Control device, method and program

Abstract

To suppress interference between a driving operation of a first driver and a driving operation of a second driver.SOLUTION: When handing over a driving from a first state where a vehicle is traveling by remote driving or occupant driving by a driver A into a second state where the vehicle travels by the remote driving or the occupant driving by a driver B who is different from the driver A, a driving handover control unit 30 transitions driving from the first state into a third state where the vehicle travels by automatic driving by the automatic driving control unit 28, and then, transitions the driving from the third state into the second state.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This disclosure Is controlled Control device , regulation This application relates to a method and program for controlling the same. [Background technology]

[0002] Patent document 1 discloses a technology that acquires the state of a pilot while he or she is operating a moving body on behalf of a user of the moving body, and switches to another pilot if it is determined that the pilot is unable to continue operating the moving body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-301723 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, when the first driver determines that it is impossible to continue driving, the driving is handed over directly from the first driver to the second driver, which may cause the drivers to feel uncomfortable due to interference between the driving operations of the first driver and the second driver.

[0005] The present invention has been made in consideration of the above circumstances, and provides a method for suppressing interference between the driving operation of a first driver and the driving operation of a second driver. Regulation Control device , regulation The object of the present invention is to obtain a method and program for controlling the same. [Means for solving the problem]

[0006] The driving handover control device of the first aspect includes a driving handover control unit that, when handing over driving from a first state in which the vehicle drives based on instructions of a first remote operator of the vehicle to a second state in which the vehicle drives based on instructions of a second remote operator different from the first remote operator, transitions from the first state to a third state in which the vehicle drives autonomously not based on instructions from the first remote operator and the second remote operator, and then transitions from the third state to the second state.

[0007] In the first aspect, when taking over driving from a first state in which the vehicle runs based on commands from a first remote operator to a second state in which the vehicle runs based on commands from a second remote operator, the vehicle transitions from the first state to a third state in which the vehicle runs autonomously without commands from the first and second remote operators, and then transitions from the third state to the second state. This makes it possible to suppress interference between the driving operation of the first driver (commands from the first remote operator) and the driving operation of the second driver (commands from the second remote operator).

[0008] In a second aspect, in the first aspect, when a predetermined condition for terminating the operation of the first state is satisfied, operation is handed over from the first state to the second state.

[0009] In the second aspect, a condition for terminating the operation of the first state is determined in advance, and when the condition is satisfied, the operation is handed over from the first state to the second state. This makes it possible to hand over the operation from the first state to the second state when it is desirable to hand over the operation from the first state to the second state.

[0010] In a third aspect, in the first aspect, when the first remote operator makes a request to end operation in the first state, operation is handed over from the first state to the second state.

[0011] In a third aspect, operation is handed over from the first state to the second state when a first remote operator requests that operation in the first state be terminated, thereby allowing operation to be handed over from the first state to the second state when it is desirable to do so.

[0012] In a fourth aspect, in the first aspect, when an abnormality is detected in the operation in the first state, the operation is handed over from the first state to the second state.

[0013] In the fourth aspect, when an abnormality is detected in the operation of the first state, the operation is handed over from the first state to the second state. This makes it possible to hand over the operation from the first state to the second state when it is desirable to hand over the operation from the first state to the second state.

[0014] In a fifth aspect, in the first aspect, when taking over driving from the first state to the second state, the second remote operator is notified in the third state of the handover of driving, and if the second remote operator indicates consent to the notification, the third state is transitioned to the second state.

[0015] According to the fifth aspect, it is possible to transition from the third state to the second state while ensuring safety, provided that the second driver (second remote operator) agrees to the handover of driving notified to the second driver (second remote operator) in the third state.

[0016] A driving handover control method according to a sixth aspect, when taking over driving from a first state in which the vehicle drives based on instructions of a first remote operator of the vehicle to a second state in which the vehicle drives based on instructions of a second remote operator different from the first remote operator, causes a computer to execute a process of transitioning from the first state to a third state in which the vehicle drives autonomously not based on instructions from the first remote operator and the second remote operator, and then transitioning from the third state to the second state.

[0017] According to the sixth aspect, similarly to the first aspect, it is possible to suppress interference between the driving operation of the first driver (commands of the first remote operator) and the driving operation of the second driver (commands of the second remote operator).

[0018] The program of the seventh aspect causes a computer to execute a process of transitioning from a first state in which the vehicle drives based on commands from a first remote operator of the vehicle to a second state in which the vehicle drives based on commands from a second remote operator different from the first remote operator, from the first state to a third state in which the vehicle drives autonomously not based on commands from the first remote operator and the second remote operator, and then transitioning from the third state to the second state when driving is handed over from a first state in which the vehicle drives based on commands from a first remote operator of the vehicle to a second state in which the vehicle drives based on commands from a second remote operator different from the first remote operator.

[0019] According to the seventh aspect, similarly to the first aspect, it is possible to suppress interference between the driving operation of the first driver (commands of the first remote operator) and the driving operation of the second driver (commands of the second remote operator). Effect of the Invention

[0020] The present invention has an advantage that it is possible to suppress interference between the driving operation of a first driver (commands of a first remote operator) and the driving operation of a second driver (commands of a second remote operator). [Brief description of the drawings]

[0021] [Figure 1] 1 is a block diagram showing a schematic configuration of a driving control system according to an embodiment. [Diagram 2] 4 is a flowchart showing an operation mode control process according to the first embodiment. [Diagram 3] 10 is a flowchart showing an operation mode control process according to a second embodiment. [Figure 4] 13 is a flowchart showing an operation mode control process according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings.

[0023] [First embodiment] 1, a driving control system 10 according to the embodiment includes an in-vehicle system 12 mounted on a vehicle, a plurality of remote driving operation devices 34, and a server 32. The in-vehicle system 12, the remote driving operation devices 34, and the server 32 are connected to each other via a network 42 so as to be able to communicate with each other.

[0024] A vehicle equipped with the in-vehicle system 12 has three driving modes for driving the vehicle: a riding driving mode, a remote driving mode, and an automatic driving mode. The riding driving mode is a mode in which a driver riding in the vehicle drives the vehicle by operating a riding driving operation unit 18 described later. The remote driving mode is a mode in which a remote driver outside the vehicle remotely drives the vehicle by operating a remote driving operation unit 38 described later of a remote driving operation device 34. The automatic driving mode is a mode in which an automatic driving control unit 28 described later drives (runs) the vehicle automatically.

[0025] The in-vehicle system 12 includes a communication I / F (Interface) 14, a group of sensors 16, an on-board driving operation unit 18, a driver detection unit 20, a driving operation ACT (Actuator) 22, and a driving control ECU (Electronic Control Unit) 24, which are connected to each other via a bus 31.

[0026] The communication I / F 14 of the in-vehicle system 12 communicates with the remote driving operation device 34 and the server 32 via the network 42. The sensor group 16 includes multiple types of sensors that acquire information indicating the state of the environment around the vehicle, and the environment around the vehicle acquired by the sensor group 16 is used for automatic driving control by an automatic driving control unit 28, which will be described later. Examples of sensors included in the sensor group 16 are a GNSS (Global Navigation Satellite System) device, an in-vehicle communication device, a navigation system, a radar device, and a camera.

[0027] The GNSS device receives GNSS signals from multiple GNSS satellites to determine the position of the vehicle. The positioning accuracy of the GNSS device improves as the number of GNSS signals it can receive increases. The in-vehicle communication device is a communication device that performs at least one of vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with roadside devices via the communication I / F 14. The navigation system includes a map information storage unit that stores map information, and performs processing to display the position of the vehicle on a map and provide route guidance to a destination based on the position information obtained from the GNSS device and the map information stored in the map information storage unit.

[0028] The radar device includes a plurality of radars with different detection ranges, detects objects such as pedestrians and other vehicles around the vehicle, and obtains the relative position and relative speed of the detected objects and the vehicle. The radar device also includes a processing device that processes the detection results of the surrounding objects. The processing device excludes noise and roadside objects such as guardrails from the monitoring targets based on the changes in the relative position and relative speed of each object included in the most recent detection results, and tracks and monitors pedestrians and other vehicles as monitoring targets. The radar device then outputs information such as the relative position and relative speed of each monitoring target object. The cameras capture the surroundings of the vehicle with the plurality of cameras and output the captured images.

[0029] The riding / driving operation unit 18 includes a throttle pedal, a brake pedal, a steering wheel, and a display unit provided in the vehicle in which the in-vehicle system 12 is installed. The driver in the vehicle operates the driver when the vehicle is in a driving mode. The driver operation unit 18 includes sensors for detecting the operation amounts of the throttle pedal, the brake pedal, and the steering wheel, and outputs the operation amounts of the pedals and the steering wheel by the driver as driving operation information. The driver operation unit 18 is an example of a driving operation detection unit.

[0030] The driver detection unit 20 detects the state of the driver who operates the riding driving operation unit 18. The state of the driver detected by the driver detection unit 20 includes, for example, the driver's biological information such as the driver's pulse and blood pressure, the driver's posture such as whether the driver is gripping the steering wheel of the riding driving operation unit 18, and the driver's operating force such as the steering force with which the driver operates the steering wheel of the riding driving operation unit 18. In addition, the driver detection unit 20 determines whether or not there is an abnormality in the driver by comparing the result of detecting the driver's state with a threshold value, and outputs an abnormality detection signal when an abnormality in the driver is detected. The driver detection unit 20 is an example of an abnormality detection unit.

[0031] The driving operation ACT22 includes a throttle ACT for changing the throttle opening of the host vehicle, a brake ACT for changing the braking force generated by the braking device of the host vehicle, and a steering ACT for changing the steering amount by the steering device of the host vehicle.

[0032] The driving control ECU 24 includes a CPU (Central Processing Unit), memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), non-volatile storage units such as a HDD (Hard Disk Drive) and a SSD (Solid State Drive), and a communication I / F. The control ECU 24 functions as the remote driving operation information acquisition unit 26, the automatic driving control unit 28, and the driving handover control unit 30 shown in FIG. 1 by a predetermined program stored in the storage unit being read into the memory and executed by the CPU.

[0033] When the vehicle is in remote driving mode, the remote driving operation information acquisition unit 26 acquires remote driving operation information that indicates the amount of operation of a remote driving operation unit 38 (described later) of the remote driving operation device 34 by the remote driver.

[0034] When the vehicle is in an autonomous driving mode, the autonomous driving control unit 28 performs autonomous driving control processing to drive the vehicle automatically by generating and outputting autonomous driving control information that controls the operation of each ACT of the driving operation ACT 22 based on information indicating the state of the vehicle's surrounding environment acquired by multiple types of sensors in the sensor group 16.

[0035] When the vehicle is in the boarding driving mode, the driving handover control unit 30 supplies the boarding driving operation information output from the boarding driving operation unit 18 to the driving operation ACT 22, thereby operating each ACT of the driving operation ACT 22 in response to the driver's operation of the boarding driving operation unit 18. In this case, the vehicle travels in response to the operation of the boarding driving operation unit 18 by the driver who is in the vehicle.

[0036] Furthermore, when the vehicle is in the remote driving mode, the driving takeover control unit 30 supplies the remote driving operation information acquired by the remote driving operation information acquisition unit 26 to the driving operation ACT 22, thereby activating each ACT of the driving operation ACT 22 in response to the operation of the remote driving operation unit 38 by the remote driver. In this case, the vehicle travels in response to the operation of the remote driving operation unit 38 by the remote driver.

[0037] Furthermore, when the vehicle is in the automatic driving mode, the driving takeover control unit 30 supplies the automatic driving control information output from the automatic driving control unit 28 to the driving operation ACT 22, thereby operating each ACT of the driving operation ACT 22 according to the automatic driving control of the automatic driving control unit 28. In this case, the vehicle travels according to the automatic driving control by the automatic driving control unit 28.

[0038] Furthermore, the driving takeover control unit 30 controls the takeover of driving of the vehicle by switching the driving mode of the vehicle as necessary through a driving mode control process described later (details will be described later).

[0039] The remote driving operation device 34 includes a communication I / F 36, a remote driving operation unit 38, and a remote driver detection unit 40, which are connected to each other via a bus 41. The communication I / F 36 communicates with the in-vehicle system 12 and the server 32 via a network 42.

[0040] The remote driving operation unit 38 includes a throttle pedal, a brake pedal, a steering wheel, and a display unit. An image showing the surroundings of the vehicle captured by a camera included in the sensor group 16 of the in-vehicle system 12 is displayed on the display unit. The throttle pedal, the brake pedal, and the steering wheel of the remote driving operation unit 38 are operated by a remote driver when the remote driver remotely drives a vehicle in a remote driving mode. The remote driving operation unit 38 also includes sensors that detect the amount of operation of each of the throttle pedal, the brake pedal, and the steering wheel, and transmits the amount of operation of each pedal and the steering wheel by the remote driver to the in-vehicle system 12 as remote driving operation information. The remote driving operation unit 38 is an example of a driving operation detection unit.

[0041] The remote driver detection unit 40 detects the state of the remote driver who operates the remote driving operation unit 38, such as the remote driver's biological information, the remote driver's posture, the remote driver's operating force, etc., in the same manner as the driver detection unit 20. In addition, the remote driver detection unit 40 determines whether or not there is an abnormality in the remote driver by comparing the result of detecting the remote driver's state with a threshold value, and outputs an abnormality detection signal when an abnormality in the remote driver is detected. Note that the remote driver detection unit 40 is an example of an abnormality detection unit.

[0042] In this embodiment, multiple remote driving operation devices 34 are provided, and when the vehicle is traveling in remote driving mode, the server 32 selects a remote driving operation device 34 (remote driver) that will perform remote driving, and has the selected remote driving operation device 34 (remote driver) remotely drive the vehicle.

[0043] Next, as an operation of the first embodiment, a driving mode control process performed by the driving takeover control unit 30 will be described with reference to Fig. 2. This driving mode control process starts to be executed when the driver A starts to drive the vehicle in the on-board driving mode or the remote driving mode, and continues to be executed while the vehicle is driving.

[0044] In step 100, the driving handover control unit 30 judges whether or not to change the driver who drives the vehicle. The judgment in step 100 is affirmative when any of the following conditions is satisfied: (first condition) the driver A who is driving the vehicle has performed a first operation that means a request to take over driving, (second condition) a predetermined time for driver handover has arrived, or (third condition) an abnormality in the driver A who is driving the vehicle has been detected by the driver detection unit 20 or the remote driver detection unit 40. Note that, for example, the first operation may be an operation by the driver A to turn on a predetermined button of the on-board driving operation unit 18 or the remote driving operation unit 38.

[0045] If the determination in step 100 is negative, the process proceeds to step 102, where the driving takeover control unit 30 determines whether or not to end the vehicle's driving. If the determination in step 102 is also negative, the process returns to step 100, and steps 100 and 102 are repeated until the determination in step 100 or step 102 is positive. During this time, the driver A continues to drive the vehicle in the on-board driving mode or the remote driving mode. This state is an example of the first state. If the determination in step 102 is positive, the driving mode control process ends.

[0046] Furthermore, if any of the above-mentioned first to third conditions is satisfied, the determination in step 100 is affirmative, and the process proceeds to step 104. In step 104, the driving takeover control unit 30 starts the automatic driving control unit 28. When started, the automatic driving control unit 28 performs processes such as initial settings, and when automatic driving control becomes possible, sets the automatic driving possible flag to ON.

[0047] In the next step 106, the driving handover control unit 30 recognizes the driver B who takes over the driving of the vehicle from the driver A. For example, when the driver A is driving the vehicle in the on-board driving mode, the driving handover control unit 30 selects the driver B who drives the vehicle by remote driving through the server 32. Also, for example, when the driver A is remotely driving the vehicle in the remote driving mode, if it is determined that a vehicle occupant can drive the vehicle as the driver B, the driving handover control unit 30 selects the occupant as the driver B, or selects the driver B (a driver different from the driver A) who drives the vehicle by remote driving through the server 32. Then, the driving handover control unit 30 notifies the recognized driver B that the driving of the vehicle will be taken over through the display unit of the on-board driving operation unit 18 or the display unit of the remote driving operation unit 38. As a result, the driver B prepares to drive the vehicle (for example, adjusts the seat, etc.).

[0048] In step 108, the driving takeover control unit 30 determines whether the automatic driving control unit 28 is in a state where it can perform automatic driving control by turning on the automatic driving possible flag of the automatic driving control unit 28. If the determination in step 108 is negative, the determination in step 108 is repeated until the determination in step 108 is positive. If the automatic driving possible flag is turned on, the determination in step 108 is positive and the process proceeds to step 110.

[0049] In step 110, the driving takeover control unit 30 switches from a state in which the driving operation ACT 22 is supplied with the riding driving operation information output from the riding driving operation unit 18 in response to the operation of the driver A or the remote driving operation information acquired by the remote driving operation information acquisition unit 26, to a state in which the driving operation ACT 22 is supplied with the automatic driving control information output from the automatic driving control unit 28. This causes the driving mode of the vehicle to transition from the riding driving mode by the driver A or the remote driving mode to the automatic driving mode (an example of a transition from the first state to the third state).

[0050] In step 112, the driving takeover control unit 30 determines whether or not the driver B is ready to drive the vehicle based on whether or not the driver detection unit 20 or the remote driver detection unit 40 detects that the driver B is gripping the steering wheel of the on-board driving operation unit 18 or the remote driving operation unit 38. If the determination in step 112 is negative, the determination in step 112 is repeated until the determination in step 112 is positive.

[0051] If the determination in step 112 is positive, the process proceeds to step 114, where the driving takeover control unit 30 determines whether or not the driver B has performed a second operation that indicates an intention to drive the vehicle. An example of the second operation is the driver B turning on a predetermined button on the on-board driving operation unit 18 or the remote driving operation unit 38. If the determination in step 114 is negative, the determination in step 114 is repeated until the determination in step 114 is positive.

[0052] If the determination in step 114 is positive, the process proceeds to step 116. In step 116, the driving handover control unit 30 switches from a state in which the automatic driving control information output from the automatic driving control unit 28 is supplied to the driving operation ACT 22 to a state in which the driving operation ACT 22 is supplied with the riding driving operation information output from the riding driving operation unit 18 in response to the operation of the driver B or the remote driving operation information acquired by the remote driving operation information acquisition unit 26. This causes the driving mode of the vehicle to transition from the automatic driving mode to the riding driving mode by the driver B or the remote driving mode (an example of a transition from the third state to the second state).

[0053] In step 118, the driving handover control unit 30 notifies driver A through the display unit of the on-board driving operation unit 18 or the display unit of the remote driving operation unit 38 that the responsibility for driving has been transferred from driver A to driver B. After the processing of step 118 is performed, the process returns to step 100, and steps 100 and after are repeated.

[0054] As described above, in the first embodiment, when taking over driving from a first state in which the vehicle is driven by remote driving or from the driver A to a second state in which the vehicle is driven by remote driving or from the driver B, the driving takeover control unit 30 transitions from the first state to a third state in which the vehicle is driven by automatic driving by the automatic driving control unit 28, and then transitions from the third state to the second state. This makes it possible to suppress interference between the driving operation of the first driver and the driving operation of the second driver, and to suppress the drivers from feeling uncomfortable.

[0055] In the first embodiment, the driving takeover control unit 30 transitions from the first state to the third state when the automatic driving control unit 28 is able to perform automatic driving, and transitions from the third state to the second state when the driver B is able to perform remote driving or on-board driving and the driver B indicates his / her intention to drive. This allows the first state to be quickly transitioned to the third state, and also allows the third state to be transitioned to the second state while ensuring safety.

[0056] Furthermore, in the first embodiment, when the transition to the second state is completed, the driving handover control unit 30 notifies the driver A that the responsibility for driving the vehicle has been transferred to the driver B. This allows the driver A to recognize that the responsibility for driving the vehicle has been transferred to the driver B when the transition to the second state is completed.

[0057] In the first embodiment, the driver is changed when any one of the following conditions is satisfied: a first condition that the driver A performs a first operation meaning a request for handover of driving, a second condition that a predetermined time for handover of driving from the driver A to the driver B has arrived, and a third condition that an abnormality in the driver A is detected by the driver detection unit 20 or the remote driver detection unit 40. As a result, when it is desirable for the driver A to hand over the driving to the driver B, that is, when any one of the above first to third conditions is satisfied, the driver A can hand over the driving to the driver B.

[0058] Second Embodiment Next, a second embodiment of the present invention will be described. Since the second embodiment has the same configuration as the first embodiment, the same reference numerals are used for each part and the description of the configuration will be omitted. Hereinafter, with reference to FIG. 3, the operation mode control process according to the second embodiment will be described with respect to the parts that are different from the operation mode control process (FIG. 2) described in the first embodiment.

[0059] In the driving mode control process according to the second embodiment, if the determination in step 100 is affirmative because the time has come to change the driver who drives the vehicle, the process proceeds to step 103. Then, in step 103, the driving takeover control unit 30 determines whether the distance between the vehicle and another vehicle detected by the radar device of the sensor group 16 is equal to or greater than a predetermined value. If the determination in step 103 is negative, the process proceeds to step 102.

[0060] As a result, even if the time to change the driver of the vehicle arrives, if the distance between the vehicle and the other vehicle is less than the predetermined value, the driver of the vehicle is not changed. Also, if the distance between the vehicle and the other vehicle is equal to or greater than the predetermined value, the determination in step 103 is affirmative and the process proceeds to step 104.

[0061] In the driving mode control process according to the second embodiment, if the automatic driving possible flag of the automatic driving control unit 28 is turned on and the determination in step 108 is affirmative, the process proceeds to step 109. Then, in step 109, the driving takeover control unit 30 determines whether or not the driver B is ready to drive the vehicle based on, for example, whether or not the driver detection unit 20 or the remote driver detection unit 40 has detected that the driver B is gripping the steering wheel of the on-board driving operation unit 18 or the remote driving operation unit 38.

[0062] If the determination in step 109 is negative, the determination in step 109 is repeated until the determination in step 109 is positive. If the determination in step 109 is positive, the process proceeds to step 110, where the driving mode of the vehicle is transitioned from the on-board driving mode by driver A or the remote driving mode to the automatic driving mode. In the second embodiment, when driver B performs a second operation indicating an intention to drive the vehicle, the determination in the next step 114 is positive and the process proceeds to step 116, whereby the driving mode of the vehicle is transitioned from the automatic driving mode to the on-board driving mode by driver B or the remote driving mode.

[0063] Thus, in the second embodiment, the driving takeover control unit 30 transitions from the first state to the third state when the automatic driving control unit 28 is in a state where automatic driving is possible and the driver B is able to drive remotely or from the vehicle, and transitions from the third state to the second state when the driver B indicates his / her intention to drive. This makes it possible to transition from the first state to the third state while ensuring safety, and also to transition from the third state to the second state quickly.

[0064] In the second embodiment, the driver is changed when the distance between the vehicle and another vehicle is equal to or greater than a predetermined value. This improves safety when the driver A hands over the driving to the driver B.

[0065] Third Embodiment Next, a third embodiment of the present invention will be described. Since the third embodiment has the same configuration as the first embodiment, the same reference numerals are used for each part and the description of the configuration is omitted. Hereinafter, with reference to FIG. 4, the operation mode control process according to the third embodiment will be described with respect to the parts that are different from the operation mode control process (FIG. 2) described in the first embodiment.

[0066] In the driving mode control process according to the third embodiment, if the automatic driving possible flag of the automatic driving control unit 28 is turned on and the determination in step 108 is affirmative, the process proceeds to step 109. Then, in step 109, the driving takeover control unit 30 determines whether or not the driver B is ready to drive the vehicle, similarly to the second embodiment. If the determination in step 109 is negative, the determination in step 109 is repeated until the determination in step 109 is affirmative. Then, if the determination in step 109 is affirmative, the process proceeds to step 120.

[0067] In the third embodiment, when driver B completes preparations to drive the vehicle, a preliminary driving operation is performed by driver B. In step 120, the driving takeover control unit 30 acquires operation information indicating the amount of driving operation performed by driver A from the on-board driving operation unit 18 or the remote driving operation unit 38, and also acquires operation information indicating the amount of preliminary driving operation performed by driver B from the on-board driving operation unit 18 or the remote driving operation unit 38. Then, the driving takeover control unit 30 calculates an evaluation value for evaluating the difference in driving operation between driver A and driver B based on the acquired operation information, and determines whether the calculated evaluation value is equal to or greater than a threshold value.

[0068] If the determination in step 120 is positive, the process proceeds to step 122. In step 122, the driving takeover control unit 30 transitions the driving mode of the vehicle from the on-board driving mode by driver A or the remote driving mode to the automatic driving mode, and at this time controls the automatic driving control unit 28 so that the automatic driving control unit 28 performs automatic driving that corresponds to between the driving operation by driver A and the driving operation by driver B. One example of automatic driving that corresponds to between the driving operation by driver A and the driving operation by driver B is automatic driving that corresponds to the average of the driving operation by driver A and the driving operation by driver B.

[0069] For example, if driver A tends to drive the vehicle so that it runs to the left of the lane, while driver B tends to drive the vehicle so that it runs to the right of the lane, the driving handover control unit 30 controls the automatic driving control unit 28 so that the automatic driving control unit 28 performs automatic driving in which the vehicle runs near the center of the lane. This suppresses a large change in the behavior of the vehicle when the driving mode of the vehicle is transitioned from the on-board driving mode or remote driving mode by driver A to the automatic driving mode, and when the driving mode is transitioned from the on-board driving mode or remote driving mode by driver B.

[0070] In step 122, when the driving mode of the vehicle is transitioned from the on-board driving mode by driver A or the remote driving mode to the automatic driving mode, if driver B performs a second operation indicating an intention to drive the vehicle, the determination in the next step 114 is affirmative and the process proceeds to step 124. In step 124, the driving handover control unit 30 transitions the driving mode of the vehicle to the on-board driving mode by driver B or the remote driving mode. In this case, the driving mode of the vehicle transitions from the on-board driving mode by driver A or the remote driving mode (first state) to the on-board driving mode by driver B or the remote driving mode (second state) via the automatic driving mode (third state).

[0071] On the other hand, if the determination in step 120 is negative, step 122 is skipped and the process proceeds from step 120 to step 114. In this case, the driving mode of the vehicle transitions from the on-board driving mode by driver A or the remote driving mode (first state) to the on-board driving mode by driver B or the remote driving mode (second state) without passing through the automatic driving mode (third state).

[0072] Thus, in the third embodiment, the driving takeover control unit 30 causes the automatic driving control unit 28 to perform automatic driving with an operation amount equivalent to between the driving operation by driver A and the preliminary driving operation by driver B detected by the on-board driving operation unit 18 or the remote driving operation unit 38 in the automatic driving mode. This makes it possible to suppress a large change in the behavior of the vehicle when the driving mode of the vehicle is transitioned from the on-board driving mode by driver A or the remote driving mode to the automatic driving mode, and when the driving mode is transitioned from the on-board driving mode by driver B or the remote driving mode.

[0073] In the third embodiment, when an evaluation value for evaluating the difference between the driving operation by driver A and the preliminary driving operation by driver B detected by the on-board driving operation unit 18 or the remote driving operation unit 38 is less than a threshold value, the driving handover control unit 30 transitions the driving mode of the vehicle from the on-board driving mode by driver A or the remote driving mode to the on-board driving mode by driver B or the remote driving mode without passing through the automatic driving mode. In this case, the handover of driving from driver A to driver B can be completed in a short time while avoiding a large change in the behavior of the vehicle.

[0074] In addition, in the third embodiment, even if the evaluation value evaluating the difference in driving operation between driver A and driver B is less than a threshold value, the vehicle may transition from driving by driver A (first state) via the automatic driving mode (third state) to driving by driver B (second state).

[0075] Furthermore, although the above describes the manner in which the driver detection unit 20 or the remote driver detection unit 40 detects an abnormality in the driver, detecting an abnormality in the driver is not a mandatory requirement, and the driver detection unit 20 or the remote driver detection unit 40 does not have to be equipped with the function of detecting an abnormality in the driver. [Explanation of symbols]

[0076] 10 Driving control system 12 In-vehicle systems 16 Sensors 18. Driving and operation section 20 Driver detection unit 22 Driving operation ACT 24 Driving control ECU 26 Remote driving operation information acquisition unit 28 Automatic driving control unit 30 Operation transfer control unit 34 Remote operation device 38 Remote operation unit 40 Remote driver detection unit

Claims

1. A control device including a control unit that, when terminating a first state in which the vehicle runs based on commands from a first remote operator, transitions the vehicle to a third state in which the vehicle is autonomously controlled in an overlapping range of the first range and the second range, and then transitions from the third state to the second state, when controlling the vehicle between the start of a second state in which the vehicle runs based on commands from a second remote operator who is different from the first remote operator and can send commands to the vehicle in a second range that at least partially overlaps with a first range in which the first remote operator can send commands to the vehicle.

2. The control device according to claim 1 , wherein operation is handed over from the first state to the second state when a predetermined condition for terminating operation in the first state is satisfied.

3. 2. The control system of claim 1, further comprising a handover from the first state to the second state when the first remote operator requests that operation of the first state be terminated.

4. 2. The control device according to claim 1, wherein, when an abnormality is detected in the operation in the first state, the operation is handed over from the first state to the second state.

5. 2. The control device according to claim 1, wherein, when handing over operation from the first state to the second state, the second remote operator is notified of the handover of operation in the third state, and when the second remote operator indicates consent to the notification, the control device transitions from the third state to the second state.

6. A control method in which, when a first state in which a vehicle runs based on commands from a first remote operator is terminated, and when the vehicle is controlled until a second state in which the vehicle runs based on commands from a second remote operator, different from the first remote operator and capable of sending commands to the vehicle in a second range that at least partially overlaps with a first range in which the first remote operator can send commands to the vehicle, is started, the control method has a computer execute a process of transitioning the vehicle to a third state in which the vehicle is autonomously controlled in the overlapping range of the first range and the second range, and then transitioning from the third state to the second state.

7. A program for causing a computer to execute a process of transitioning the vehicle to a third state in which the vehicle is autonomously controlled in an overlapping range of the first range and the second range, and then transitioning from the third state to the second state, when controlling the vehicle until a second state in which the vehicle runs based on commands from a second remote operator, different from the first remote operator, is started, the second state in which the vehicle runs based on commands from a second remote operator who is different from the first remote operator and can send commands to the vehicle in a second range that at least partially overlaps with a first range in which the first remote operator can send commands to the vehicle, and then transitioning the vehicle from the third state to the second state.

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