote control device 20.

[0033] When the user US operates a start button (not shown) after specifying the target space, the remote operation device 20 transmits a start instruction to the device 10 .

[0034] If the device 10 has not received the start instruction, the CPU determines "No" in step 310, and the process proceeds to step 395, where the CPU temporarily ends this routine.

[0035] If the device 10 receives a start instruction, the CPU determines "Yes" in step 310 and executes steps 315 to 330.

[0036] Step 315: The CPU sets the execution flag Xexe to “1”. Step 320: The CPU recognizes (identifies) the positions of objects around the vehicle VA relative to the vehicle VA based on the front image, rear image, and sonar data. Step 325: The CPU creates a route to the target space so that the vehicle VA does not come into contact with any objects. Step 330: The CPU determines whether the inhibition flag Xobs is “0” or not.

[0037] The obstruction flag Xobs is set to "1" when an obstructing object OBS exists, and is set to "0" when no obstructing object OBS exists. The obstruction flag Xobs is set to "0" in the initialization routine.

[0038] If the inhibition flag Xobs is “0”, the CPU determines “Yes” in step 330 and executes steps 335 to 350 .

[0039] Step 335: The CPU sets the upper limit speed Vlmt to the speed Vs1. Step 340: The CPU acquires a target acceleration Gtgt and a target steering angle θtgt for the vehicle VA to travel along the route so that the vehicle speed Vs does not exceed the upper limit speed Vlmt. If the distance between the vehicle VA and the other object is equal to or less than the threshold distance in step 340, the CPU obtains a negative target acceleration Gtgt for stopping the vehicle VA. Step 345: The CPU controls the power train actuator 46 and the brake actuator 48 so that the acceleration G of the vehicle VA coincides with the target acceleration Gtgt, and controls the steering motor 50 so that the steering angle θ coincides with the target steering angle θtgt. Step 350: The CPU determines whether the vehicle VA has arrived at the target space.

[0040] If the vehicle VA has not arrived at the target space, the CPU determines "No" in step 350, and the process proceeds to step 395, where the CPU temporarily ends this routine.

[0041] If the execution flag Xexe is "1" when the process proceeds to step 305, the CPU determines "No" in step 305 and the process proceeds to step 320. If the inhibition flag Xobs is "1" when the process proceeds to step 330, the CPU determines "No" in step 330 and executes steps 355 and 360.

[0042] Step 355: The CPU sets the upper limit speed Vlmt to "a speed Vs2 that is lower than the speed Vs1." Step 360: The CPU transmits to the remote control device 20 a notification instruction to cause the remote control device 20 to execute notification control. Processing then proceeds to step 340.

[0043] If the vehicle VA has arrived at the target space when the process proceeds to step 350, the CPU determines "Yes" in step 350, and the process proceeds to step 365. In step 365, the CPU sets the execution flag Xexe to "0." After that, the process proceeds to step 395, where the CPU temporarily ends this routine.

[0044] <Obstruction object detection routine> When an appropriate time arrives, the CPU starts the process from step 400 in FIG. 4, and determines in step 405 whether the execution flag Xexe is "1".

[0045] If the execution flag Xexe is "0", the CPU determines "No" in step 405, and the process proceeds to step 495, where the CPU temporarily ends this routine.

[0046] If the execution flag Xexe is "1", the CPU determines "Yes" in step 405 and executes steps 410 to 420. Step 410: The CPU identifies the position of the remote control device 20 relative to the vehicle VA through UWB wireless communication. Step 415: The CPU recognizes (identifies) the positions of objects around the vehicle VA relative to the vehicle VA based on the front image, rear image, and sonar data. Step 420: The CPU determines whether an obstructing object OBS exists.

[0047] If no obstructing object OBS exists, the CPU determines "No" in step 420, and the process proceeds to step 425. In step 425, the CPU sets the obstruction flag Xobs to "0." After that, the process proceeds to step 495, where the CPU temporarily ends this routine.

[0048] If an obstructing object OBS is present, the CPU determines "Yes" in step 420, and the process proceeds to step 430. In step 430, the CPU sets the obstruction flag Xobs to "1." Thereafter, the process proceeds to step 495, where the CPU temporarily ends this routine.

[0049] As described above, the present device 10 executes the obstruction control when an obstructing object OBS is present, and therefore can prevent the possibility of contact from increasing when an obstructing object OBS is present.

[0050] (First Modification) The remote traveling control device 10 according to this modification changes the control mode of the obstruction control depending on whether the obstruction object OBS is a moving object or a stationary object. In detail, the CPU of the ECU 30 strengthens the obstruction control when the obstruction object is a stationary object compared to when the obstruction object is a moving object.

[0051] <Notification control> When the obstructing object OBS is a stationary object, the notification mode of the notification control is set as follows, so that when the obstructing object OBS is a stationary object, the notification mode of the notification control is strengthened. When the obstructing object OBS is a stationary object, the vibration period of the vibration control is made shorter than when the obstructing object OBS is a moving object. If the obstructing object OBS is a stationary object, the notification screen is flashed, and if the obstructing object OBS is a stationary object, the notification screen is constantly displayed. As another example, if the obstructing object OBS is a stationary object, a message urging the driver to move to a position where the vehicle VA can be seen may be displayed on the notification screen. When the obstructing object OBS is a stationary object, the sound generation period of the notification sound of the sound generation control is made shorter than when the obstructing object OBS is a moving object. Hereinafter, the notification control executed when the obstructing object OBS is a moving object will be referred to as "weak notification control," and the notification control executed when the obstructing object OBS is a stationary object will be referred to as "strong notification control."

[0052] <Low speed control> If the obstruction object OBS is a moving object, the upper limit speed Vlmt is set to "a speed Vs3 lower than the speed Vs1." If the obstruction object OBS is a stationary object, the upper limit speed Vlmt is set to "a speed Vs4 lower than the speed Vs3."

[0053] When the obstructing object OBS is a stationary object, the user US is more likely to be unable to see the vehicle VA for a longer period of time than when the obstructing object OBS is a moving object. For this reason, in this modified example, the obstruction control is strengthened.

[0054] This modification will now be described in more detail. When an obstructing object OBS is present, the CPU determines whether the obstructing object OBS is a stationary object. If the obstructing object OBS is a stationary object, the CPU sets the first obstruction flag Xobs1 to "1" and the second obstruction flag Xobs2 to "0." On the other hand, if the obstructing object OBS is a moving object, the CPU sets the first obstruction flag Xobs1 to "0" and the second obstruction flag Xobs2 to "1." Both the first obstruction flag Xobs1 and the second obstruction flag Xobs2 cannot be "1." If no obstructing object OBS exists, the CPU sets the first obstruction flag Xobs1 and the second obstruction flag Xobs2 to "0."

[0055] In this modification, when the CPU executes step 325 shown in Fig. 3, the process proceeds to step 505 shown in Fig. 5. In step 505, the CPU determines whether the first inhibition flag Xobs1 is "0" and the second inhibition flag Xobs2 is "0".

[0056] If the first obstruction flag Xobs1 is "0" and the second obstruction flag Xobs2 is "0" (i.e., no obstructing object OBS is present), the CPU determines "Yes" in step 505, and the process proceeds to step 510. In step 510, the CPU sets the upper limit speed Vlmt to the speed Vs1. Thereafter, the process proceeds to step 340 shown in FIG. 3.

[0057] If at least one of the first inhibition flag Xobs1 and the second inhibition flag Xobs2 is “1”, the CPU determines “No” in step 505 and the process proceeds to step 515 .

[0058] In step 515, the CPU determines whether the second obstruction flag Xobs2 is "1." If the second obstruction flag Xobs2 is "1" (i.e., if the obstructing object OBS is a moving object), the CPU determines "Yes" in step 515 and executes steps 520 and 525.

[0059] Step 520: The CPU sets the upper limit speed Vlmt to "a speed Vs3 that is lower than the speed Vs1." Step 525: The CPU transmits a weak notification instruction to the remote control device 20. When the remote control device 20 receives the weak notification instruction, it executes the weak notification control. Processing then proceeds to step 340 shown in FIG.

[0060] If the second obstruction flag Xobs2 is "0" when processing proceeds to step 515 (i.e., if the first obstruction flag Xobs1 is "1" (i.e., if the obstructing object OBS is a stationary object)), the CPU determines "No" in step 515 and executes steps 530 and 535. Step 530: The CPU sets the upper limit speed Vlmt to "a speed Vs4 that is lower than the speed Vs3." Step 535: The CPU transmits a strong notification instruction to the remote control device 20. When the remote control device 20 receives a strong notification instruction, it executes strong notification control. Processing then proceeds to step 340 shown in FIG.

[0061] (Second Modification) The remote traveling control device 10 according to this modified example measures the presence time T during which the obstructing object OBS exists, and the longer the presence time T, the stronger the control mode of the obstruction control.

[0062] When the CPU determines that an obstructing object OBS exists, it measures the presence time T by adding the "execution interval of the obstructing object determination routine" to the presence time T. When the CPU determines that an obstructing object OBS does not exist, it sets the presence time T to "0."

[0063] In this modification, if the CPU determines "No" in step 330 shown in Fig. 3 (i.e., if the inhibition flag Xobs is "1"), the process proceeds to step 605 shown in Fig. 6. Note that in the flowchart shown in Fig. 6, the same processes as those shown in Fig. 5 are given the same reference numerals, and their explanations will be omitted.

[0064] In step 605, the CPU determines whether the existence time T is equal to or less than a predetermined threshold time Tth.

[0065] If the existence time T is equal to or less than the threshold time Tth, the CPU determines "Yes" in step 605 and executes step 520 and step 525 shown in Fig. 6. Thereafter, the process proceeds to step 340 shown in Fig. 3.

[0066] If the existence time T is greater than the threshold time Tth, the CPU determines "No" in step 605 and executes steps 530 and 535 shown in Fig. 6. Thereafter, the process proceeds to step 340 shown in Fig. 3.

[0067] According to this modification, the obstruction control is strengthened as the presence time T becomes longer. As a result, the longer the time that the user US is unable to see the vehicle VA, the more likely the user US will realize that they are unable to monitor the vehicle VA and take appropriate action, and the more likely the vehicle VA will come into contact with other objects.

[0068] In the above description, the device 10 executes the notification control and the low-speed control as the obstruction control, but it may execute at least one of the notification control and the low-speed control as the obstruction control. In the above description, smart summon and reverse summon are given as examples of remote driving control, but remote driving control is not limited to these. The remote driving control may be any control in which the vehicle VA travels to the target space by operation of a user US outside the vehicle.

[0069] In the above embodiment, the device 10 determines the position of the remote control device 22 relative to the vehicle VA using UWB wireless communication, but this is not limiting. The device 10 may determine the position of the remote control device 22 relative to the vehicle VA based on the current position of the vehicle VA determined by the GNSS receiver 40 and the current position of the remote control device 20 determined by the GNSS receiver 66.

[0070] The remote control device 20 is not limited to a smartphone, but may be an electronic key or an operation terminal installed in the parking lot. Such an operation terminal is shared by users US who use the parking lot.

[0071] The remote driving control device 10 is applicable to vehicles such as engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. Furthermore, remote driving control is a type of automatic driving. [Explanation of symbols]

[0072] 10... remote travel control device, 20... remote operation device, 38 and 62... UWB antenna, 68... vibration motor, 70... display device, 72... speaker.

Claims

1. A remote driving control device that performs remote driving control to drive a vehicle to a target space based on driving instructions from a remote control device operated by a user outside the vehicle, The remote traveling control device is configured to execute, when an obstructing object that obstructs the user's visual observation of the vehicle exists between the remote operation device and the vehicle, at least one of a notification control for informing the user of the presence of the obstructing object and a low speed control for limiting an upper speed limit of the remote traveling control to a speed lower than that in the case where the obstructing object does not exist, as an obstruction time control. Remote driving control device.

2. The remote travel control device according to claim 1, The remote traveling control device is configured to change the control mode of the obstruction control depending on whether the obstruction object is a moving object or a stationary object. Remote driving control device.

3. The remote travel control device according to claim 2, The remote travel control device includes: When the notification control is executed as the obstruction time control, when the obstruction object is the stationary object, the notification mode of the notification control is strengthened compared to when the obstruction object is the moving object, When the low-speed control is executed as the obstruction-time control, if the obstructing object is the stationary object, the upper limit speed of the low-speed control is set lower than when the obstructing object is the moving object. A remote driving control device configured as above.

4. The remote travel control device according to claim 1, When the notification control is executed as the obstruction control, the longer the presence time of the obstruction object, the stronger the notification mode of the notification control; When the notification control is executed as the inhibition time control, the upper limit speed of the low speed control is lowered as the existence time is longer. A remote driving control device configured as above.

5. The remote travel control device according to any one of claims 1 to 4, the remote control device is a smartphone, The remote traveling control device is configured to execute at least one of the following notification controls: vibration control for vibrating the remote control device; sound generation control for making the remote control device generate a sound; and display control for making the remote control device display a notification screen for informing the user that the obstructing object is present. Remote driving control device.

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