Notification system and notification method

Abstract

To provide a notification system capable of allowing a remote driving operator to acknowledge that a carrier is in a condition that could cause damage to cargo in remote operation of a remote-operated vehicle that has a loading platform.SOLUTION: A disclosed notification system includes: at least one memory storing a program; and at least one processor connected to at least one memory. At least one processor is configured to execute the program including: a series of acquisition processing to acquire at least one physical quantity out of carrier acceleration, lateral acceleration, jerk, and amplitude of vibration; and a series of notification processing to notify the remote driving operator when the physical quantity exceeds a first threshold value set for each type of physical quantity.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a notification system and a notification method for notifying a remote driving operator under a predetermined condition during remote driving of a remote driving vehicle having a cargo bed. [Background technology]

[0002] In recent years, remote driving technology has been developed to remotely drive a vehicle (remotely driven vehicle) from a remote location. On the other hand, in remote driving, the remote driving operator operates the vehicle without actually riding in it, which makes it difficult for the operator to recognize the driving environment and the vehicle sensation. Conventionally, techniques for supporting the recognition of the driving environment and the vehicle sensation have been disclosed. For example, Patent Document 1 discloses a remote control device (remote driving device) that improves operability by displaying the distance to surrounding objects on a monitor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-058003 A Summary of the Invention [Problem to be solved by the invention]

[0004] By the way, in the remote driving technology, it is assumed that the remote driving is performed with a remote driving vehicle having a loading platform and the loading platform is loaded with goods. In such a case, if the loading platform sways or vibrates excessively due to the driving environment of the remote driving vehicle, there is a risk that the loaded goods may be damaged. For this reason, the remote driving operator is required to perform driving operations while taking into consideration the situation of the loading platform. However, it is difficult for the remote driving operator to recognize the situation of the loading platform.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to disclose an alarm system and an alarm method that enable a remote driving operator to recognize that the loading platform is in a situation that may cause damage to loaded items when remotely driving a remotely driven vehicle having a loading platform. [Means for solving the problem]

[0006] The first disclosure relates to a notification system that notifies a remote driving operator under a predetermined condition during remote driving of a remote driving vehicle having a cargo bed. The notification system according to the first disclosure includes at least one memory in which a program is stored, and at least one processor coupled to the at least one memory. The at least one processor is configured to execute an acquisition process for acquiring at least one physical quantity of the acceleration, lateral acceleration, jerk, and vibration amplitude of the loading platform by executing the program, and a notification process for notifying the remote driving operator when the physical quantity exceeds a first threshold value set for each type of the physical quantity.

[0007] The second disclosure relates to an alert system further having the following features in addition to the alert system according to the first disclosure. In the notification process, at least one of the processors performs the notification by applying vibration to a steering wheel that accepts driving operations by the remote driving operator or to a seat on which the remote driving operator sits.

[0008] The third disclosure relates to an alert system further having the following features in addition to the alert system according to the first or second disclosure. At least one of the processors further executes a vehicle speed limiting process to limit the vehicle speed of the remotely driven vehicle when the physical quantity exceeds a second threshold value set for each type of the physical quantity through execution of the program.

[0009] The fourth disclosure relates to an alert system further having the following features in addition to the alert system according to the third disclosure. At least one of the processors, in the vehicle speed limiting process, limits the vehicle speed by setting an upper limit on the vehicle speed according to the magnitude of the physical quantity.

[0010] The fifth disclosure relates to a notification method for notifying a remote driving operator under a predetermined condition during remote driving of a remote driving vehicle having a cargo bed. The notification method according to the fifth disclosure includes acquiring at least one of the acceleration, lateral acceleration, jerk, and vibration amplitude of the loading platform, and notifying the remote driving operator when the physical quantity exceeds a first threshold value set for each type of the physical quantity.

[0011] The sixth disclosure relates to a notification method further having the following features in addition to the notification method according to the fifth disclosure. The notification includes providing a notification by applying vibration to a steering wheel that receives driving operations by the remote driving operator or to a seat on which the remote driving operator sits.

[0012] The seventh disclosure relates to a notification method further having the following features with respect to the notification method according to the fifth or sixth disclosure. The method further includes limiting a vehicle speed of the remotely driven vehicle in response to the physical quantity exceeding a second threshold value that is set for each type of the physical quantity.

[0013] The eighth disclosure relates to a notification method further having the following features with respect to the notification method according to the seventh disclosure. Limiting the vehicle speed includes limiting the vehicle speed by setting an upper limit on the vehicle speed according to the magnitude of the physical quantity. Effect of the Invention

[0014] According to the notification system and notification method of the present disclosure, when at least one physical quantity of the speed, lateral acceleration, jerk, and vibration amplitude of the loading platform exceeds a first threshold, a notification is issued to the remote driving operator, thereby enabling the remote driving operator to recognize that the loading platform is in a situation that may cause damage to the loaded goods. [Brief description of the drawings]

[0015] [Figure 1] 1 is a conceptual diagram showing an example of a remote driving system to which a notification system according to an embodiment of the present invention is applied. [Diagram 2] 1 is a conceptual diagram showing an overview of functions provided by a notification system according to an embodiment of the present invention. [Diagram 3] 1 is a block diagram showing a schematic configuration of a notification system according to an embodiment of the present invention; [Figure 4] 4 is a flowchart showing a notification method implemented by the notification system according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings. However, when the number, quantity, amount, range, etc. of each element is mentioned in the embodiments shown below, the idea of ​​the present disclosure is not limited to the mentioned number unless it is specifically stated or the number is clearly specified in principle. Furthermore, the configurations etc. described in the embodiments shown below are not necessarily essential to the idea of ​​the present disclosure unless it is specifically stated or the number is clearly specified in principle. In addition, the same reference numerals are attached to the same or corresponding parts in each drawing, and the duplicated explanation is appropriately simplified or omitted.

[0017] 1. Overview The notification system according to the present embodiment is applied to a remote driving system for remotely driving a remotely driven vehicle. Fig. 1 is a conceptual diagram showing an example of a remote driving system 10 to which the notification system according to the present embodiment is applied.

[0018] In the remote driving system 10, the remote driving device 200 accepts driving operations from the remote driving operator 2, and the accepted driving operations are acquired by the remote driving vehicle 100. Then, the remote driving is performed by the remote driving vehicle 100 traveling in accordance with the driving operations.

[0019] In this embodiment, the remote driving device 200 is provided with at least a handle 220a as a driving operation device that accepts driving operations. The handle 220a typically accepts driving operations related to steering. However, the handle 220a may be another operating member that the remote driving operator 2 continuously holds during remote driving. In addition, in this embodiment, the remote driving device 200 is provided with a seat 201 for the remote driving operator 2 to sit on.

[0020] Other examples of the driving operation device include an accelerator pedal that accepts driving operations related to acceleration, a brake pedal that accepts driving operations related to braking, etc.

[0021] In the remote driving system 10, the remote driving device 200 acquires driving-related information such as driving images and driving environment information from the remote driving vehicle 100, and provides the driving-related information to the remote driving operator 2. Here, the driving images and driving environment information are acquired by cameras and sensors provided in the remote driving vehicle 100, which are not shown in FIG. 1. Furthermore, the driving-related information is typically provided to the remote driving operator 2 by an HMI device provided in the remote driving device 200. For example, driving images are displayed on the display 230a, and notifications and warnings related to driving are issued by the speaker 230b.

[0022] Here, the remote-operated vehicle 100 and the remote driving device 200 transmit information to each other via a communication network 300. The communication network 300 is, for example, a mobile communication network in which the remote-operated vehicle 100 communicates with the remote driving device 200 by mobile communication via a base station.

[0023] In Fig. 1, a remote-driven vehicle 100 has a loading platform 101. Also shown is a case where remote driving is performed with a load 4 on the loading platform 101. For example, this is a case where delivery of the load 4 is performed by remote driving.

[0024] In such a case, if the platform 101 sways or vibrates excessively due to the driving environment of the remote-controlled vehicle 100, there is a risk of damage to the loaded goods 4. For this reason, the remote-controlled driving operator 2 is required to perform driving operations while taking into consideration the condition of the platform 101.

[0025] Therefore, the notification system according to this embodiment provides a function of notifying the remote driving operator 2 when the loading platform 101 is in a situation that may cause damage to the loaded goods 4. Fig. 2 is a conceptual diagram showing an overview of the functions provided by the notification system according to this embodiment.

[0026] First, as shown in (1) of FIG. 2, rocking or vibration of the loading platform 101 is detected. In particular, to detect rocking or vibration, at least one physical quantity of the acceleration, lateral acceleration, jerk, and vibration amplitude of the loading platform 101 is detected and acquired. Here, the jerk may include the rate of change of both the acceleration and lateral acceleration. The acceleration, lateral acceleration, and jerk of the loading platform 101 are indices related to the rocking of the loaded goods 4, and the amplitude of the vibration of the loading platform 101 is an indices related to the vibration of the loaded goods 4.

[0027] Next, as shown in (2) of FIG. 2, when the acquired physical quantity exceeds a threshold value (first threshold value), a notification is requested to the remote driving operator 2. Here, the first threshold value is set for each type of physical quantity. That is, a first threshold value is set for each of the acceleration, lateral acceleration, jerk, and vibration amplitude. The first threshold value is a threshold value that indicates a situation in which damage to the loaded goods 4 may occur.

[0028] Then, as shown in (3) of Fig. 2, the remote driving device 200 notifies the remote driving operator 2. This allows the remote driving operator 2 to recognize that the loading platform 101 is in a situation that may cause damage to the loaded goods 4. Fig. 2 shows a case where the notification is made by applying vibration to the handlebars 220a or the seat 201. By making the notification in this manner, it is possible to make the notification so that the remote driving operator 2 can be sure to recognize it. Furthermore, as a notification, a display on the display 230a or a warning through the speaker 230b may be made.

[0029] Furthermore, as shown in (4) of FIG. 2, the notification system according to this embodiment limits the vehicle speed of the remote-operated vehicle 100 when the acquired physical quantity exceeds a threshold value (second threshold value). This makes it possible to reduce rocking and vibration of the loading platform 101 without the need for driving operation by the remote driving operator 2. In turn, this makes it possible to prevent damage to the loaded goods 4. Here, the second threshold value is set for each type of physical quantity, similar to the first threshold value. In particular, the second threshold value may be the same as the first threshold value. Furthermore, the vehicle speed is limited by setting an upper limit on the vehicle speed according to the magnitude of the acquired physical quantity. This makes it possible to limit the vehicle speed according to the impact on the loaded goods 4.

[0030] 2. Notification System The notification system according to this embodiment will be described below. The notification system according to this embodiment notifies the remote driving operator 2 under a predetermined condition. Fig. 3 is a block diagram showing a schematic configuration of the notification system 11 according to this embodiment. Each component of the notification system 11 according to this embodiment will be described below with reference to Fig. 3.

[0031] The sensor 120 is provided on the loading platform 101 of the remote-operated vehicle 100, detects at least one physical quantity of the acceleration, lateral acceleration, jerk, and vibration amplitude of the loading platform 101, and outputs the detection information. The sensor 120 may be a suitable known acceleration sensor, vibration sensor, or a combination of these. The detection information output by the sensor 120 is transmitted to the information processing device 110.

[0032] The detection information output by the sensor 120 may be not only directly detected information but also information obtained by calculation. For example, the jerk may be information obtained by calculation based on directly detected acceleration or lateral acceleration information. In this case, the sensor 120 may be configured to include a processor that executes the calculation.

[0033] The information processing device 110 is a computer including a memory 111 and a processor 112 coupled to the memory 111. The information processing device 110 is typically one of the ECUs (Electronic Control Units) provided in the remote-operated vehicle 100. However, the information processing device 110 may be a device provided outside the remote-operated vehicle 100. For example, the information processing device 110 may be a server configured on the communication network 300.

[0034] The memory 111 stores various data and programs executable by the processor 112. Information acquired by the information processing device 110 (including at least detection information acquired from the sensor 120) is stored in the memory 111. The processor 112 reads the data and programs from the memory 111, and executes processing according to the programs based on the data.

[0035] In the information processing device 110, the processes executed by the processor 112 include a notification process for outputting a notification request in response to a physical quantity acquired as detection information exceeding a first threshold, and a vehicle speed limit process for outputting a request for vehicle speed limit (vehicle speed limit request) in response to a physical quantity acquired as detection information exceeding a second threshold. Here, the vehicle speed limit request includes information that gives an upper limit on the vehicle speed. The notification request is transmitted to the remote driving device 200 via the communication network 300, and the vehicle speed limit request is transmitted to the cruise control device 130.

[0036] The driving control device 130 is a device that acquires driving operation information from the remote driving device 200 via the communication network 300, and executes processing related to driving control (acceleration control, braking control, steering control, etc.) of the remotely driven vehicle 100 according to the driving operation information. The driving control device 130 performs driving control of the remotely driven vehicle 100 according to the driving operation information, thereby realizing remote driving.

[0037] The driving operation information is output by a driving operation device provided in the remote driving device 200 (not shown in FIG. 3) and transmitted to the driving control device 130 via the communication network 300.

[0038] The driving control device 130 is composed of, for example, a plurality of ECUs corresponding to each or each group of actuators provided in the remote-operated vehicle 100. Examples of the actuators provided in the remote-operated vehicle 100 include an actuator that drives a power unit, an actuator that drives a brake mechanism, an actuator that drives a steering mechanism, and the like.

[0039] While the driving control device 130 receives a vehicle speed limit request (including information giving an upper limit for the vehicle speed) from the information processing device 110, the driving control device 130 executes driving control so as to limit the vehicle speed of the remotely driven vehicle 100 to an upper limit or less in accordance with the vehicle speed limit request. This realizes the vehicle speed limit of the remotely driven vehicle 100. Note that the driving control device 130 may be configured to perform gradual change processing so that the vehicle speed of the remotely driven vehicle 100 does not change suddenly when the vehicle speed limit is applied.

[0040] The communication interface 150 is a device provided in the remote-controlled vehicle 100 and provides an interface that enables transmission and reception of information with the remote-controlled driving device 200 via the communication network 300. The communication interface 150 is, for example, a communication device that wirelessly communicates with base stations located around the remote-controlled vehicle 100.

[0041] The communication interface 250 is provided in the remote driving device 200 and is a device that provides an interface that enables transmission and reception of information with the remote driving vehicle 100 via the communication network 300. The communication interface 250 is, for example, a communication device that connects to the Internet and transmits and receives information.

[0042] The information processing device 210 is a computer including a memory 211 and a processor 212 coupled to the memory 211. The memory 211 stores various data and programs executable by the processor 212. Information acquired by the information processing device 210 is stored in the memory 211. The processor 212 reads the data and the programs from the memory 211, and executes processing according to the programs based on the data.

[0043] When the information processing device 210 receives a notification request from the remote-operated vehicle 100, the information processing device 210 outputs a control signal for notification to the handle vibration actuator 240a, the seat vibration actuator 240b, and the HMI device 230 through processing executed by the processor 212. Then, the handle vibration actuator 240a, the seat vibration actuator 240b, and the HMI device 230 operate in accordance with the control signal, thereby realizing notification to the remote driving operator 2.

[0044] The handle vibration actuator 240a operates to impart vibration to the handle 220a in accordance with a control signal. The seat vibration actuator 240b operates to impart vibration to the seat 201 in accordance with a control signal. The mechanism and control signal of the actuator for imparting vibration may employ any suitable known technology.

[0045] The HMI device 230 operates to notify the remote operation operator 2 according to the control signal. For example, the display 230a displays a specific image according to the control signal. Alternatively, the speaker 230b issues a specific warning according to the control signal.

[0046] The information processing device 210 may be configured to execute other processes, such as displaying a driving image acquired from the remote-controlled vehicle 100 on the display 230a.

[0047] By configuring the notification system 11 in this way, it is possible to realize the functions described in Fig. 2. However, the notification process and the vehicle speed limit process may be configured to be executed in the information processing device 210. In this case, the information processing device 210 is configured to acquire detection information from the sensor 120 via the communication network 300. Furthermore, the driving control device 130 is configured to acquire a vehicle speed limit request from the information processing device via the communication network 300.

[0048] 3. Notification method The following describes the notification method implemented by the notification system 11 according to this embodiment. Fig. 4 is a flowchart showing the notification method implemented by the notification system 11 according to this embodiment. The process shown in Fig. 4 is executed at predetermined intervals.

[0049] In step S100 (acquisition process), the information processing device 110 acquires at least one physical quantity from the sensor 120 as detection information, which is acceleration, lateral acceleration, jerk, and vibration amplitude.

[0050] After step S100, the process proceeds to step S110.

[0051] In step S110, the processor 112 determines whether the physical quantity acquired in step S100 exceeds a first threshold value. Here, the first threshold value may be suitably set depending on the environment in which the notification system 11 according to the present embodiment is applied. For example, the first threshold value may be optimally set experimentally through vehicle adaptation of the remote-driven vehicle 100. In addition, the first threshold value is set for each type of physical quantity (acceleration, lateral acceleration, jerk, or vibration amplitude), and it is determined whether the first threshold value is exceeded for each physical quantity.

[0052] If any of the physical quantities exceeds the first threshold (step S110; Yes), the process proceeds to step S120. If none of the physical quantities exceeds the first threshold (step S110; No), the process proceeds to step S130.

[0053] In step S120 (notification process), the information processing device 110 outputs a notification request in response to the fact that the physical quantity has exceeded the first threshold. Then, the information processing device 210 outputs a control signal in response to the notification request, thereby performing notification (vibration of the steering wheel 220a, vibration of the seat 201, and notification by the HMI device 230).

[0054] After step S120, the process proceeds to step S130.

[0055] In step S130, the processor 112 determines whether the physical quantity acquired in step S100 exceeds a second threshold value. Here, the second threshold value may be appropriately set depending on the environment in which the notification system 11 according to the present embodiment is applied. In addition, the second threshold value is set for each type of physical quantity (acceleration, lateral acceleration, jerk, or vibration amplitude), and it is determined whether the second threshold value is exceeded for each physical quantity.

[0056] If any of the physical quantities exceeds the second threshold (step S130; Yes), the process proceeds to step S 140. If none of the physical quantities exceeds the second threshold (step S130; No), the process ends.

[0057] In step S140 (vehicle speed limit processing), the information processing device 110 outputs a vehicle speed limit request (including information giving an upper limit for the vehicle speed) in response to the physical quantity exceeding the second threshold. Then, the driving control device 130 executes driving control so that the vehicle speed of the remotely driven vehicle 100 is limited to or below the upper limit in accordance with the vehicle speed limit request. Here, the upper limit for the vehicle speed is given according to the magnitude of the physical quantity that has exceeded the second threshold. For example, the upper limit is configured to be given inversely proportional to the magnitude of the physical quantity. However, the way in which the upper limit is given may be suitably set according to the environment in which the notification system according to this embodiment is applied. Furthermore, when multiple physical quantities exceed the second threshold, the smallest of the upper limits given according to the magnitude of each physical quantity may be adopted.

[0058] After step S140, the process ends.

[0059] The first threshold and the second threshold may be the same. In this case, the process shown as step S130 in Fig. 4 is not necessary, and the process related to step S140 is executed after the process related to step S120 or in parallel with the process related to step S120 when any physical quantity exceeds the first threshold (second threshold) (step S110; Yes).

[0060] 4.Effects As described above, according to the notification system and notification method of the present embodiment, when at least one physical quantity of the acceleration, lateral acceleration, jerk, and vibration amplitude of the loading platform 101 exceeds a first threshold, a notification is issued to the remote driving operator 2. This allows the remote driving operator 2 to recognize that the loading platform 101 is in a situation that may cause damage to the loaded goods 4. The notification may also be issued by applying vibration to the steering wheel 220a or the seat 201. This allows the notification to be issued in a manner that ensures that the remote driving operator 2 is aware of the situation.

[0061] Furthermore, according to the notification system and notification method of this embodiment, when at least one physical quantity of the acceleration, lateral acceleration, jerk, and vibration amplitude of the loading platform 101 exceeds a second threshold value, the vehicle speed of the remotely operated vehicle 100 is limited. This makes it possible to reduce the rocking and vibration of the loading platform 101 without the need for driving operation by the remote driving operator 2. As a result, damage to the loaded goods 4 can be suppressed.

[0062] Furthermore, the vehicle speed is limited by setting an upper limit on the vehicle speed according to the magnitude of the acquired physical quantity. This makes it possible to limit the vehicle speed according to the effect on the loaded goods 4.

[0063] In application of the notification system 11 according to this embodiment, the remote-operated vehicle 100 having the loading platform 101 is not limited to a freight vehicle. For example, it may be a van having a vehicle body in which the seat and the loading platform 101 are integrally formed, or a two-wheeled vehicle having the loading platform 101.

[0064] Furthermore, the functions provided by the notification system 11 according to this embodiment may be configured to be able to be appropriately turned on and off by operating the HMI device 230, etc. This makes it possible to prevent notifications from being issued in unnecessary situations, such as when there are no loads 4 on the loading platform 101. [Explanation of symbols]

[0065] 2 Remote Driving Operator 10 Remote Operation System 11. Notification System 100 Remote Control Vehicles 101 Cargo Bed 110,210 Information processing equipment 120 Sensors 111,211 Memory 112,212 processors 130 Driving control device 200 Remote control device 201 seats 220a Handle 230 HMI equipment 240a Handle vibration actuator 240b Seat vibration actuator 300 Communication Network

Claims

1. A notification system for notifying a remote driving operator under a predetermined condition during remote driving of a remote driving vehicle having a loading platform, At least one memory having a program stored therein; at least one processor coupled to the at least one memory; At least one of the processors executes the program, An acquisition process for acquiring at least one physical quantity of the acceleration, lateral acceleration, jerk, and vibration amplitude of the loading platform; a notification process for notifying the remote driving operator that the loading platform is in a state that may cause damage to loaded goods when the physical quantity exceeds a first threshold value that is set for each type of the physical quantity; and configured to run An alarm system comprising:

2. The notification system according to claim 1, At least one of the processors performs the notification process by vibrating a steering wheel that receives driving operations by the remote driving operator or a seat on which the remote driving operator sits. An alarm system comprising:

3. The notification system according to claim 1 or 2, At least one of the processors executes the program, In response to the physical quantity exceeding a second threshold value set for each type of the physical quantity, a vehicle speed limiting process is further executed to limit the vehicle speed of the remotely driven vehicle. An alarm system comprising:

4. The notification system according to claim 3, At least one of the processors, in the vehicle speed limiting process, limits the vehicle speed by providing an upper limit to the vehicle speed according to the magnitude of the physical quantity. An alarm system comprising:

5. A notification method for notifying a remote driving operator under a predetermined condition during remote driving of a remote driving vehicle having a loading platform, comprising: Obtaining at least one physical quantity of the acceleration, lateral acceleration, jerk, and vibration amplitude of the loading platform; When the physical quantity exceeds a first threshold value set for each type of the physical quantity, a notification is given to the remote driving operator to make the remote driving operator aware that the loading platform is in a state that may cause damage to loaded goods. A notification method comprising:

6. The notification method according to claim 5, The step of notifying the remote driver includes the step of notifying the remote driver by vibrating a steering wheel that receives driving operations by the remote driver or a seat on which the remote driver sits. A notification method comprising:

7. The notification method according to claim 5 or 6, The method further includes limiting a vehicle speed of the remotely driven vehicle in response to the physical quantity exceeding a second threshold value that is set for each type of the physical quantity. A notification method comprising:

8. The notification method according to claim 7, Limiting the vehicle speed includes limiting the vehicle speed by setting an upper limit of the vehicle speed according to the magnitude of the physical quantity. A notification method comprising:

Images