Vehicle, vehicle control method, and vehicle control program

Abstract

To provide a new technique for remotely controlling a vehicle.SOLUTION: A vehicle comprises a driving operation member that is operated by an operator to perform steering, acceleration, and deceleration, a stop maintaining device that maintains a stop state, and a control device. In a remote operation mode, the control device communicates with a remote operation target vehicle, transmits information reflecting an operation amount of the driving operation member to the remote operation target vehicle, and presents to the operator information received from the remote operation target vehicle. When the stop state of the vehicle is not maintained by the stop maintaining device, the control device prohibits the remote operation mode.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a technology for remotely operating a vehicle. [Background technology]

[0002] Patent Document 1 discloses a vehicle remote control system for remotely controlling a vehicle. A remote operator enters a remote control room (remote cockpit) dedicated to remote control, and operates devices installed in the remote control room to remotely control the target vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-206218 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to the technique disclosed in Patent Document 1, it is necessary to set up a remote control room dedicated to remote control, which is costly.

[0005] One object of the present disclosure is to provide a new technology for remotely controlling a vehicle. [Means for solving the problem]

[0006] The first aspect relates to vehicles. The vehicle is Driving operation members operated by an operator to steer, accelerate, and decelerate; A vehicle stop maintaining device that maintains a stopped state; Control device and Equipped with. In the remote control mode, the control device communicates with the remotely controlled vehicle, transmits information reflecting the operation amount of the driving operation members to the remotely controlled vehicle, and presents information received from the remotely controlled vehicle to the operator. If the vehicle is not maintained in a stopped state by the vehicle stop maintaining device, the control device prohibits the remote operation mode.

[0007] The second aspect relates to a vehicle control method for controlling a vehicle. The vehicle is Driving operation members operated by an operator to steer, accelerate, and decelerate; A vehicle stop maintaining device that maintains the vehicle stopped; Equipped with. The vehicle control method includes: In a remote operation mode, communicating with a remotely operated vehicle, transmitting information reflecting an operation amount of a driving operation member to the remotely operated vehicle, and presenting information received from the remotely operated vehicle to an operator; When the vehicle stop state is not maintained by the vehicle stop maintaining device, the remote operation mode is prohibited. Includes.

[0008] A third aspect relates to a vehicle control program executed by a computer to control a vehicle. The vehicle is Driving operation members operated by an operator to steer, accelerate, and decelerate; A vehicle stop maintaining device that maintains the vehicle stopped; Equipped with. The vehicle control program In a remote operation mode, communicating with a remotely operated vehicle, transmitting information reflecting an operation amount of a driving operation member to the remotely operated vehicle, and presenting information received from the remotely operated vehicle to an operator; When the vehicle stop state is not maintained by the vehicle stop maintaining device, the remote operation mode is prohibited. to be executed by the computer. Effect of the Invention

[0009] According to the present disclosure, instead of a terminal dedicated to remote operation, the driving operation members that are originally equipped in the vehicle are used for remote operation. The operator can remotely operate the remotely operated vehicle by using the driving operation members of the vehicle. Since it is not necessarily necessary to prepare a terminal dedicated to remote operation, it is possible to reduce the cost of introducing a remote operation system.

[0010] In addition, when the vehicle is not maintained stopped by the vehicle stop maintaining device, the remote control mode is prohibited. Therefore, the vehicle is prevented from moving due to the operation of the driving operation members during the remote control mode. In other words, it is possible to remotely control the remotely controlled vehicle while ensuring the safety of the vehicle. [Brief description of the drawings]

[0011] [Figure 1] 1 is a conceptual diagram showing an overview of a remote control system according to an embodiment. [Diagram 2] 3A and 3B are conceptual diagrams for explaining a normal mode and a remote control mode of the vehicle according to the embodiment. [Diagram 3] 1 is a block diagram showing an example of the configuration of a vehicle according to an embodiment; [Figure 4] 1 is a block diagram showing an example of the configuration of a remotely controlled vehicle according to an embodiment; [Diagram 5] 10 is a flowchart illustrating an example of a process related to starting a remote operation mode according to an embodiment. [Figure 6] 10 is a flowchart illustrating another example of the process related to the start of the remote operation mode according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0013] 1. Overview Let's consider remote operation of a vehicle. Remote operation is a concept that includes remote driving, remote support, and remote control. Generally, a terminal dedicated to remote operation is used for remote operation of a vehicle. However, it is costly to produce and install a terminal dedicated to remote operation. In addition, a terminal dedicated to remote operation is equipped with remote operation parts such as a steering wheel, accelerator pedal, and brake pedal, but the reliability of these remote operation parts is not necessarily guaranteed.

[0014] According to this embodiment, the driving operation members that are originally equipped in a general vehicle, such as a steering wheel, an accelerator pedal, a brake pedal, etc., are also used as remote operation members, i.e., one vehicle is used to remotely operate another vehicle.

[0015] FIG. 1 is a conceptual diagram showing an overview of a remote control system 1 according to the present embodiment. The remote control system 1 includes a vehicle 100 and a remotely controlled vehicle 200. The remotely controlled vehicle 200 is a vehicle that is a target of remote control. The remotely controlled vehicle 200 may be an autonomous vehicle. The vehicle 100 is a vehicle used when remotely controlling the remotely controlled vehicle 200. Of course, the vehicle 100 can also run normally. In other words, the vehicle 100 is used for remote control, but is not dedicated to remote control. An operator O boards the vehicle 100. The operator O can run the vehicle 100 normally, and can also use the vehicle 100 to remotely control the remotely controlled vehicle 200.

[0016] The remote operation system 1 further includes a management device 300 that manages remote operation. Typically, the management device 300 is a management server on the cloud. The management server may be configured with a plurality of servers that perform distributed processing. The vehicle 100, the remotely operated vehicle 200, and the management device 300 can communicate with each other via a communication network. The vehicle 100 and the remotely operated vehicle 200 can communicate with each other via the management device 300. In addition, the vehicle 100 and the remotely operated vehicle 200 may communicate directly with each other without going through the management device 300.

[0017] The remote operator terminal 10 is a terminal dedicated to remote operation and is operated by a remote operator. The remote operation system 1 according to this embodiment does not exclude the remote operator terminal 10. In other words, the remote operation system 1 may include the remote operator terminal 10.

[0018] FIG. 2 is a conceptual diagram for explaining the "normal mode" and the "remote control mode" of vehicle 100 according to the present embodiment.

[0019] In the normal mode, the operator O drives the vehicle 100 normally. In the normal mode, the operator O becomes the driver of the vehicle 100. More specifically, the vehicle 100 is equipped with driving operation members such as a steering wheel, an accelerator pedal, and a brake pedal that the operator O operates to steer, accelerate, decelerate, and the like of the vehicle 100. The operator O drives the vehicle 100 by operating the driving operation members. The vehicle 100 travels according to the amount of operation of the driving operation members by the operator O.

[0020] The remote operation mode is a mode for remotely operating the remotely operated vehicle 200. In the remote operation mode, the operator O becomes a remote operator who remotely operates the remotely operated vehicle 200. At least during remote operation, the vehicle 100 and the remotely operated vehicle 200 communicate with each other via the management device 300 or communicate directly with each other.

[0021] The remotely controlled vehicle 200 is equipped with various sensors including a camera C. The camera C captures an image IMG of the surroundings of the remotely controlled vehicle 200. The vehicle information VCL includes information obtained by the various sensors, and at least includes the image IMG obtained by the camera C. The remotely controlled vehicle 200 transmits the vehicle information VCL to the vehicle 100.

[0022] The vehicle 100 receives the vehicle information VCL transmitted from the remotely operated vehicle 200. The vehicle 100 presents the received vehicle information VCL to the operator O. Typically, the vehicle 100 is equipped with a display device, and displays an image IMG or the like on the display device. The operator O looks at the displayed information, recognizes the situation around the remotely operated vehicle 200, and remotely operates the remotely operated vehicle 200. At this time, the operator O operates the driving operation members of the vehicle 100.

[0023] The operation information OPE is information reflecting the amount of operation of the driving operation members by the operator O. The operation information OPE may include the amount of operation of the driving operation members, or may include an actuator control amount calculated based on the amount of operation. The vehicle 100 transmits the operation information OPE to the remotely operated vehicle 200. The remotely operated vehicle 200 receives the operation information OPE transmitted from the vehicle 100. The remotely operated vehicle 200 performs vehicle travel control in accordance with the received operation information OPE. As a result, the remotely operated vehicle 200 is remotely operated in accordance with the amount of operation of the driving operation members by the operator O.

[0024] In this manner, remote control of the remotely controlled vehicle 200 is realized using the vehicle 100. However, there is a concern that the vehicle 100 may move due to operation of the driving operation members during the remote control mode.

[0025] Therefore, according to the present embodiment, a "vehicle stop maintaining device" is used that is mounted on the vehicle 100 and maintains the vehicle 100 in a stopped state. Examples of the vehicle stop maintaining device include a parking brake and an electric parking brake (EPB). When the vehicle stop maintaining device is activated, the vehicle 100 is maintained in a stopped state. According to the present embodiment, the remote operation mode is permitted only when the vehicle 100 is maintained in a stopped state by the vehicle stop maintaining device. On the other hand, when the vehicle 100 is not maintained in a stopped state by the vehicle stop maintaining device, the remote operation mode is prohibited. Therefore, the vehicle 100 is prevented from moving due to the operation of the driving operation member during the remote operation mode. That is, it is possible to remotely operate the remotely operated vehicle 200 while ensuring the safety of the vehicle 100.

[0026] The vehicle 100 may be an XbyWire vehicle having at least one of the functions of steer-by-wire, drive-by-wire, brake-by-wire, and shift-by-wire. In this case, in the normal mode, the vehicle 100 controls an actuator for XbyWire based on the amount of operation of a driving operation member by the operator O. On the other hand, in the remote control mode, the vehicle 100 prohibits the control of the actuator for XbyWire based on the amount of operation of a driving operation member by the operator O. This makes it possible to suppress unnecessary behavior of the vehicle 100 during the remote control mode. This is preferable from the viewpoint of energy saving.

[0027] For example, if the vehicle 100 has a drive-by-wire function, the generation of unnecessary driving force during the remote operation mode is prevented. As a result, the stopped state of the vehicle 100 is more reliably maintained. In addition, unnecessary energy consumption is prevented. Furthermore, since unnecessary driving noise is not generated, surrounding pedestrians are prevented from feeling uncomfortable about the stopped vehicle 100.

[0028] As another example, if the vehicle 100 has a steer-by-wire function, unnecessary movement of the tires of the vehicle 100 during the remote control mode is prevented. Thus, unnecessary energy consumption is prevented. Also, tire wear is suppressed. Furthermore, since unnecessary tire movement does not occur, surrounding pedestrians are prevented from feeling uncomfortable about the stopped vehicle 100.

[0029] Furthermore, according to the present embodiment, since remote operation using the vehicle 100 is realized, it is not necessarily necessary to prepare a remote operator terminal 10 dedicated to remote operation. The number of remote operator terminals 10 can also be reduced. Therefore, it is possible to reduce the cost of introducing the remote operation system 1.

[0030] Furthermore, according to this embodiment, the driving operation members that are originally equipped in the vehicle 100 are used for remote operation. No additional parts are required, which also contributes to cost reduction. In addition, the reliability of the driving operation members that are originally equipped in the vehicle 100 is guaranteed, which is preferable.

[0031] The vehicle 100 may be one that the operator O regularly uses. The vehicle 100 may be a privately owned vehicle (POV) owned by the operator O. The operator O can preferably remotely operate the vehicle 100 by operating driving operation members of the vehicle 100 that the operator O is familiar with.

[0032] The remote control system 1 according to the present embodiment is applied to, for example, a remote taxi service. An operator O can remotely drive various remotely controlled vehicles 200 located in remote locations while remaining in the vehicle 100.

[0033] Specific examples of the vehicle 100 and the remotely controlled vehicle 200 will be described below.

[0034] 2. Specific examples of vehicles 2-1. Configuration example 3 is a block diagram showing an example of the configuration of a vehicle 100 according to this embodiment. The vehicle 100 includes a communication device 110, a driving device 120, a driving assistance device 130, a vehicle stop maintaining device 140, a driving operation member 150, a sensor group 160, a user interface 170, and a control device 180.

[0035] The communication device 110 communicates with the outside of the vehicle 100. For example, the communication device 110 communicates with the remotely operated vehicle 200 and the management device 300.

[0036] The traveling device 120 includes actuators for realizing traveling (steering, acceleration, deceleration) of the vehicle 100. In particular, in this example, the vehicle 100 is an XbyWire vehicle, and the traveling device 120 is equipped with actuators for XbyWire.

[0037] For example, the traveling device 120 may include a steering actuator 121 for steer-by-wire. The steering actuator 121 includes an electric motor for steering the wheels of the vehicle 100. The electric motor for steering the wheels is also called EPS (Electric Power Steering).

[0038] As another example, the traveling device 120 may include a drive actuator 122 for drive-by-wire. The drive actuator 122 includes, for example, a vehicle drive motor.

[0039] As yet another example, the traveling device 120 may include a brake actuator 123 for brake-by-wire. The brake actuator 123 includes, for example, an electric hydraulic pump.

[0040] As yet another example, the traveling device 120 may include a shift actuator 124 for shift-by-wire. The shift actuator 124 includes, for example, an electric motor for switching gear positions.

[0041] The driving assistance device 130 assists the driving of the vehicle 100. The driving assistance device 130 includes at least one of a light, a turn signal, and a wiper. Examples of the light include a headlight, a brake light, a fog light, and the like.

[0042] The vehicle stop maintaining device 140 maintains the stopped state of the vehicle 100. For example, the vehicle stop maintaining device 140 is a parking brake or an electric parking brake. As another example, the vehicle stop maintaining device 140 may be a transmission in a P (parking) range. As yet another example, the vehicle stop maintaining device 140 may be a brake actuator 123 that generates a braking force sufficient to maintain the stopped state of the vehicle 100. The vehicle stop maintaining device 140 may be a combination of these examples.

[0043] The driving operation members 150 are members that the operator O operates when driving the vehicle 100. The driving operation members 150 include a steering wheel 151, an accelerator pedal 152, a brake pedal 153, and a shift lever (or a shift switch) 154. Furthermore, the driving operation members 150 include a group of switches 155. For example, the group of switches 155 includes a switch for activating the driving assistance device 130 described above.

[0044] The sensor group 160 detects the state of the vehicle 100. In particular, the sensor group 160 includes sensors for detecting the operation amount and operation state of the driving operation members 150. For example, the sensor group 160 includes a steering angle sensor that detects the steering angle of the steering wheel 151. The sensor group 160 also includes an accelerator pedal sensor that detects the stroke amount of the accelerator pedal 152. The sensor group 160 also includes a brake pedal sensor that detects the stroke amount of the brake pedal 153. The sensor group 160 also includes a gear position sensor that detects the position of the shift lever (or shift switch) 154. The sensor group 160 also includes a sensor that detects the operation state of the switch group 155.

[0045] Furthermore, the sensor group 160 includes a sensor that detects the operation state of the vehicle stop maintaining device 140. For example, the sensor group 160 includes a sensor that detects the operation state of a parking brake or an electric parking brake.

[0046] The user interface 170 presents various information to the operator O, and also accepts input of various information from the operator O. For example, the user interface 170 includes a display device 171. Examples of the display device 171 include a display installed on an instrument panel, a car navigation monitor, a head up display (HUD), a head mounted display (HMD), and the like. The user interface 170 may include a speaker 172. Furthermore, the user interface 170 includes an input device 173. Examples of the input device 173 include a touch panel, a switch, and the like. The input device 173 may include a switch for switching the mode of the vehicle 100 between a "normal mode" and a "remote control mode".

[0047] The control device 180 is a computer that controls the vehicle 100. The control device 180 includes one or more processors 181 (hereinafter simply referred to as processor 181) and one or more storage devices 182 (hereinafter simply referred to as storage devices 182). The processor 181 executes various processes. For example, the processor 181 includes a CPU (Central Processing Unit). The storage device 182 stores various information required for processing by the processor 181. Examples of the storage device 182 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), and the like. The control device 180 may include one or more ECUs (Electronic Control Units).

[0048] The vehicle control program PROG1 is a computer program executed by the processor 181. The functions of the control device 180 are realized as a result of the processor 181 executing the vehicle control program PROG1. The vehicle control program PROG1 is stored in the storage device 182. Alternatively, the vehicle control program PROG1 may be recorded in a computer-readable recording medium.

[0049] The operation information OPE is information reflecting the amount of operation and the operation state of the driving operation member 150 by the operator O. The amount of operation and the operation state of the driving operation member 150 are detected by the sensor group 160. The control device 180 generates the operation information OPE based on the detection results by the sensor group 160. For example, the operation information OPE includes the amount of operation and the operation state of the driving operation member 150. As another example, the operation information OPE may include an actuator control amount calculated based on the amount of operation of the driving operation member 150. The operation information OPE is stored in the storage device 182.

[0050] 2-2.Normal mode In the normal mode, the control device 180 controls the actuators of the traveling device 120 based on the operation information OPE, thereby controlling the traveling (steering, acceleration, deceleration) of the vehicle 100.

[0051] In the normal mode, the control device 180 controls the driving assistance device 130 based on the operation information OPE. That is, in the normal mode, the control device 180 controls the driving assistance device 130 in accordance with the operation of the switch group 155 by the operator O.

[0052] 2-3.Remote control mode In the remote operation mode, the control device 180 prohibits the control of each actuator of the traveling device 120 based on the operation information OPE. This makes it possible to prevent unnecessary operation of the traveling device 120 during the remote operation mode. This is preferable from the viewpoint of energy saving. In addition, since unnecessary operation of the traveling device 120 is prevented, surrounding pedestrians are prevented from feeling uncomfortable about the stopped vehicle 100.

[0053] Furthermore, in the remote operation mode, the control device 180 prohibits the driving assistance device 130 from being controlled based on the operation information OPE. That is, in the remote operation mode, the control device 180 prohibits the driving assistance device 130 from being controlled in accordance with the operation of the switch group 155 by the operator O. This makes it possible to prevent unnecessary operation of the driving assistance device 130 during the remote operation mode. This is preferable from the viewpoint of energy saving. Furthermore, since unnecessary operation of the driving assistance device 130 (lights, blinkers, and wipers) is prevented, surrounding pedestrians are prevented from feeling uncomfortable about the stopped vehicle 100.

[0054] In the remote operation mode, the control device 180 communicates with the remotely operated vehicle 200 via the communication device 110. The control device 180 transmits operation information OPE to the remotely operated vehicle 200. In addition, the control device 180 receives vehicle information VCL from the remotely operated vehicle 200.

[0055] The vehicle information VCL includes information obtained by various sensors mounted on the remotely controlled vehicle 200. For example, the vehicle information VCL includes an image IMG obtained by a camera C mounted on the remotely controlled vehicle 200. The vehicle information VCL may also include audio information obtained by a microphone mounted on the remotely controlled vehicle 200.

[0056] The control device 180 presents the vehicle information VCL to the operator O through the user interface 170. For example, the control device 180 displays an image IMG on the display device 171. As another example, the control device 180 may output audio information from the speaker 172. The operator O refers to the presented vehicle information VCL to recognize the situation around the remotely operated vehicle 200. Then, the operator O remotely operates the remotely operated vehicle 200 by operating the driving operation member 150.

[0057] The vehicle information VCL may include information on the steering angle and vehicle speed of the remotely controlled vehicle 200. The control device 180 may apply a steering reaction force to the steering wheel 151 based on the steering angle and vehicle speed of the remotely controlled vehicle 200. More specifically, the vehicle 100 is equipped with a reaction force actuator (not shown) that applies a steering reaction force to the steering wheel 151. The control device 180 calculates a reaction force control amount based on the steering angle and vehicle speed of the remotely controlled vehicle 200, and controls the reaction force actuator in accordance with the reaction force control amount.

[0058] 3. Specific examples of vehicles to be remotely controlled 3-1. Configuration example 4 is a block diagram showing an example of the configuration of the remotely controlled vehicle 200 according to this embodiment. The remotely controlled vehicle 200 includes a communication device 210, a driving device 220, a driving assistance device 230, a sensor group 240, and a control device 250.

[0059] The communication device 210 communicates with the outside of the remotely operated vehicle 200. For example, the communication device 210 communicates with the vehicle 100 and the management device 300.

[0060] The traveling device 220 includes actuators for realizing traveling (steering, acceleration, deceleration) of the remotely controlled vehicle 200. In particular, in this example, the remotely controlled vehicle 200 is an XbyWire vehicle, and the traveling device 220 includes actuators for XbyWire. More specifically, the traveling device 220 includes a steering actuator 221 for steer-by-wire, a drive actuator 222 for drive-by-wire, a brake actuator 223 for brake-by-wire, and a shift actuator 224 for shift-by-wire.

[0061] The driving assistance device 230 assists in driving of the remotely operated vehicle 200. The driving assistance device 230 includes at least one of a light, a turn signal, and a wiper.

[0062] The sensor group 240 includes a recognition sensor 241 that recognizes (detects) the surrounding conditions of the remotely controlled vehicle 200. For example, the recognition sensor 241 includes a camera C that captures the surrounding conditions of the remotely controlled vehicle 200. The recognition sensor 241 may further include a LIDAR (Laser Imaging Detection and Ranging), radar, sonar, etc. The recognition sensor 241 may further include a microphone that detects sounds around the remotely controlled vehicle 200.

[0063] The sensor group 240 also includes a vehicle state sensor 242 that detects the state of the remotely operated vehicle 200. The vehicle state sensor 242 includes a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, and the like.

[0064] Furthermore, the sensor group 240 includes a position sensor 243 that detects the position and orientation of the remotely operated vehicle 200. For example, the position sensor 243 includes a Global Navigation Satellite System (GNSS).

[0065] The control device 250 is a computer that controls the remotely operated vehicle 200. The control device 250 includes one or more processors 251 (hereinafter simply referred to as the processor 251) and one or more storage devices 252 (hereinafter simply referred to as the storage device 252). The processor 251 executes various processes. For example, the processor 251 includes a CPU. The storage device 252 stores various information required for processing by the processor 251. Examples of the storage device 252 include a volatile memory, a non-volatile memory, a HDD, and an SSD. The control device 250 may include one or more ECUs.

[0066] The vehicle control program PROG2 is a computer program executed by the processor 251. The functions of the control device 250 are realized as a result of the processor 251 executing the vehicle control program PROG2. The vehicle control program PROG2 is stored in the storage device 252. Alternatively, the vehicle control program PROG2 may be recorded in a computer-readable recording medium.

[0067] 3-2. Sensor detection information The control device 250 acquires the sensor detection information SEN using the sensor group 240. The sensor detection information SEN is stored in the storage device 252.

[0068] The sensor detection information SEN includes surrounding situation information indicating the recognition result by the recognition sensor 241. For example, the surrounding situation information includes an image IMG captured by the camera C. The surrounding situation information may include point cloud information obtained by the LIDAR. The surrounding situation information may include audio information detected by a microphone. The surrounding situation information may include object information regarding objects in the vicinity of the remotely controlled vehicle 200. Examples of objects in the vicinity of the remotely controlled vehicle 200 include pedestrians, other vehicles, white lines, traffic lights, signs, and the like. The object information indicates the relative position and relative speed of the object with respect to the remotely controlled vehicle 200. For example, by analyzing the image IMG obtained by the camera C, it is possible to identify the object and calculate the relative position of the object. In addition, it is also possible to identify the object and obtain the relative position and relative speed of the object based on the point cloud information obtained by the LIDAR.

[0069] The sensor detection information SEN also includes vehicle state information indicating the vehicle state detected by the vehicle state sensor 242 .

[0070] Furthermore, the sensor detection information SEN includes position information. The position information indicates the position and direction of the remotely operated vehicle 200 obtained by the position sensor 243. Highly accurate position information may be obtained by self-position estimation processing (localization) using map information and object information.

[0071] 3-3.Vehicle driving control The control device 250 executes vehicle driving control for controlling the driving of the remotely operated vehicle 200. The vehicle driving control includes steering control, drive control, and braking control. The control device 250 executes the vehicle driving control by controlling the driving device 220.

[0072] The control device 250 may perform automatic driving control based on the sensor detection information SEN. More specifically, the control device 250 generates a driving plan for the remotely operated vehicle 200 based on the sensor detection information SEN. Examples of the driving plan include maintaining the current driving lane, changing lanes, turning right or left, and avoiding obstacles. Furthermore, the control device 250 generates a target trajectory required for the remotely operated vehicle 200 to travel according to the driving plan based on the sensor detection information SEN. The target trajectory includes a target position and a target speed. Then, the control device 250 performs vehicle driving control so that the remotely operated vehicle 200 follows the target trajectory.

[0073] 3-4. Processing related to remote control When the remotely operated target vehicle 200 is remotely operated, the control device 250 communicates with the vehicle 100 via the communication device 210.

[0074] The control device 250 transmits vehicle information VCL to the vehicle 100. The vehicle information VCL is information necessary for remote operation and includes at least a part of the above-mentioned sensor detection information SEN. For example, the vehicle information VCL includes an image IMG obtained by a camera C. The vehicle information VCL may include audio information obtained by a microphone. The vehicle information VCL may include vehicle state information (e.g., vehicle speed, steering angle). The vehicle information VCL may include position information.

[0075] The control device 250 also receives operation information OPE from the vehicle 100. The operation information OPE is information reflecting the operation amount and operation state of the driving operation member 150 of the vehicle 100. The control device 250 performs the above-mentioned vehicle driving control according to the received operation information OPE. The control device 250 also controls the driving assistance device 230 according to the received operation information OPE.

[0076] 4. Processing related to starting remote control mode The operator O requests the start of the remote operation mode by using the input device 173. For example, the input device 173 includes a switch for switching modes. The operator O operates the switch to request the start of the remote operation mode.

[0077] Note that remote control may be requested from the remotely controlled vehicle 200. For example, the remotely controlled vehicle 200 may encounter a scene where autonomous driving is difficult. In that case, the remotely controlled vehicle 200 stops and transmits a remote control request to the management device 300 to request remote control. The management device 300 assigns one of the vehicles 100 (operator O) to the remotely controlled vehicle 200, and transmits a remote control request to the assigned vehicle 100. The control device 180 of the vehicle 100 presents the remote control request to the operator O via the user interface 170. When accepting the remote control request, the operator O uses the input device 173 to request the start of a remote control mode.

[0078] FIG. 5 is a flowchart illustrating an example of a process associated with starting the remote operation mode.

[0079] In step S110, the control device 180 determines whether or not the start of the remote operation mode has been requested by the operator O. If the start of the remote operation mode has been requested (step S110; Yes), the process proceeds to step S120.

[0080] In step S120, the control device 180 determines whether or not a "start permission condition" for permitting the start of the remote operation mode is satisfied. The start permission condition includes at least "the stopped state of the vehicle 100 is maintained by the stop maintenance device 140." The control device 180 determines whether or not the stopped state of the vehicle 100 is maintained by checking the operation state of the stop maintenance device 140. The operation state of the stop maintenance device 140 is detected by the sensor group 160.

[0081] The start permission condition may further include "the communication quality of the communication between the vehicle 100 and the remotely controlled vehicle 200 is equal to or higher than a threshold value." Examples of the communication quality include a communication speed, a communication delay, a round trip time (RTT), a received signal strength indicator (RSSI), and the like. The communication speed may be a throughput. The communication quality varies depending on factors such as a location, time, and environment. For example, the control device 180 can measure the communication quality based on the reception state of data received from the remotely controlled vehicle 200. As another example, the control device 180 can measure the communication quality based on the data transmitted to the remotely controlled vehicle 200 and feedback from the remotely controlled vehicle 200. Note that various methods for measuring the communication quality have been proposed, and the estimation method is not particularly limited in this embodiment.

[0082] If the start permission condition is not met (step S120; No), the process proceeds to step S130. In step S130, the control device 180 prohibits the start of the remote operation mode.

[0083] In step S140, the control device 180 issues a rejection notice to the operator O via the user interface 170 (the display device 171, the speaker 172). For example, the rejection notice includes at least one of (A) a notice indicating that the start permission condition is not satisfied, (B) a notice indicating the cause why the start permission condition is not satisfied, and (C) a notice urging the operator O to operate the vehicle stop maintaining device 140. Note that the cause why the start permission condition is not satisfied is at least one of the following: the vehicle stop maintaining device 140 is not operating, and communication quality is insufficient.

[0084] After steps S130 and S140, the process returns to step S120.

[0085] On the other hand, if the start permission condition is met (step S120; Yes), the process proceeds to step S160. In step S160, the control device 180 disables the control of each actuator of the traveling device 120. In other words, the control device 180 prohibits the control of each actuator of the traveling device 120 based on the operation information OPE. The control device 180 may also prohibit the control of the traveling assistance device 130 based on the operation information OPE.

[0086] In step S170, the control device 180 starts the remote operation mode.

[0087] Fig. 6 is a flowchart showing another example of the process related to the start of the remote operation mode. Compared with the example shown in Fig. 5, step S140 is replaced by step S150. Descriptions that overlap with the example shown in Fig. 5 will be omitted as appropriate.

[0088] In step S150, the control device 180 automatically activates the vehicle stop maintaining device 140. For example, the vehicle stop maintaining device 140 is an electric parking brake. As another example, the vehicle stop maintaining device 140 may be a brake actuator 123 that generates a braking force sufficient to maintain the vehicle 100 in a stopped state.

[0089] After steps S130 and S150, the process returns to step S120.

[0090] 5. Variations The vehicle 100 does not necessarily have to have all the functions of steer-by-wire, drive-by-wire, brake-by-wire, and shift-by-wire. The vehicle 100 may have only some of the functions of steer-by-wire, drive-by-wire, brake-by-wire, and shift-by-wire. Alternatively, the vehicle 100 does not have to be an XbyWire vehicle. In any case, the stopped state of the vehicle 100 is maintained by the vehicle stop maintaining device 140 in the remote operation mode. [Explanation of symbols]

[0091] 1 Remote Control System 100 vehicles 110 Communication equipment 120 Running gear 130 Driving Assistance Device 140 Stopping maintenance device 150 Driving operation parts 160 Sensors 170 User Interface 180 Control device 200 Remotely controlled vehicles 300 Management device O Operator OPE Operation Information VCL vehicle information

Claims

1. Driving operation members operated by an operator to steer, accelerate, and decelerate; A vehicle stop maintaining device that maintains a stopped state; Control device and Equipped with In the remote operation mode, the control device communicates with a remotely operated vehicle, transmits information reflecting the operation amount of the driving operation member to the remotely operated vehicle, and presents information received from the remotely operated vehicle to the operator. When the stopped state of the vehicle is not maintained by the vehicle stop maintaining device, the control device prohibits the remote operation mode. vehicle.

2. 2. A vehicle as claimed in claim 1, When the start of the remote operation mode is requested by the operator, the control device determines whether or not a start permission condition is satisfied; The start permission condition includes at least a state in which the stopped state of the vehicle is maintained by the vehicle stop maintaining device, When the start permission condition is satisfied, the control device starts the remote operation mode, If the start permission condition is not satisfied, the control device prohibits the start of the remote operation mode. vehicle.

3. 3. A vehicle according to claim 2, If the start permission condition is not satisfied, the control device issues a rejection notice to the operator. vehicle.

4. 4. A vehicle according to claim 3, The rejection notice shall: A notification indicating that the start permission condition is not satisfied; and A notification indicating the reason why the start permission condition was not satisfied; and A notification prompting the vehicle stop maintaining device to be activated; Contains at least one of vehicle.

5. 3. A vehicle according to claim 2, When the start permission condition is not satisfied, the control device automatically activates the vehicle stop maintaining device. vehicle.

6. 3. A vehicle according to claim 2, The start permission condition further includes that the communication quality between the vehicle and the remotely controlled vehicle is equal to or higher than a threshold. vehicle.

7. A vehicle according to any one of claims 1 to 6, The vehicle stop maintaining device includes a parking brake or an electric parking brake. vehicle.

8. A vehicle according to any one of claims 1 to 6, and at least one actuator for at least one of a steer-by-wire and a drive-by-wire function; In a normal mode, the control device controls the at least one actuator based on the operation amount of the driving operation member, In the remote operation mode, the control device prohibits the control of the at least one actuator based on the operation amount of the driving operation member. vehicle.

9. A vehicle according to any one of claims 1 to 6, Further comprising a driving assistance device including at least one of a light, a turn signal, and a wiper; The driving operation member includes a switch for operating the driving assistance device, In a normal mode, the control device controls the driving assistance device in accordance with an operation of the switch by the operator, In the remote operation mode, the control device prohibits the operator from controlling the driving assistance device based on the operation of the switch. vehicle.

10. A vehicle control method for controlling a vehicle, comprising: The vehicle is Driving operation members operated by an operator to steer, accelerate, and decelerate; A vehicle stop maintaining device that maintains the stopped state; Equipped with The vehicle control method includes: In a remote operation mode, communicating with a remotely operated vehicle, transmitting information reflecting an operation amount of the driving operation member to the remotely operated vehicle, and presenting information received from the remotely operated vehicle to the operator; prohibiting the remote operation mode when the stopped state of the vehicle is not maintained by the vehicle stop maintaining device; Includes A vehicle control method.

11. A vehicle control program executed by a computer to control a vehicle, The vehicle is Driving operation members operated by an operator to steer, accelerate, and decelerate; A vehicle stop maintaining device that maintains the stopped state; Equipped with The vehicle control program includes: In a remote operation mode, communicating with a remotely operated vehicle, transmitting information reflecting an operation amount of the driving operation member to the remotely operated vehicle, and presenting information received from the remotely operated vehicle to the operator; prohibiting the remote operation mode when the stopped state of the vehicle is not maintained by the vehicle stop maintaining device; causing the computer to execute Vehicle control program.

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