remote control device

Abstract

To enable a remote operator to easily determine whether vehicle stabilization control is operating in a vehicle that the remote operator is operating. [Solution] The remote control device is a device for remotely controlling a vehicle and includes a notification device and one or more processors. The notification device notifies the remote operator of the vehicle through at least one of auditory, tactile, and visual means. When control operation information indicating that vehicle stabilization control for stabilizing the vehicle's running is in operation is received from the vehicle, the one or more processors control the notification device to provide an operation notification to the remote operator indicating that vehicle stabilization control is in operation.

Description

[Technical Field]

[0001] The present disclosure relates to remote operation of vehicles. [Background technology]

[0002] Patent Document 1 discloses a vehicle steering system. The vehicle steering system increases the proportion of a second steering axial force allocated to a steering reaction force during a period when an activation condition for vehicle stabilization control is met, compared to the time when the activation condition is met. The second steering axial force corresponds to an estimated value of an axial force that reflects road surface information. This vehicle steering system can also be used for remote operation of a vehicle by a remote driver (remote operator). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-106825 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the technology described in Patent Document 1, the effect of the vehicle stabilization control operation is transmitted to the remote operator only as a steering reaction force, making it difficult for the remote operator to determine whether the vehicle stabilization control is operating in the vehicle that he or she is operating. [Means for solving the problem]

[0005] The remote control device according to the present disclosure is a device for remotely controlling a vehicle, and includes a notification device and one or more processors. The notification device notifies the remote operator of the vehicle through at least one of auditory, tactile, and visual means. When control activation information indicating that vehicle stabilization control for stabilizing the vehicle's running is in operation is received from the vehicle, the one or more processors control the notification device to provide an activation notification to the remote operator indicating that the vehicle stabilization control is in operation. [Effects of the Invention]

[0006] According to the present disclosure, a remote operator can use the above-described activation notification to easily determine whether vehicle stabilization control is activated in the vehicle that the remote operator is operating. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a diagram illustrating an example of the configuration of a remote control system according to a first embodiment and a notification control. [Figure 2] 10A and 10B are diagrams illustrating first and second examples of a notification device according to a second embodiment, and notification control. [Figure 3] 10 is a diagram illustrating an example of a notification device and notification control according to the third embodiment. FIG. [Figure 4] FIG. 10 is a diagram for explaining notification control according to the fourth embodiment. [Figure 5] FIG. 13 is a diagram for explaining notification control according to the fifth embodiment. [Figure 6] 10A and 10B are diagrams for explaining the relationship between steering torque and steering angle when a vehicle is traveling at a constant speed, and a notification control according to a reference example. DETAILED DESCRIPTION OF THE INVENTION

[0008] 1. First Embodiment 1-1. Remote control system configuration Fig. 1(A) is a schematic diagram showing an example of the configuration of a remote control system 1 according to the first embodiment. The remote control system 1 is a system for remotely controlling a vehicle. As shown in Fig. 1(A), the remote control system 1 includes a vehicle to be remotely controlled (hereinafter referred to as a "remote vehicle") 10 and a remote control device 20. The remote vehicle 10 and the remote control device 20 can communicate with each other via a wireless communication network.

[0009] The remote vehicle 10 is configured to be remotely operable by a remote operator who operates a remote control device 20. As an example, the remote vehicle 10 is an autonomous vehicle. The remote vehicle 10 includes a communication device 11, a sensor group 12, a driving device 13, and a control device 14. The communication device 11 performs wireless communication with the outside of the remote vehicle 10. For example, the communication device 11 performs wireless communication with the remote control device 20.

[0010] The sensor group 12 includes, for example, a recognition sensor, a vehicle state sensor, and a position sensor. The recognition sensor recognizes (detects) the situation around the remote vehicle 10. The recognition sensor includes, for example, one or more cameras that capture multiple images of the situation around the remote vehicle 10. The vehicle state sensor detects the state of the remote vehicle 10 (e.g., yaw rate YR, wheel speed, vehicle speed V, acceleration, steering angle). The position sensor detects the position and orientation of the remote vehicle 10.

[0011] The traveling device 13 includes a steering device, a drive device, and a braking device. The steering device steers the wheels of the remote vehicle 10. The drive device is a power source that generates driving force for the remote vehicle 10, and includes, for example, at least one of an electric motor and an internal combustion engine. The braking device generates braking force.

[0012] The control device 14 controls the remote vehicle 10. The control device 14 includes one or more processors 15 (hereinafter simply referred to as processors 15) and one or more storage devices 16 (hereinafter simply referred to as storage devices 16). The processor 15 executes various processes, including processes related to the control of the remote vehicle 10. Examples of the processor 15 include a general-purpose processor, a specific-purpose processor, a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), and a field-programmable gate array (FPGA). The storage device 16 stores various information required for various processes. Examples of the storage device 16 include a volatile memory, a non-volatile memory, a hard disk drive (HDD), and a solid-state drive (SSD). The processor 15 executes a computer program. The computer program is stored in the storage device 16. The computer program may be recorded on a computer-readable recording medium. The functions of the control device 14 are realized by cooperation between the processor 15 executing the computer program and the storage device 16.

[0013] The remote control device 20 is a terminal device used by a remote operator when remotely operating the remote vehicle 10. In other words, the remote control device 20 is configured to be used by a remote operator to remotely operate the remote vehicle 10. The remote control device 20 is, for example, a cockpit-type terminal. The remote control device 20 includes a communication device 21, an output device 22, an input device 23, and a control device 24.

[0014] The communication device 21 communicates with the remote vehicle 10. The output device 22 outputs various information. The output device 22 includes one or more displays. The one or more displays display various information, such as vehicle surrounding images captured by a camera mounted on the remote vehicle 10. The one or more displays may include a display 34 (see FIG. 3(A)), which will be described later. The output device 22 also includes a speaker 30 (see FIG. 1(B)). In the first embodiment, the speaker 30 corresponds to an example of a "notification device 27 that provides auditory notification to the remote operator." The input device 23 accepts input from the remote operator. Examples of the input device 23 include a steering wheel 33 (see FIG. 2(B)), an accelerator pedal, a brake pedal, etc. The input device 23 may include a reaction force actuator that applies a steering reaction force to the steering wheel 33.

[0015] The control device 24 controls the remote operation device 20. The control device 24 includes one or more processors 25 (hereinafter simply referred to as processors 25) and one or more storage devices 26 (hereinafter simply referred to as storage devices 26). The processor 25 executes various processes. Examples of the processor 25 include a general-purpose processor, a special-purpose processor, a CPU, a GPU, an ASIC, and an FPGA. The storage device 26 stores various information. Examples of the storage device 26 include a volatile memory, a non-volatile memory, a HDD, and an SSD. The processor 25 executes a computer program. The computer program is stored in the storage device 26. The computer program may be recorded on a computer-readable recording medium. The functions of the control device 24 are realized by cooperation between the processor 25 that executes the computer program and the storage device 26.

[0016] 1-2. Notification to the remote operator using hearing (notification control) The control device 14 of the remote vehicle 10 activates vehicle stabilization control to stabilize driving (support safe driving) when the remote vehicle 10 reaches a vehicle limit while traveling. In other words, the vehicle stabilization control intervenes in response to the operation of the remote vehicle 10 by the remote operator. Examples of vehicle stabilization control include vehicle stability control (VSC), anti-lock brake control (ABS), and traction control (TRC). More specifically, the VSC activates when a predetermined activation condition based on, for example, at least, the yaw rate YR is met. The ABS activates when a predetermined activation condition based on, for example, the slip ratio S is met, and the same applies to the TRC. The slip ratio S is calculated based on the wheel speed Vw detected by the wheel speed sensor included in the vehicle state sensor and the vehicle speed (vehicle body speed) V (S = (Vw - V) / V).

[0017] 1(B) is a diagram for explaining notification control according to the embodiment 1. In the embodiment 1, the remote control device 20 executes the following "notification control" to make the remote operator aware that the vehicle stabilization control is operating (intervening).

[0018] When a remote operator is remotely operating the remote vehicle 10, the remote vehicle 10 constantly transmits control operation information indicating the operation state (ON / OFF) of the vehicle stabilization control to the remote operation device 20. The control operation information is, for example, flag information (e.g., VSC flag, ABS flag, TRC flag) indicating whether the vehicle stabilization control is in operation (ON) or in operation (OFF) as shown in Fig. 1(B).

[0019] The remote operation device 20 (processor 25 of the control device 24) executes notification control based on control operation information (flag information) received from the remote vehicle 10. More specifically, when control operation information indicating that vehicle stabilization control is in operation is received from the remote vehicle 10, the processor 25 controls the notification device 27 to issue an "operation notification" indicating that the vehicle stabilization control is in operation to the remote operator. In the first embodiment, the operation notification is issued by generating a specific sound using the notification device 27, which is an auditory device (e.g., speaker 30). Note that the remote operator has learned in advance that an operation notification using a specific sound from an auditory device indicates that the vehicle stabilization control is in operation. The same applies to operation notifications using a tactile device or a visual device, which will be described later.

[0020] 1(B), a specific example of notification control using auditory sense will be described. There may be multiple types of vehicle stabilization control applied to the remote vehicle 10 (e.g., VSC, ABS, TRC). In such a remote vehicle 10 in which multiple types of vehicle stabilization control can be activated, the same specific sound (i.e., sound of the same frequency) may be used for notification control regardless of the type of vehicle stabilization control.

[0021] In contrast, in the example shown in FIG. 1(B), the processor 25 controls the notification device 27 to provide an activation notification in different manners depending on the type of vehicle stabilization control. Specifically, when the VSC is activated, a specific sound with a frequency of X1 [Hz] is used. When the ABS is activated, a specific sound with a frequency of Y1 [Hz] is used. When the TRC is activated, a specific sound with a frequency of Z1 [Hz] is used. In addition, the frequency of the specific sound used to notify the activation of each vehicle stabilization control may be set to be higher as the level of attention of the remote operator regarding the control activation increases. As an example, the magnitude of the frequency may be X1>Y1>Z1.

[0022] 1(B) shows functional blocks related to notification control. As functional blocks, the control device 24 of the remote operation device 20 includes switch units 28-11, 28-12, and 28-13 and an arbitration unit 29-1. These functional blocks are realized in software when a computer program related to notification control is executed by the processor 25.

[0023] VSC flag information (control operation information) is input to switch unit 28-11. If the input VSC flag indicates OFF, switch unit 28-11 outputs 0 [Hz] to arbitration unit 29-1. On the other hand, if the input VSC flag indicates ON, switch unit 28-11 outputs X1 [Hz] to arbitration unit 29-1. Similarly, switch unit 28-12 outputs 0 [Hz] if the ABS flag indicates OFF, and outputs Y1 [Hz] if the ABS flag indicates ON. Switch unit 28-13 outputs 0 [Hz] if the TRC flag indicates OFF, and outputs Z1 [Hz] if the TRC flag indicates ON.

[0024] When frequency X1, Y1, or Z1 is input to arbitration unit 29-1 from any one of switch units 28-11, 28-12, and 28-13, arbitration unit 29-1 controls speaker 30 (notification device 27) to output the sound of the input frequency X1, Y1, or Z1.

[0025] (When multiple types of vehicle stability control are operating simultaneously) Multiple types of vehicle stabilization control may be activated simultaneously. For example, VSC and ABS, or VSC and TRC may be activated simultaneously. When multiple types of vehicle stabilization control are activated simultaneously in this manner (i.e., when two or three of frequencies X1, Y1, and Z1 are input to arbitration unit 29-1 simultaneously), processor 25 may execute notification control as follows.

[0026] In an example in which the speaker 30 serving as the notification device 27 is a 360-degree speaker (omnidirectional speaker), the arbitration unit 29-1 may select the frequency and direction of the specific sound to be generated for each type of vehicle stabilization control that is simultaneously activated. The arbitration unit 29-1 may then control the speaker 30 to output multiple specific sounds according to the selected frequency and direction. More specifically, the speaker 30 may be installed in, for example, a remote cockpit terminal corresponding to the remote control device 20. For example, when outputting a specific sound corresponding to ABS, the 360-degree speaker may output the specific sound from a position in front of the remote operator toward the remote operator at a frequency Y1. For example, when outputting a specific sound corresponding to VSC, the 360-degree speaker may output the specific sound from the left and right of the remote operator toward the remote operator at a frequency X1. For example, when outputting a specific sound corresponding to TRC, the 360-degree speaker may output the specific sound from a position behind the remote operator toward the remote operator at a frequency Z1.

[0027] On the other hand, in an example where the speaker 30 serving as the notification device 27 is a speaker 30 that outputs sound in a specific direction, the arbitration unit 29-1 may select the frequency of the specific sound to be generated from frequencies corresponding to multiple types of vehicle stabilization control that are activated simultaneously, as follows: That is, the arbitration unit 29-1 may select the frequency of the specific sound to be output when the multiple types of vehicle stabilization control are activated simultaneously, for example, according to a predetermined priority order. The priority order may be determined, for example, so that the VSC is highest, followed by the ABS and the TRC. According to this example, when the VSC and one or both of the ABS and the TRC are activated simultaneously, the frequency X1 corresponding to the VSC is selected. Furthermore, if both the ABS and the TRC are activated simultaneously, the frequency Y1 corresponding to the ABS is selected. Then, the arbitration unit 29-1 controls the speaker 30 to output the specific sound of the selected frequency.

[0028] 1-3.Effects According to the notification control according to the first embodiment described above, the remote operator can use the above-mentioned operation notification to easily determine whether or not vehicle stabilization control is operating in the remote vehicle 10 that he or she is operating. That is, the operation notification allows the remote operator to easily know that the remote vehicle 10 has reached the vehicle limit. This helps the remote operator to perform appropriate remote operation (e.g., releasing the accelerator pedal, pressing / releasing the brake pedal, counter-steering) for driving stability.

[0029] Furthermore, according to the notification control of the first embodiment, the operation notification is performed in different modes (i.e., different frequencies) depending on the type of vehicle stabilization control. This allows the remote operator to easily understand which type of vehicle stabilization control is currently operating. Furthermore, as described above, performing the operation notification in different modes depending on the type may include outputting a specific sound in a different direction depending on the type. This allows the remote operator to more easily understand which type of vehicle stabilization control is currently operating.

[0030] 2. Second Embodiment 2-1. Remote control system configuration The remote control system according to the second embodiment is configured in the same manner as the remote control system 1 according to the first embodiment, except that a notification device 27 used for notification control is different.

[0031] 2(A) and 2(B) are diagrams respectively showing first and second examples of a notification device 27 according to the second embodiment. A seat 31 on which a remote operator sits is arranged in a remote cockpit terminal corresponding to the remote control device 20. In the first example, a vibration device 32 attached to the seat 31 corresponds to an example of a "notification device 27 that notifies the remote operator through tactile sensation." More specifically, in the first example, the vibration device 32 is attached to the areas corresponding to the thighs, back, and both shoulders of the remote operator, as an example.

[0032] Also, as in the second example, the vibration device 32 may be attached to a steering wheel 33 operated by a remote operator. More specifically, in the second example, the vibration device 32 is attached to a portion that is held by each of the left and right hands of the remote operator, for example.

[0033] 2-2. Notification to the remote operator using haptics (notification control) 2(C) is a diagram for explaining notification control according to the second embodiment. In the second embodiment, similarly to the first embodiment, when control activation information indicating that vehicle stabilization control is in operation is received from the remote vehicle 10, the processor 25 issues an activation notification. In the second embodiment, the activation notification is issued by generating a specific vibration using the notification device 27 (e.g., the vibration device 32), which is a haptic device.

[0034] Next, a specific example of haptic notification control will be described with reference to Fig. 2(C). In a remote vehicle 10 in which multiple types of vehicle stabilization control can be activated, the same specific vibration (i.e., vibration of the same frequency) may be used for notification control regardless of the type of vehicle stabilization control.

[0035] In contrast, in the example shown in FIG. 2(C), the processor 25 controls the notification device 27 to provide an activation notification in different modes depending on the type of vehicle stabilization control. Specifically, when the VSC is activated, a specific vibration with a frequency of X2 [Hz] is used. When the ABS is activated, a specific vibration with a frequency of Y2 [Hz] is used. When the TRC is activated, a specific vibration with a frequency of Z2 [Hz] is used. In addition, the frequency of the specific vibration used to notify the activation of each vehicle stabilization control may be set to be higher as the level of attention given to the remote operator regarding the control activation increases. As an example, the magnitude of the frequency may be X2>Y2>Z2.

[0036] Fig. 2(C) shows functional blocks related to notification control. As functional blocks, the control device 24 of the remote operation device 20 includes switch units 28-21, 28-22, and 28-23 and an arbitration unit 29-2. Note that the operations of the switch units 28-21, 28-22, and 28-23 are similar to the operations of the switch units 28-11, 28-12, and 28-13 shown in Fig. 1(B), and therefore detailed description thereof will be omitted here.

[0037] When frequency X2, Y2, or Z2 is input to arbitration unit 29-2 from any one of switch units 28-21, 28-22, and 28-23, arbitration unit 29-2 controls vibration device 32 (notification device 27) to output a specific vibration of the input frequency X2, Y2, or Z2.

[0038] (When multiple types of vehicle stability control are operating simultaneously) When multiple types of vehicle stabilization control are operating simultaneously (i.e., when two or three of frequencies X2, Y2, and Z2 are input to arbitration unit 29-2 simultaneously), processor 25 may perform notification control as follows.

[0039] In an example in which multiple vibration devices 32 are provided as the notification device 27, such as the first example shown in FIG. 2A, the arbitration unit 29-2 may select the frequency and position of the vibration to be generated for each type of vehicle stabilization control that is simultaneously activated. The arbitration unit 29-2 may then control the vibration device 32 to output multiple specific vibrations according to the selected frequency and position. For example, when outputting a specific vibration corresponding to ABS, the vibration device 32 located at a position on the seat 31 corresponding to the remote operator's thighs may output the specific vibration at frequency Y2. For example, when outputting a specific vibration corresponding to VSC, the vibration device 32 located at a position on the seat 31 corresponding to the remote operator's back may output the specific vibration at frequency X2. For example, when outputting a specific vibration corresponding to TRC, the vibration device 32 located at a position on the seat 31 corresponding to the remote operator's shoulders may output the specific vibration at frequency Z2. The vibration device 32 attached to the steering wheel 33 (see FIG. 2B) may also be used for the same purpose as described herein.

[0040] On the other hand, in an example in which only one vibration device 32 (vibration device 32 provided in one location) is provided as the notification device 27, the arbitration unit 29-2 may select the frequency of vibration to be generated from frequencies corresponding to multiple types of vehicle stabilization control that operate simultaneously, as follows: That is, the arbitration unit 29-2 may select the frequency of vibration to be output when the multiple types of vehicle stabilization control operate simultaneously, for example, according to a predetermined priority order. The priority order may be determined, for example, so that the VSC has the highest priority, followed by the ABS and TRC. According to this example, when the VSC operates simultaneously with either or both of the ABS and TRC, the frequency X2 corresponding to the VSC is selected. Furthermore, if both the ABS and TRC operate simultaneously, the frequency Y2 corresponding to the ABS is selected. Then, the arbitration unit 29-2 controls the vibration device 32 to output vibration of the selected frequency.

[0041] 2-3.Effects The notification control according to the second embodiment described above also provides the same effect as the notification control according to the first embodiment. In addition, in the second embodiment, providing an operation notification in a different manner depending on the type of vehicle stabilization control may include outputting a specific vibration to a different position depending on the type, as described above. This allows the remote operator to more easily grasp which type of vehicle stabilization control is currently being operated.

[0042] 3. Embodiment 3 3-1. Remote control system configuration The remote control system according to the third embodiment is configured in the same manner as the remote control system 1 according to the first embodiment, except that the notification device 27 used for notification control is different.

[0043] Fig. 3(A) is a diagram showing an example of a notification device 27 according to the third embodiment. In the third embodiment, a display 34 included in a remote cockpit terminal corresponding to the remote control device 20 corresponds to an example of "a notification device 27 that visually notifies the remote operator." Note that the example of the screen display of the display 34 shown in Fig. 3(A) corresponds to a display that imitates the meter panel of the remote vehicle 10.

[0044] 3-2. Visual notification to the remote operator (notification control) 3(B) is a diagram for explaining notification control according to the third embodiment. In the third embodiment, similarly to the first embodiment, when control activation information indicating that vehicle stabilization control is in operation is received from the remote vehicle 10, the processor 25 issues an activation notification. In the third embodiment, the activation notification is issued by turning on a specific lamp using the notification device 27 (e.g., the display 34), which is a visual device.

[0045] Next, a specific example of visual notification control will be described with reference to Fig. 3(B). In a remote vehicle 10 in which multiple types of vehicle stabilization control can be activated, the same specific lamp may be used for notification control regardless of the type of vehicle stabilization control.

[0046] In contrast, in the example shown in FIG. 3(B), the processor 25 controls the notification device 27 to provide activation notification in different manners depending on the type of vehicle stabilization control. For example, when the VSC is activated, a specific lamp L1 (see FIG. 3(A)) located at a predetermined display position on the display 34 is illuminated. When the ABS is activated, a specific lamp L2 located at another predetermined display position is illuminated. When the TRC is activated, a specific lamp L3 located at yet another predetermined display position is illuminated. In addition, the specific lamp used to notify the activation of each vehicle stabilization control may be displayed more conspicuously, for example, by using at least one of color, shape, and display position, the higher the level of attention the remote operator needs to be drawn to the control activation. As an example, the specific lamps L1 to L3 may be displayed so that the VSC is most conspicuous, followed by the ABS and TRC, in that order.

[0047] Fig. 3(B) shows a functional block related to notification control. As this functional block, the control device 24 of the remote operation device 20 includes switch units 28-31, 28-32, and 28-33 and an arbitration unit 29-3. The operation of the switch units 28-31, 28-32, and 28-33 is the same as the operation of the switch units 28-11, 28-12, and 28-13 shown in Fig. 1(B), except that they output 1 when the flag for each vehicle stabilization control indicates ON, and output 0 when the flag indicates OFF. Therefore, detailed description thereof will be omitted here.

[0048] When "1" is input to the arbitration unit 29-3 from any one of the switch units 28-31, 28-32, and 28-33, the arbitration unit 29-3 controls the display 34 (notification device 27) to turn on the specific lamp (L1, L2, or L3) corresponding to the vehicle stabilization control for which "1" was input.

[0049] (When multiple types of vehicle stability control are operating simultaneously) When multiple types of vehicle stabilization control are operating simultaneously (i.e., when "1" is input to arbitration unit 29-3 simultaneously from two or three of three switch units 28-31 to 28-33), processor 25 may execute notification control as follows: Arbitration unit 29-3 controls display 34 to light up specific lamps (multiple of L1 to L3) corresponding to the multiple types of vehicle stabilization control that are operating simultaneously.

[0050] Effects The notification control according to the above-described third embodiment also provides the same effects as the notification control according to the first embodiment.

[0051] Any two or all of the notification controls according to the first to third embodiments described above may be executed in appropriate combination.

[0052] 4. Embodiment 4 The remote control system according to the fourth embodiment has the same configuration as the remote control system 1 according to the first embodiment.

[0053] Fig. 4 is a diagram for explaining notification control according to the fourth embodiment. In the fourth embodiment, as shown in Fig. 4, the remote control device 20 receives actual vehicle state quantities along with flag information (control operation information) from the remote vehicle 10. Examples of the actual vehicle state quantities include the actual yaw rate YR, the wheel speed, the vehicle speed V, and the slip ratio S based on the wheel speed. In the fourth embodiment, the notification control is described using an auditory device (e.g., speaker 30) as an example, but it can also be applied to a haptic device (e.g., vibration device 32).

[0054] More specifically, the above-mentioned vehicle stabilization control is activated when the difference (state quantity difference) ΔS between the target vehicle state quantity and the actual vehicle state quantity of the remote vehicle 10 exceeds a predetermined control activation threshold TH0 (i.e., in this case, a flag such as a VSC flag is turned ON). The vehicle stabilization control increases the control amount for driving stabilization (i.e., the amount of control intervention for the operation of the remote vehicle 10 by the remote operator) as the state quantity difference ΔS increases during the operation of the control. Examples of the control amount here include the amount of increase / decrease in braking torque of the remote vehicle 10, the amount of increase / decrease in driving torque, the amount of steering, etc.

[0055] Then, in the notification control according to the fourth embodiment, the processor 25 of the remote operation device 20 controls the notification device 27 so that the frequency (e.g., X1, Y1, Z1) of the specific sound generated by the notification device 27 for operation notification during operation of the vehicle stabilization control increases in accordance with the state quantity difference ΔS. In addition, in an example in which a haptic device is used as the notification device 27, the processor 25 controls the notification device 27 so that the frequency (e.g., X2, Y2, Z2) of the specific vibration for operation notification increases in accordance with the state quantity difference ΔS during operation of the vehicle stabilization control.

[0056] 4 shows functional blocks for the VSC as functional blocks related to notification control according to the fourth embodiment. That is, the control device 24 includes a state quantity difference calculation unit 35, an addition frequency calculation unit 36, and an addition unit 37, in addition to a switch unit 28-11. The addition unit 37 calculates the sum of the base frequency, which is the frequency (X1 or 0) output from the switch unit 28-11, and the addition frequency, and outputs the sum to the arbitration unit 29-1. Although not shown in FIG. 4, in the fourth embodiment, other vehicle stabilization controls (e.g., ABS, TRC) also additionally include similar functional blocks (35, 36, and 37).

[0057] The state quantity difference calculation unit 35 receives target vehicle state quantities (estimated vehicle state quantities) together with the actual vehicle state quantities received from the remote vehicle 10. The target vehicle state quantities are calculated by the control device 24 based on, for example, the amount of operation of the input device 23 (steering wheel 33, etc.) by the remote operator. The state quantity difference calculation unit 35 calculates a state quantity difference ΔS based on the input target vehicle state quantities and actual vehicle state quantities, and outputs it to the addition frequency calculation unit 36. Note that the state quantity difference ΔS may be calculated by the processor 15 of the remote vehicle 10 and then transmitted to the remote operation device 20.

[0058] The addition frequency calculation unit 36 ​​calculates the addition frequency according to the input state quantity difference ΔS in accordance with the relationship shown in Fig. 4. That is, when the state quantity difference ΔS is equal to or less than the switching threshold TH1 which is the same as the above-mentioned control action threshold TH0, the addition frequency is calculated to be 0 [Hz]. On the other hand, after the state quantity difference ΔS exceeds the switching threshold TH1, the addition frequency is calculated to be a positive value and to increase as the state quantity difference ΔS increases. The addition frequency calculated in this manner is output to the adder 37.

[0059] According to the notification control of the fourth embodiment described above, the frequency of the specific sound or specific vibration notified to the remote operator is determined to be higher as the state quantity difference ΔS is larger. As described above, the larger the state quantity difference ΔS, the larger the control amount (control intervention amount) of the vehicle stabilization control. Therefore, according to this notification control, in addition to the fact that the vehicle stabilization control is in operation, it is possible to make the remote operator aware of the control intervention amount (i.e., the degree of instability in the behavior of the remote vehicle 10) by using the operation notification.

[0060] In addition, the notification control according to the fourth embodiment may include notification control "when multiple types of vehicle stabilization control are simultaneously operated" using the method described in the first or second embodiment.

[0061] 5. Embodiment 5 The remote control system according to the fifth embodiment has the same configuration as the remote control system 1 according to the first embodiment.

[0062] Fig. 5 is a diagram for explaining notification control according to the fifth embodiment. In the fifth embodiment, as shown in Fig. 5, the remote control device 20 also receives actual vehicle state quantities along with flag information (control operation information) from the remote vehicle 10. In the fifth embodiment, the notification control is explained using an auditory device (e.g., speaker 30) as an example, but it can also be applied to a haptic device (e.g., vibration device 32).

[0063] In the notification control according to the fifth embodiment, when the state quantity difference ΔS exceeds a switching threshold TH2 (second threshold) that is smaller than the control activation threshold TH0 (first threshold) that starts vehicle stabilization control, the processor 25 of the remote control device 20 controls the notification device 27 to start an activation notification prior to receiving flag information (control activation information) from the remote vehicle 10.

[0064] As shown in Fig. 5, the functional block related to notification control according to the fifth embodiment is the same as that of the fourth embodiment, except that it includes an addition frequency calculation unit 38 instead of the addition frequency calculation unit 36. The addition frequency calculation unit 38 calculates the addition frequency according to the input state quantity difference ΔS in accordance with the relationship shown in Fig. 5. That is, when the state quantity difference ΔS is equal to or less than a switching threshold TH2 which is smaller than the switching threshold TH1 which is the same as the control activation threshold TH0, the addition frequency is calculated to be 0 [Hz]. On the other hand, after the state quantity difference ΔS exceeds the switching threshold TH2, the addition frequency is calculated to be a positive value and to increase as the state quantity difference ΔS increases.

[0065] According to the notification control according to the fifth embodiment described above, even before the remote control device 20 receives flag information from the remote vehicle 10 (i.e., before the state quantity difference ΔS exceeds the control activation threshold TH0), the activation notification is initiated when the state quantity difference ΔS exceeds the switching threshold TH2. This makes it possible to appropriately suppress a delay in the execution of the activation notification relative to the timing when the vehicle stabilization control actually starts (intervenes) on the remote vehicle 10 side, even if there is a delay in communication between the remote control device 20 and the remote vehicle 10. Furthermore, if the remote operator receives the activation notification through this notification control before the activation of the vehicle stabilization control starts without the influence of a communication delay, the remote operator can perform remote operation to improve the driving stability of the remote vehicle 10 prior to the control intervention.

[0066] In addition, the notification control according to the fifth embodiment may also include notification control "when multiple types of vehicle stabilization control are simultaneously operated" using the method described in the first or second embodiment.

[0067] 6.Reference example In a remote control system (e.g., the remote control system 1 shown in FIG. 1), in order to notify (communicate) the vehicle limits to the remote operator while the remote vehicle 10 is traveling, the remote control device 20 (processor 25) may perform the following "notification control."

[0068] FIG. 6(A) is a diagram showing the relationship between steering torque and steering angle when a vehicle is traveling at a constant speed. The relationship shown in this diagram shows the actual vehicle behavior when steering using a steering wheel mounted on a vehicle (e.g., remote vehicle 10). Generally, the larger the steering angle, the greater the steering torque (steering reaction force), and the driver in the vehicle feels the steering wheel to be heavy. However, when the steering angle increases while the vehicle is traveling at a constant speed (e.g., 60 km / h), the steering torque (steering reaction force) saturates midway and then decreases, as shown in FIG. 6(A).

[0069] From the above, it can be seen that a driver in a vehicle can grasp the tire grip limit (i.e., vehicle limit) by detecting that the steering torque decreases as the steering angle increases while the vehicle is traveling at a constant speed. Therefore, by reproducing the above phenomenon in the remote operation system 1, the remote operator who remotely operates the remote vehicle 10 can appropriately grasp the vehicle limit from the steering reaction force of the steering wheel 33 and perform steering (i.e., counter-steering) appropriate for the vehicle limit.

[0070] Therefore, in the reference example, the processor 25 executes notification control (transmission control) so that a steering reaction force according to a target reaction force described below is applied to the steering wheel 33 of the remote control device 20. The application of the steering reaction force is performed by controlling the reaction force actuator.

[0071] FIG. 6(B) is a diagram illustrating notification control according to a reference example. As shown in FIG. 6(B), the functional block related to this notification control includes a base reaction force calculation unit 100, a reaction force difference calculation unit 101, and a target reaction force calculation unit 102. The target reaction force calculation unit 102 calculates a target reaction force by subtracting the reaction force difference from the base reaction force. The base reaction force calculation unit 100 calculates the base reaction force so that it increases as the steering angle (cockpit handle angle) of the steering wheel 33 increases, for example. The reaction force difference calculation unit 101 calculates the reaction force difference based on the cockpit handle angle and actual vehicle state quantities (vehicle speed V and yaw rate YR) from the remote vehicle 10. The reaction force difference is calculated according to relationship information (e.g., a relationship equation) determined in advance so that the following target reaction force is obtained, for example. That is, the reaction force difference is calculated to be a value required to obtain a target reaction force that increases as the cockpit handle angle increases while the remote vehicle 10 is traveling at a constant speed, and then decreases as the vehicle reaches its limit. [Explanation of symbols]

[0072] 1 Remote operation system, 10 Remote vehicle, 20 Remote operation device, 25 Processor, 26 Storage device, 27 Notification device, 30 Speaker, 32 Vibration device, 34 Display

Claims

1. A remote control device for remotely controlling a vehicle, comprising: a notification device that notifies the remote operator of the vehicle through at least one of auditory, tactile, and visual senses; one or more processors; Equipped with When control operation information indicating that vehicle stabilization control for stabilizing the running of the vehicle is in operation is received from the vehicle, the one or more processors control the notification device to issue an operation notification indicating that the vehicle stabilization control is in operation to the remote operator. Remote control device.

2. The remote control device according to claim 1, the vehicle stabilization control includes a plurality of types of vehicle stabilization control, The one or more processors control the notification device to perform the operation notification in different manners depending on the type of the vehicle stabilization control. Remote control device.

3. The remote control device according to claim 1 or 2, the notification device notifies the remote operator of information through at least one of an auditory sense and a tactile sense, the vehicle stabilization control increases a control amount for stabilizing the running of the vehicle as a difference between a target vehicle state amount and an actual vehicle state amount of the vehicle increases, The one or more processors control the notification device so that a frequency of a sound or vibration generated by the notification device for the operation notification during operation of the vehicle stability control increases according to the difference. Remote control device.

4. 3. The remote control device according to claim 1 or 2, the notification device notifies the remote operator of information through at least one of an auditory sense and a tactile sense, When a difference between a target vehicle state quantity and an actual vehicle state quantity of the vehicle exceeds a second threshold value that is smaller than a first threshold value for starting the vehicle stabilization control, the one or more processors control the notification device to start the operation notification prior to receiving the control operation information from the vehicle. Remote control device.

5. The remote control device according to claim 2, the notification device notifies the remote operator of information through at least one of an auditory sense and a tactile sense, Providing the activation notification in a different manner depending on the type includes at least one of outputting a sound in a different direction depending on the type and outputting a vibration at a different position depending on the type. Remote control device.

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