Vehicle remote control

Abstract

The system optimally controls the vehicle according to the status of the vehicle experiencing the malfunction and surrounding vehicles. [Solution] A remote control device for a vehicle capable of communicating with multiple autonomously driving vehicles, comprising a receiving unit 212a that receives information that an abnormality has occurred in a vehicle, and a driving command generation unit 212b that generates driving commands to be transmitted to the vehicle, wherein if there is another vehicle driving behind the vehicle that has experienced an abnormality, the driving command generation unit 212b generates a driving command to slow down the vehicle that has experienced an abnormality and move it to the shoulder of the road so that the other vehicle can continue driving, and if there is another vehicle driving towards the vehicle that has experienced an abnormality and there is a possibility that the vehicle that has experienced an abnormality will deviate from its lane, the driving command generates a driving command to slow down the vehicle that has experienced an abnormality and stop the vehicle without moving it to the shoulder of the road.

Description

Technical Field

[0001] The present invention relates to a remote control device for a vehicle.

Background Art

[0002] Conventionally, it is known to detect whether it has become difficult to continue the automatic driving of the host vehicle, and when it has become difficult to continue the automatic driving of the host vehicle and the driver of the host vehicle does not start a driving operation, to control the host vehicle to retreat to the road shoulder. Further, when other vehicles are detected on the side and the rear side of the host vehicle in the adjacent lane on the side where the host vehicle retreats, the speed of the host vehicle is controlled so that the host vehicle is overtaken by the other vehicles in the adjacent lane, and after allowing the other vehicles to overtake the host vehicle, it is known to move the host vehicle to the adjacent lane. (See Patent Document 1)

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, at a mine operation site where large heavy machines operating in autonomous driving are in operation, for safety, each vehicle (LV: Light Vehicle) is equipped with GNSS, and the central control always grasps the positions of each vehicle and instructs each vehicle on an appropriate driving route.

[0005] However, in the technology described in the above patent document, when an abnormality occurs in a vehicle, depending on the state of the abnormality, there is a possibility that a following vehicle or an oncoming vehicle may not be able to pass. Further, when there is a priority for driving for the vehicle in which the abnormality has occurred, the following vehicle or the oncoming vehicle, there is a possibility that the driving of these vehicles cannot be optimally controlled. In such a case, at a mine site or the like, there is a problem of reducing productivity.

[0006] Therefore, the present invention aims to provide a remote vehicle control device that can optimally control a vehicle according to the condition of the vehicle experiencing the abnormality and surrounding vehicles. [Means for solving the problem]

[0007] The gist of this disclosure is as follows:

[0008] (1) A remote control device for a vehicle that can communicate with multiple autonomous vehicles, A receiving unit that receives information that an abnormality has occurred in the vehicle, It includes a driving command generation unit that generates driving commands to be transmitted to the vehicle, The aforementioned operation command generation unit, If there are other vehicles following the vehicle experiencing the malfunction, the system generates a driving command to slow down the malfunctioning vehicle and move it to the side of the road so that the other vehicles can continue driving. If there is another vehicle approaching the vehicle experiencing the malfunction, and there is a possibility that the vehicle experiencing the malfunction may deviate from its lane, the system generates a driving command to slow down the vehicle experiencing the malfunction and to stop it without moving it to the shoulder of the road. A remote control device for vehicles.

[0009] (2) The remote control device for a vehicle as described in (1) above, wherein the driving command generation unit transmits the driving command to decelerate the vehicle with the abnormality or the other vehicle, or to change the driving route of the vehicle with the abnormality or the other vehicle, based on a predetermined priority. [Effects of the Invention]

[0010] According to the present invention, a remote control device for a vehicle is provided that can optimally control a vehicle according to the status of the vehicle experiencing an abnormality and surrounding vehicles. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic diagram of the vehicle's remote control system. [Figure 2] This is a schematic diagram showing the configuration of the vehicle. [Figure 3] This is a schematic diagram showing the server configuration. [Figure 4A] This diagram illustrates an example of moving a vehicle to the shoulder of the road to allow other vehicles to overtake. [Figure 4B] This diagram illustrates an example of a vehicle moving to avoid areas that could obstruct the flow of other vehicles, such as intersections. [Figure 4C] This diagram illustrates an example where a vehicle's route is changed to one where other vehicles do not travel, the vehicle is moved to the new route to allow other vehicles to overtake. [Figure 5] This figure illustrates an example of how a vehicle's speed is limited and the vehicle is brought to a stop when a vehicle experiences an abnormality that could cause it to deviate from its lane and another vehicle is traveling in the oncoming lane. [Figure 6] This diagram illustrates an example of how instructions are given to a vehicle and other vehicles depending on which vehicle—the one experiencing the malfunction, the vehicle following it, or the vehicle traveling in the oncoming lane—would be more efficient overall by slowing down or moving out of the way. [Figure 7] This is a schematic diagram showing the functional blocks of the ECU processor in a vehicle. [Figure 8] This is a schematic diagram showing the functional blocks of the processor in the control unit installed in the server. [Figure 9] This flowchart shows the processes that the remote control system performs at predetermined control cycles. [Modes for carrying out the invention]

[0012] FIG. 1 is a schematic diagram showing the configuration of a vehicle remote control system 1000 according to one embodiment. This remote control system 1000 includes a plurality of vehicles 100, 102, 104 and a server 200. Each of the vehicles 100, 102, 104 and the server 200 can communicate with each other via a communication network 300 composed of an optical communication line or the like and a radio base station 400 connected via the communication network 300 and a gateway (not shown). That is, the communication network 300 and the radio base station 400 relay the communication between each of the vehicles 100, 102, 104 and the server 200.

[0013] FIG. 2 is a schematic diagram showing the configuration of the vehicles 100, 102, 104. The vehicles 100, 102, 104 are capable of autonomous driving based on instructions from the server 200. The vehicles 100, 102, 104 may be dump trucks, heavy machinery, etc. at a mine site. In this embodiment, each of the vehicles 100, 102, 104 basically has the same configuration, and the server 200 applies the same processing to each of the vehicles 100, 102, 104. Therefore, hereinafter, unless particularly necessary, one vehicle 100 will be described. Note that the vehicles 100, 102, 104 may include manually operated vehicles.

[0014] As shown in FIG. 2, the vehicle 100 includes a front camera 110, a positioning information receiver 120, a wireless terminal 130, a peripheral monitoring sensor 140, an electronic control unit (ECU: Electronic Control Unit, hereinafter referred to as ECU) 150, a vehicle control device 160, and an HMI device 170. These components are communicably connected via an in-vehicle network.

[0015] The front camera 110 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or a C-MOS, and an imaging optical system that forms an image of the area to be photographed on the two-dimensional detector. The front camera 110 is provided near the dashboard inside the vehicle or near the front glass, photographs the surroundings of the vehicle (for example, the front of the vehicle), and generates an image representing the environment around the vehicle. Each time the front camera 110 generates an image, it outputs the generated image to the ECU 150 via the in-vehicle network.

[0016] The positioning information receiver 120 acquires positioning information representing the current position and orientation of the vehicle 100. For example, the positioning information receiver 120 can be a GPS (Global Positioning System) receiver. Each time the positioning information receiver 120 receives positioning information, it outputs the acquired positioning information to the ECU 150 via the in-vehicle network.

[0017] The wireless terminal 130 has, for example, an antenna and a signal processing circuit that executes various processes related to wireless communication, such as modulation and demodulation of wireless signals. The wireless terminal 130 receives a downlink wireless signal from the wireless base station 400 and also transmits an uplink wireless signal to the wireless base station 400. That is, the wireless terminal 130 extracts the signal transmitted from the server 200 to the vehicle 100 from the downlink wireless signal received from the wireless base station 400 and passes it to the ECU 150. The wireless terminal 130 also generates an uplink wireless signal including the signal transmitted from the ECU 150 to the server 200 and transmits the wireless signal.

[0018] The peripheral monitoring sensor 140 is a sensor for monitoring the periphery of the vehicle, such as the front, rear, and sides of the vehicle. The peripheral monitoring sensor 140 particularly detects moving objects (such as vehicles, bicycles, pedestrians, etc.) around the vehicle. The peripheral monitoring sensor 140 includes sensors such as a LiDAR (Light Detection and Ranging) and a radar.

[0019] The ECU 150 includes a processor 152, a memory 154, and a communication interface 156. The processor 152 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 152 may further have other arithmetic circuits such as a logic unit, a numerical unit, or a graphics processing unit. The memory 154 includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory, and stores data related to the processing according to this embodiment, such as a high-precision map (high-precision 3D map (HD map)). The communication interface 156 has an interface circuit for connecting the ECU 150 to an in-vehicle network.

[0020] The vehicle control equipment 160 consists of various devices related to vehicle control, including a drive system such as an internal combustion engine or electric motor as a drive source for driving the vehicle, a transmission, a braking system for braking the vehicle, and a steering system for turning the vehicle.

[0021] The HMI device 170 includes a display device and a speaker. The display device is, for example, a liquid crystal display (LCD) and is installed near the instrument panel or dashboard. If the vehicle 100 is a manually operated vehicle, the display device displays and outputs the driving commands received from the server 200 in response to instructions from the ECU 150. Also, if the vehicle 100 is a manually operated vehicle, the speaker outputs the driving commands received from the server 200 in sound in response to instructions from the ECU 150. If the vehicle 100 is a manually operated vehicle, the driver can operate the vehicle 100 according to the driving commands output from the HMI device 170.

[0022] Figure 3 is a schematic diagram showing the configuration of server 200. Server 200 is one embodiment of a vehicle remote control device and includes a control device 210 and a storage device 220. Server 200 functions as the central control of the remote control system 1000. Server 200 communicates with vehicle 100 and collects various information such as the vehicle's position, speed, and any abnormalities that occur in vehicle 100. Then, based on the various information received from vehicle 100, server 200 calculates the optimal speed and route instructions for all of the multiple vehicles 100, 102, and 104, and transmits driving commands to each vehicle 100, 102, and 104.

[0023] The control device 210 includes a processor 212, a memory 214, and a communication interface 216. The processor 212 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 212 may further have other arithmetic circuits such as a logic unit, a numerical unit, or a graphics processing unit. The memory 214 includes, for example, volatile semiconductor memory and non-volatile semiconductor memory. The communication interface 216 has an interface circuit for connecting the control device 210 to a network in the server 200 or to a communication network 300. The communication interface 216 is configured to communicate with the vehicle 100 via the communication network 300 and the wireless base station 400. That is, the communication interface 216 passes information received from the vehicle 100 via the wireless base station 400 and the communication network 300 to the processor 212. The communication interface 216 also transmits information received from the processor 212 to the vehicle 100 via the communication network 300 and the wireless base station 400.

[0024] The storage device 220 includes, for example, a hard disk drive or an optical recording medium and its access device. The storage device 220 stores a high-precision map. The storage device 220 may also store computer programs for executing processes performed on the processor 212.

[0025] However, if a malfunction or other abnormality occurs in vehicle 100, stopping on the road would disrupt the movement of other vehicles. The remote control system 1000 optimally controls the malfunctioning vehicle 100 or other vehicles according to the abnormal condition of vehicle 100 and the condition of surrounding vehicles. As a result, in places such as mining sites, an abnormality in vehicle 1 will not affect the movement of other vehicles, and a decrease in productivity will be suppressed.

[0026] Figures 4A to 4C and 5 to 6 are schematic diagrams showing how the remote control system 1000 controls vehicle 100 in response to the abnormal condition of vehicle 100 and the condition of surrounding vehicles when an abnormality occurs in vehicle 100. Figures 4A to 4C show examples of the system slowing down the abnormal vehicle 100, changing the vehicle's trajectory, moving vehicle 100 to a safe place so that other vehicle 102 can overtake it, and stopping vehicle 100. Of these, Figure 4A shows an example of moving vehicle 100 to the shoulder of the road so that other vehicle 102 can overtake it. Figure 4B shows an example of vehicle 100 moving to a safe place so as not to obstruct the movement of other vehicle 102, such as an intersection. Vehicle 100 may restart after other vehicle 102 has overtaken vehicle 100. Figure 4C also shows an example where, instead of moving vehicle 100 to the shoulder, the route of vehicle 100 is changed to a route where other vehicle 102 does not travel, and vehicle 100 is moved to the changed route to allow other vehicle 102 to overtake.

[0027] Figure 5 shows an example of limiting the speed of vehicle 100 and stopping vehicle 100 when a malfunction occurs in vehicle 100 that could cause it to deviate from its lane, and another vehicle 104 is traveling in the oncoming lane. A malfunction that could cause vehicle 100 to deviate from its lane could be, for example, a malfunction in the steering system of vehicle 100. Another malfunction could be a malfunction in the positioning information receiver 120 of vehicle 100, preventing vehicle 100 from accurately acquiring its own position. Yet another malfunction could be a malfunction in the ECU 150, causing interference with the steering of vehicle 100. On the other hand, even if these malfunctions occur, the drive system of vehicle 100 may be normal. In such cases, even if it is difficult to move vehicle 100 to the shoulder of the road, vehicle 100 can still travel, so vehicle 100 is allowed to travel as far as possible without being moved to the shoulder. If another vehicle 104 is traveling in the opposite lane and is approaching vehicle 100, vehicle 100 should slow down and come to a stop. This will allow vehicle 104 to safely pass vehicle 100. After vehicle 104 has passed, vehicle 100 may resume driving.

[0028] Figure 6 shows an example of how instructions are given to vehicle 100, vehicle 102, and vehicle 104 depending on which of the following vehicles—vehicle 100 experiencing an anomaly, vehicle 102, and vehicle 104 traveling in the oncoming lane—should be slowed down or moved to the side for overall efficiency. If vehicle 100 experiencing an anomaly is heavy machinery, a higher priority is set for vehicle 104, which is not heavy machinery and traveling in the oncoming lane. Therefore, as shown in Figure 6, the remote control system 1000 prioritizes the movement of the heavy machinery (vehicle 100) experiencing the anomaly. The remote control system 1000 then moves vehicle 104, which is traveling in the oncoming lane, to the side and stops vehicle 104. This allows vehicle 100 to safely pass vehicle 104. On the other hand, if vehicle 104 traveling in the oncoming lane is heavy machinery, a higher priority is set for vehicle 100, which is not heavy machinery, or vehicle 102. Therefore, the remote control system 1000 prioritizes the other vehicle 104 traveling in the oncoming lane. The remote control system 1000 then causes vehicle 100 and the other vehicle 102 to move out of the way and come to a stop.

[0029] Furthermore, the more other vehicles 102 that are following the malfunctioning vehicle 100, the higher the priority given to vehicle 100 over other vehicles 104 traveling in the oncoming lane. In the example shown in Figure 6, even if the malfunctioning vehicle 100 is not heavy machinery, there are two other vehicles 102 following the malfunctioning vehicle 100. Therefore, as shown in Figure 6, the remote control system 1000 prioritizes the movement of the malfunctioning vehicle 100 and the following other vehicles 102. The remote control system 1000 then causes the other vehicle 104 traveling in the oncoming lane to move out of the way and stops vehicle 104. As a result, vehicle 100 and the following other vehicles 102 can safely pass vehicle 104.

[0030] The above-mentioned priorities may be predetermined based on attributes such as whether vehicles 100, 102, and 104 are heavy machinery, or the number of following vehicles.

[0031] Figure 7 is a schematic diagram showing the functional blocks of the processor 152 of the ECU 150 of the vehicle 100. The processor 152 of the ECU 150 has an abnormality detection unit 152a, a transmission unit 152b, a reception unit 152c, and a vehicle control unit 152d. Each of these parts of the processor 152 is a functional module realized, for example, by a computer program running on the processor 152. In other words, the functional blocks of the processor 152 consist of the processor 152 and a program (software) to make it function. The program may also be recorded in the memory 154 of the ECU 150 or on an externally connected recording medium. Alternatively, each of these parts of the processor 152 may be a dedicated arithmetic circuit provided in the processor 152.

[0032] The abnormality detection unit 152a detects abnormalities in the vehicle (vehicle 100). The abnormality detection unit 152a may detect abnormalities based on the detection values ​​of various sensors that indicate the status of the vehicle 100. Examples of various sensors that indicate the status of the vehicle 100 include various sensors that indicate the status of the vehicle control equipment 160 (e.g., water temperature sensor, oil temperature sensor, oil pressure sensor, voltage sensor, current sensor, etc.). Furthermore, if an abnormality occurs in the vehicle 100, the abnormality detection unit 152a detects the location where the abnormality occurred, the degree of the abnormality, etc.

[0033] When the abnormality detection unit 152a detects an abnormality, the transmission unit 152b transmits information to the server 200 indicating that an abnormality has occurred in the vehicle 100. The information indicating that an abnormality has occurred may include location information indicating the current location of the vehicle 100, the part where the abnormality occurred, and the degree of the abnormality.

[0034] The receiving unit 152c receives driving commands transmitted from the server 200. The vehicle control unit 152d controls the vehicle control equipment 160 based on the driving commands transmitted from the server 200, thereby controlling the operation of the vehicle 100.

[0035] Specifically, the vehicle control unit 152d controls the vehicle control equipment 160 based on the driving command to control the acceleration, deceleration, and steering of the vehicle 100. If the surrounding monitoring sensor 140 detects an obstacle around the vehicle 100, the vehicle control unit 152d controls the operation of the vehicle 100 to avoid the obstacle.

[0036] Figure 8 is a schematic diagram showing the functional blocks of the processor 212 of the control device 210 provided in the server 200. The processor 212 of the control device 210 has a receiving unit 212a, an operation command generation unit 212b, and a transmitting unit 212c. Each of these parts of the processor 212 is a functional module realized by, for example, a computer program running on the processor 212. In other words, each of these parts of the processor 212 consists of the processor 212 and a program (software) to make it function. The program may also be recorded in the memory 214 provided in the control device 210 or on an externally connected recording medium. Alternatively, each of these parts of the processor 212 may be a dedicated arithmetic circuit provided in the processor 212.

[0037] The receiving unit 212a receives information from vehicle 100 indicating that an abnormality has occurred in vehicle 100. The receiving unit 212a also receives location information indicating the current positions of other vehicles 102 and 104 traveling around vehicle 100. The location information indicating the current position of vehicle 100 is included in the information indicating that an abnormality has occurred in vehicle 100.

[0038] The driving command generation unit 212b generates driving commands to be transmitted to vehicles 100, 102, and 104. If there are other vehicles following vehicle 100 which has experienced an abnormality, the driving command generation unit 212b generates a driving command to slow down vehicle 100 which has experienced an abnormality and to pull over to the shoulder and stop so that the other vehicles can continue driving.

[0039] The driving command generation unit 212b generates a driving command to slow down the malfunctioning vehicle 100 and stop the malfunctioning vehicle 100 without moving it to the shoulder, if there is another vehicle (oncoming vehicle) traveling towards the malfunctioning vehicle 100 and there is a possibility that the malfunctioning vehicle 100 will deviate from its lane. However, even in this case, if it is possible to move the vehicle 100 to the shoulder, the vehicle 100 may be moved to the shoulder.

[0040] The driving command generation unit 212b generates a driving command to decelerate the malfunctioning vehicle 100 or the other vehicle, or to change the route of the malfunctioning vehicle 100 or the other vehicle, based on a predetermined priority, if there is another vehicle traveling behind the malfunctioning vehicle 100 and another vehicle traveling towards the malfunctioning vehicle 100. The route change may be carried out by changing the route of vehicle 100 to a route that the other vehicle does not travel on, or by changing the route of the other vehicle to a route that vehicle 100 does not travel on, as shown in Figure 4C. Route changes based on priority may be carried out such that the lower the priority, the greater the change from the original route.

[0041] The driving command generation unit 212b may generate driving commands based on the degree of the abnormality. For example, if the degree of the abnormality is mild to moderate, the driving command generation unit 212b may generate a driving command to decelerate the vehicle 100. On the other hand, if the degree of the abnormality is severe, the driving command generation unit 212b may generate a driving command to make an emergency stop of the vehicle 100.

[0042] Furthermore, the operation command generation unit 212b may generate an operation command that changes the route or destination of the vehicle 100 that has experienced an abnormality. For example, the operation command generation unit 212b may change the route of the vehicle 100 that has experienced an abnormality to the shortest route to the vehicle 100's base. Alternatively, the operation command generation unit 212b may change the destination of the vehicle 100 that has experienced an abnormality to a repair shop.

[0043] The transmitting unit 212c transmits driving commands to the vehicle 100 where the malfunction occurred, as well as to other vehicles 102 and 104.

[0044] Figure 9 is a flowchart showing the processes performed by the remote control system 1000 at predetermined control cycles. First, vehicle 100, other vehicles 102 and 104 perform autonomous driving (step S10). Next, the abnormality detection unit 152a determines whether or not it has detected an abnormality in vehicle 100 (step S12). If it has detected an abnormality in vehicle 100, it determines the degree of the abnormality (step S14). The degree of the abnormality is included in the information indicating that an abnormality has occurred in vehicle 100, along with the location information of vehicle 100, and is transmitted to the server 200 by the transmission unit 152b. The transmission unit 212c of the server 200 transmits a driving command to vehicle 100 according to the degree of the abnormality. The receiving unit 152c of vehicle 100 receives the driving command transmitted from the server 200.

[0045] If the degree of abnormality is determined to be mild to moderate in step S14, the vehicle control unit 152d controls the vehicle control equipment 160 based on the driving command transmitted from the server 200 to decelerate the vehicle 100 (step S16). On the other hand, if the degree of abnormality is determined to be severe in step S14, the vehicle control unit 152d controls the vehicle control equipment 160 based on the driving command transmitted from the server 200 to bring the vehicle 100 to an emergency stop (step S18). Note that the processing in steps S16 and S18 may be carried out by the vehicle 100 itself, based on the determination result in step S14, without relying on the driving command from the server 200.

[0046] After step S16, the driving command generation unit 212b generates a driving command to change the destination of the vehicle 100. The driving command to change the destination is transmitted to the vehicle 100 by the transmission unit 212c, and the vehicle 100 changes its destination according to the driving command (step S20). Note that the processing in step S20 may be performed as needed.

[0047] Next, the receiving unit 212a of the server 200 receives information about other vehicles 102 and 104 traveling around vehicle 100 as surrounding vehicle information (step S22). The surrounding vehicle information includes location information indicating the current positions of other vehicles 102 and 104. Depending on the result of comparing the received location information of other vehicles 102 and 104 with the location information of vehicle 100, one of the processes in steps S24, S26, and S28 is performed.

[0048] First, if there is a vehicle following vehicle 100, the driving command generation unit 212b generates a driving command to slow down the malfunctioning vehicle 100 and move it to the shoulder of the road and stop, if it is possible for vehicle 100 to move to the shoulder, so that the following vehicle can continue driving. Then, the driving command generation unit 212b generates a driving command to restart vehicle 100 after the following vehicle has overtaken vehicle 100. The driving command is transmitted to vehicle 100 by the transmission unit 212c, and vehicle 100 is driven according to the driving command (step S24).

[0049] Furthermore, if there is another vehicle (oncoming vehicle) traveling towards vehicle 100 and there is a possibility that vehicle 100 will deviate from its lane, the driving command generation unit 212b generates a driving command to decelerate the malfunctioning vehicle 100 and to stop the malfunctioning vehicle 100 without pulling over to the shoulder. The driving command is transmitted to vehicle 100 by the transmission unit 212c, and vehicle 100 is driven according to the driving command (step S26).

[0050] Furthermore, if there is another vehicle traveling towards vehicle 100 and another vehicle following vehicle 100, the driving command generation unit 212b generates a driving command based on a predetermined priority to slow down the malfunctioning vehicle 100 or the other vehicle, or to change the route of the malfunctioning vehicle 100 or the other vehicle. The driving command is transmitted to vehicle 100 by the transmission unit 212c, and vehicle 100 is driven according to the driving command (step S28).

[0051] After steps S24, S26, and S28, vehicle 100, which was driven according to the driving instructions, arrives at its destination (step S30).

[0052] As described above, according to this embodiment, by controlling the movement of vehicle 100 or other vehicles in accordance with the abnormal state of vehicle 100 where an abnormality has occurred and the state of other vehicles traveling around vehicle 100, it is possible to control the deceleration, avoidance, and stopping of vehicle 100 and other vehicles to the minimum extent possible. Therefore, it is possible to suppress the decline in productivity, especially in mining sites. [Explanation of Symbols]

[0053] 200...Server, 212...Processor, 212a...Receiver, 212b...Operation command generation unit, 1000...Remote control system

Claims

1. A remote control device for a vehicle that can communicate with multiple autonomously driving vehicles, A receiving unit that receives information that an abnormality has occurred in the vehicle, It includes a driving command generation unit that generates driving commands to be transmitted to the vehicle, The aforementioned operation command generation unit, If there are other vehicles following the vehicle experiencing the malfunction, the system generates a driving command to slow down the malfunctioning vehicle and move it to the side of the road so that the other vehicles can continue driving. If there is another vehicle approaching the vehicle experiencing the malfunction, and there is a possibility that the vehicle experiencing the malfunction may deviate from its lane, the system generates a driving command to slow down the vehicle experiencing the malfunction and to stop it without moving it to the shoulder of the road. A remote control device for vehicles.

2. The remote control device for a vehicle according to claim 1, wherein the driving command generation unit transmits the driving command to decelerate the vehicle experiencing the malfunction or the other vehicle, or to change the driving route of the vehicle experiencing the malfunction or the other vehicle, based on a predetermined priority.

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