Operation handover system and operation handover method

Abstract

To provide a driving handover system capable of avoiding an inappropriate handover to manual driving in a vehicle which can be driven by remote driving or automated driving, and in which a request for a handover from the remote driving or automated driving to the manual driving can be made by performing prescribed operation.SOLUTION: A driving handover system executes: detection processing of detecting such an obstructive article that its presence in a vehicle causes the obstruction of a handover to manual driving; and determination processing of determining whether to allow or disallow the handover to the manual driving when receiving a request for the handover to the manual driving. In the determination processing, the driving handover system disallows the handover to the manual driving when the obstructive article is detected in the detection processing.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a driving handover system and a driving handover method that manages the handover from remote driving or automatic driving to manual driving of a vehicle. [Background technology]

[0002] In some cases, remote driving technology or automatic driving technology for vehicles is configured to allow a driver in the vehicle to perform a predetermined operation to hand over to manual driving in order to improve convenience or as an emergency measure. In such cases, conventionally, technologies for appropriately handing over to manual driving have been disclosed. For example, Patent Document 1 discloses a driving handover control system that determines whether or not to permit handover (switching) from automatic driving to manual driving based on the driver's level of alertness and the amount of operation guidance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-180689 A Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, remote driving technology and automatic driving technology are expected to be used in a manner that does not require a driver to be in the vehicle. For example, there are cases where only a child who cannot drive is in the vehicle and the vehicle is driven by remote driving or automatic driving. In such a case, if a person who cannot drive mistakenly or mischievously performs a specified operation (to take over manual driving), there is a risk that the safety of the vehicle will be threatened. The technology disclosed in Patent Document 1 is premised on the fact that the person performing the specified operation is the driver.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to disclose a driving handover system and a driving handover method that can avoid an inappropriate handover to manual driving. [Means for solving the problem]

[0006] The first disclosure relates to a driving handover system that manages the handover from remote driving or automatic driving to manual driving of a vehicle. The driving takeover 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 executes the program to execute a detection process for detecting an obstructing object in the vehicle whose presence is a cause for obstructing the takeover to manual driving, and a decision process for receiving a request for the takeover to manual driving and determining whether or not to permit the takeover to manual driving, and is configured to deny the takeover to manual driving in the decision process when the obstructing object is detected in the detection process.

[0007] The second disclosure relates to a driving takeover system having the following features in addition to the driving takeover system according to the first disclosure. The obstructing item is a specific mobile terminal capable of communicating via a communication line, and at least one of the processors detects the obstructing item by communicating with the mobile terminal in the vehicle during the detection process.

[0008] The third disclosure relates to a driving takeover system further having the following features with respect to the driving takeover system according to the first or second disclosure. At least one of the processors is configured to detect, in the detection process, a security item whose presence in the vehicle ensures the handover to manual driving, and to not disallow the handover to manual driving in the decision process if the security item is further detected even if the obstructing item is detected by the detection process.

[0009] The fourth disclosure relates to a driving handover method for managing the handover from remote driving or automatic driving to manual driving of a vehicle. The driving handover method according to the fourth disclosure includes a detection process for detecting an obstructing object whose presence in the vehicle is a reason for obstructing the handover to manual driving, and a decision process for receiving a request for the handover to manual driving and deciding whether to allow or disallow the handover to manual driving, and the decision process includes disallowing the handover to manual driving when the obstructing object is detected by the detection process.

[0010] The fifth disclosure relates to a driving takeover method further having the following features with respect to the driving takeover method according to the fourth disclosure. The obstructing article is a mobile terminal capable of communicating via a communication line, and the detection process includes detecting the obstructing article by communicating with the mobile terminal in the vehicle.

[0011] The sixth disclosure relates to a driving takeover method further having the following features with respect to the driving takeover method according to the fourth or fifth disclosure. The detection process further includes detecting a security item whose presence in the vehicle ensures the handover to manual driving, and the decision process includes not disallowing the handover to manual driving when the security item is further detected even if the obstructing item is detected by the detection process. Effect of the Invention

[0012] According to the driving handover system and driving handover method disclosed herein, by detecting an obstructing object, it is possible to avoid an inappropriate handover to manual driving when a person who is not capable of driving performs a predetermined operation, etc. Furthermore, when a driver is in the vehicle, it is possible to prevent unnecessary denial of handover to manual driving by detecting a security object. [Brief description of the drawings]

[0013] [Figure 1]1 is a conceptual diagram for explaining an overview of functions realized by the driving takeover system according to the present embodiment. FIG. [Diagram 2] 1 is a conceptual diagram for explaining an overview of functions realized by the driving takeover system according to the present embodiment. FIG. [Diagram 3] 1 is a block diagram showing a schematic configuration of an operation takeover system according to a first embodiment. [Figure 4] FIG. 11 is a block diagram showing a schematic configuration of an operation takeover system according to a second embodiment. [Diagram 5] 4 is a flowchart showing a driving takeover method implemented by the driving takeover system according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] 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, in each drawing, the same or corresponding parts are given the same reference numerals, and the duplicated explanations are appropriately simplified or omitted.

[0015] 1. Overview The driving takeover system according to the present embodiment manages the takeover from remote driving or automatic driving to manual driving of a vehicle. Hereinafter, an overview of functions realized by the driving takeover system according to the present embodiment will be described.

[0016] 1 and 2 are conceptual diagrams for explaining an overview of functions realized by the driving takeover system according to this embodiment. Fig. 1 shows the state of vehicle 1 when the driving takeover system according to this embodiment does not permit handover to manual driving. Here, vehicle 1 is a remotely driven vehicle or an automatically driven vehicle that can be driven by remote driving or automatic driving.

[0017] The vehicle 1 is configured to be able to request a handover from remote driving or automatic driving to manual driving by performing a predetermined operation. The predetermined operation is, for example, input of an operation amount equal to or greater than a predetermined value to the driving operation device 200 (steering wheel 200a, pedals 200b, etc.) or selective operation of the HMI device 300 (switches, touch panels, etc.).

[0018] In Fig. 1, a child 2a who is unable to drive is aboard the vehicle 1. For example, Fig. 1 shows a case where the child 2a is being picked up or dropped off by the vehicle 1. In this case, if the child 2a requests a shift to manual driving by performing a predetermined operation, it is appropriate to not permit the shift to manual driving.

[0019] Therefore, in the driving takeover system according to this embodiment, a specific item associated with the child 2a is set as an obstructing item whose presence in the vehicle 1 is a reason for obstructing the takeover to manual driving, and the system detects the obstructing items in the vehicle 1. When an obstructing item is detected, the system does not permit the takeover to manual driving.

[0020] In Fig. 1, the obstructing article is a specific mobile terminal 3 capable of communicating via a communication line (typically wirelessly). The specific mobile terminal 3 is, for example, a smartphone in which the child 2a is registered as a user. In Fig. 1, the terminal detection device 400 detects the obstructing article in the vehicle 1 by communicating with the mobile terminal 3 in the vehicle 1.

[0021] With the driving handover system configured in this manner, in cases where only a child 2a who is unable to drive is on board the vehicle 1, it is possible to detect obstructing objects and avoid an inappropriate handover to manual driving.

[0022] On the other hand, if a driver is on board the vehicle 1, it is desirable not to disallow handover to manual driving. Fig. 2 shows the state of the vehicle 1 when the handover to manual driving is not disallowed by the driving takeover system according to this embodiment. In Fig. 2, compared to Fig. 1, a driver 2b is on board the vehicle 1. The driver 2b is, for example, the parent of the child 2a.

[0023] In the driving takeover system according to this embodiment, a specific item associated with the driver 2b is set as a security item whose presence in the vehicle 1 guarantees the handover to manual driving, and the system detects the security items in the vehicle 1. Even if an obstructing item is detected, the system does not disallow the handover to manual driving if a security item is also detected.

[0024] 2, the security item, like the obstruction item, is a specific mobile terminal 4 capable of communicating via a communication line. The specific mobile terminal 4 is, for example, a smartphone in which the driver 2b is registered as a user. However, the mobile terminals 3 and 4 can be distinguished from each other in communication. For example, the mobile terminals 3 and 4 are each given unique ID information, and the terminal detection device 400 is configured to acquire the ID information through communication.

[0025] With the driving handover system configured in this manner, when the driver 2b is also on board the vehicle 1, by detecting security items, it is possible to prevent the handover to manual driving from being unnecessarily denied.

[0026] 2. Configuration A schematic configuration of the driving takeover system according to the present embodiment will be described below. Here, the first embodiment is a case where the vehicle 1 performs remote driving, and the second embodiment is a case where the vehicle 1 performs automatic driving.

[0027] 2-1. First embodiment FIG. 3 is a block diagram for explaining a schematic configuration of the driving takeover system 10 according to the first embodiment.

[0028] The driving takeover system 10 according to the first embodiment includes a driving management device 100, a driving operation device 200, an HMI device 300, a terminal detection device 400, a driving control device 500, and a remote driving device 600. In the following description, the obstructing item and the guarantee item are assumed to be specific mobile terminals.

[0029] The driving operation device 200 is provided in the vehicle 1 and indicates a device that accepts driving operations related to manual driving of the vehicle 1. The driving operation device 200 includes an acceleration operation device 210, a braking operation device 220, and a steering operation device 230. Information on driving operations accepted by the driving operation device 200 (manual driving information) is transmitted to the driving management device 100. The manual driving information includes, for example, the amount of driving operation.

[0030] The acceleration operation device 210 is the driving operation device 200 for accelerating the vehicle 1. The acceleration operation device 210 is typically an accelerator pedal. In this case, for example, information on the accelerator opening degree is transmitted to the driving management device 100 as the manual driving information.

[0031] The brake operating device 220 is the driving operation device 200 for braking the vehicle 1. The brake operating device 220 is typically a brake pedal. In this case, for example, information on the depression amount of the brake pedal is transmitted to the driving management device 100 as the manual driving information.

[0032] The steering operation device 230 is the driving operation device 200 for steering the vehicle 1. The steering operation device 230 is typically a steering wheel. In this case, for example, information on the steering angle of the steering wheel is transmitted to the driving management device 100 as the manual driving information.

[0033] The HMI device 300 indicates a device having an HMI function. The HMI device 300 outputs various HMI information (on / off of control functions, adjustment of control amount, etc.) when a specific operation is performed, and also notifies various processing information (display, sound, etc.). The HMI information output by the HMI device 300 is transmitted to the operation management device 100. Furthermore, the processing information acquired by the HMI device 300 includes management information acquired from the operation management device 100. The management information will be described later.

[0034] The HMI device 300 is, for example, a switch, a display, an automobile meter, or a combination of these. In particular, the HMI device 300 may include a device for performing a handover from remote driving to manual driving. This may be, for example, a switch that requests a handover from remote driving to manual driving when pressed. In this case, the HMI information includes information about the request for handover from remote driving to manual driving.

[0035] The terminal detection device 400 is a device that detects, through communication, a mobile terminal present in the vehicle 1. The terminal detection device 400 outputs information (detection information) of the detected mobile terminal. The detection information output by the terminal detection device 400 is transmitted to the operation management device 100.

[0036] The terminal detection device 400 is, for example, a device that functions as an access point within the range of the vehicle 1. In this case, the terminal detection device 400 detects a mobile terminal connected to the terminal detection device 400 that is an access point, and outputs detection information.

[0037] Here, the mobile terminal is, for example, a smartphone or a wearable terminal capable of communicating via a communication line. However, the driving takeover system 10 according to the present embodiment may be configured to detect a mobile terminal on which a specific application is installed or a mobile terminal that has performed a specific connection procedure. Alternatively, the terminal detection device 400 may be a device that communicates according to a specific communication standard, and the mobile terminal may be a dedicated terminal configured to be able to communicate with the terminal detection device 400.

[0038] The detection information includes information that can identify whether the mobile terminal detected by the terminal detection device 400 is an obstructing article or a security article. This is, for example, unique ID information given to each mobile terminal. However, the terminal detection device 400 may be configured to detect only mobile terminals that are obstructing articles or security articles. In this case, the detection information may include information on whether each of the obstructing article and the security article has been detected.

[0039] For example, the terminal detection device 400 is configured to store ID information of the obstructing item or the security item in advance and determine whether or not a mobile terminal connected to the terminal detection device 400 is an obstructing item or a security item. In this case, the terminal detection device 400 includes at least a memory that stores the ID information and a processor that executes a process of determining whether or not a mobile terminal is an obstructing item or a security item.

[0040] Alternatively, the terminal detection device 400 is configured to be able to acquire the position information of the vehicle 1, the obstructing item, and the security item, and is configured to determine that an obstructing item or a security item is present in the vehicle 1 when the vehicle 1 and the obstructing item or the security item are in the same position. This can be realized, for example, by configuring the terminal detection device 400 provided in the vehicle 1 to function as a GPS receiver and to be able to acquire the position information of the obstructing item or the security item via the Internet.

[0041] The remote driving device 600 is a device that provides driving-related information (driving video, driving environment, etc.) to a remote driving operator and accepts driving operations related to remote driving by the operator. The remote driving device 600 is configured to be able to transmit information to and from the vehicle 1. For example, the vehicle 1 and the remote driving device 600 are equipped with communication devices that can communicate via a communication network (typically the Internet), and transmit information to and from each other through communication.

[0042] Information on the operation (remote operation information) received by the remote operation device 600 is transmitted to the operation management device 100. The remote operation information includes, for example, the amount of operation of the operation. In addition, the remote operation device 600 acquires management information from the operation management device 100.

[0043] The driving management device 100 is a device that determines whether manual driving by the driving operation device 200 and remote driving by the remote driving device 600 are possible, and manages the driving of the vehicle 1. In particular, the driving management device 100 executes a process for managing the handover from remote driving to manual driving. The driving management device 100 is configured to be able to transmit information between the driving operation device 200, the HMI device 300, the terminal detection device 400, and the remote driving device 600.

[0044] The driving management device 100 transmits information on the availability of manual driving by the driving operation device 200 and remote driving by the remote driving device 600 as management information to the HMI device 300 and the remote driving device 600. The HMI device 300 and the remote driving device 600 notify the person in the vehicle 1 and the remote driving operator of the availability of manual driving and remote driving in accordance with the management information.

[0045] When the vehicle 1 is driven manually by the driving operation device 200, the driving management device 100 transmits manual driving information acquired from the driving operation device 200 to the driving control device 500 as driving information. On the other hand, when the vehicle 1 is driven remotely by the remote driving device 600, the driving management device 100 transmits remote driving information acquired from the remote driving device 600 to the driving control device 500 as driving information.

[0046] The operation management device 100 is a computer including a memory 110 and a processor 120. Typically, it is one of the ECUs (Electronic Control Units) provided in the vehicle 1. The memory 110 stores various data 111 and a program 112 executable by the processor 120. Information acquired by the operation management device 100 is stored in the memory 110 as data 111. The processor 120 is coupled to the memory 110, reads the data 111 and the program 112 from the memory 110, and executes processing in accordance with the program 112 based on the data 111.

[0047] The processes executed by the processor 120 include, as processes for managing the handover to manual driving, a detection process for detecting an obstructing object or a security object in the vehicle 1, and a decision process for receiving a request for handover to manual driving and deciding whether or not to permit the handover to manual driving. The detection process and the decision process will be described later.

[0048] In the operation takeover system 10 according to the first embodiment, a suitable configuration and processing may be adopted for the handover from manual operation to remote operation. The operation management device 100 may be a system composed of multiple computers each having a memory and a processor. In this case, the processors associated with the multiple computers cooperate with each other to execute the processing for managing the handover to manual operation.

[0049] The cruise control device 500 is a device that executes processes related to cruise control (typically, acceleration, braking, and steering) of the vehicle 1 according to the driving information. The cruise control device 500 performs cruise control of the vehicle 1 according to the driving information, thereby realizing manual driving or remote driving of the vehicle 1.

[0050] The driving control device 500 is configured, for example, with a plurality of ECUs corresponding to each or each group of a plurality of actuators provided in the vehicle 1. Examples of the actuators provided in the vehicle 1 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.

[0051] 2-2. Second embodiment 4 is a conceptual diagram for explaining a schematic configuration of the driving takeover system 10 according to the second embodiment. In the following, differences from the configuration according to the first embodiment will be explained, and matters overlapping with the configuration according to the first embodiment will be omitted as appropriate.

[0052] The driving takeover system 10 according to the second embodiment includes a driving management device 100, a driving operation device 200, an HMI device 300, a terminal detection device 400, a driving control device 500, a sensor 700, and an automatic driving control device 800.

[0053] The driving operation device 200, the HMI device 300, and the terminal detection device 400 have the same configurations as those described in the first embodiment.

[0054] The sensor 700 detects information related to the driving environment of the vehicle 1 and outputs the detected information (sensor information). The sensor 700 typically includes a sensor that detects information on the driving state of the vehicle 1 (vehicle speed, acceleration, yaw rate, etc.) and a sensor that detects information on the surrounding environment of the vehicle 1 (preceding vehicle, lanes, obstacles, etc.).

[0055] Examples of sensors that detect the traveling state of the vehicle 1 include a wheel speed sensor that detects the speed of the vehicle 1, a G sensor that detects the acceleration of the vehicle 1, and a gyro sensor that detects the angular velocity of the vehicle 1. Examples of sensors that detect information about the surrounding environment of the vehicle 1 include a sensor camera, a LIDAR (Light Detection And Ranging), and a millimeter wave radar.

[0056] The sensor information output by the sensor 700 is transmitted to the automatic driving control device 800. The sensor information output by the sensor 700 may include not only directly detected information but also information obtained by arithmetic processing from the directly detected information. In this case, the arithmetic processing may be executed in each sensor, or the sensor 700 may include a device that executes the arithmetic processing.

[0057] The automatic driving control device 800 executes processing related to automatic driving of the vehicle 1 based on the acquired information, and outputs information related to automatic driving (automatic driving information). The automatic driving information includes, for example, a control signal related to automatic driving. The automatic driving control device 800 is typically one of the ECUs provided in the vehicle 1. However, the automatic driving control device 800 may be a computer provided outside the vehicle 1. For example, the automatic driving control device 800 may be a server configured on a communication network (typically the Internet) with which the vehicle 1 can communicate. In this case, the automatic driving control device 800 acquires information and outputs automatic driving information through communication.

[0058] The information acquired by the autonomous driving control device 800 may include detection information acquired from the sensor 700, as well as HMI information acquired from the HMI device 300 (e.g., destination setting information, vehicle distance setting, etc.) and communication information acquired from a communication device not shown in FIG. 4 (e.g., map information, road traffic information, etc.).

[0059] The automatic driving control device 800 is configured to execute processing related to automatic driving when automatic driving is permitted based on management information acquired from the operation management device 100.

[0060] The operation management device 100 has the same configuration as described in the first embodiment. However, in the second embodiment, the operation management device 100 determines whether manual operation by the vehicle operation device 200 and automatic operation by the automatic driving control device 800 are possible, and manages the operation of the vehicle 1. The operation management device 100 also executes a process for managing the handover from automatic driving to manual driving.

[0061] Therefore, the operation management device 100 transmits information on the availability of manual operation by the operation device 200 and automatic operation by the automatic driving control device 800 as management information to the HMI device 300 and the automatic driving control device 800. When the operation of the vehicle 1 is performed by automatic driving by the automatic driving control device 800, the operation management device 100 transmits the automatic driving information obtained from the automatic driving control device 800 to the cruise control device 500 as driving information.

[0062] In addition, in the driving takeover system 10 according to the second embodiment, suitable configurations and processes may be adopted for the takeover from manual driving to automatic driving.

[0063] The cruise control device 500 may have the same configuration as that described in the first embodiment. The cruise control device 500 controls the cruise of the vehicle 1 according to the driving information, thereby realizing manual driving or automatic driving of the vehicle 1.

[0064] 3.How to take over driving Below, we will explain the processing that the processor 120 executes to manage the handover to manual driving, and in particular the driving handover method that manages the handover from remote driving or automatic driving to manual driving, realized by the driving handover system 10 of this embodiment.

[0065] Fig. 5 is a flowchart showing the process executed by the processor 120 as the process for managing the handover to manual driving. The process shown in Fig. 5 starts when a request for handover to manual driving is received, and each process is executed at a predetermined cycle. Here, the presence or absence of a request for handover to manual driving is determined, for example, from whether the operation amount of the driving operation acquired as manual driving information is equal to or greater than a predetermined value. Alternatively, it is determined from information on the request for handover to manual driving acquired as HMI information.

[0066] In step S100 (detection process), the processor 120 detects obstructing articles or security articles in the vehicle 1. This is performed, for example, by storing information (specification information) for identifying obstructing articles and security articles as data 111 in the memory 110, and comparing the detection information acquired from the terminal detection device 400 with the specific information. Alternatively, it may be performed by acquiring, as detection information, information on whether an obstructing article or security article has been detected from the terminal detection device 400.

[0067] After step S100, the process proceeds to step S200 (decision process), which includes steps S210 to S240.

[0068] If an obstructing article is not detected in step S100 (step S210; No), or if an obstructing article is detected but a guarantee article is also detected (step S210; Yes and step S220; Yes), the process proceeds to step S230. If an obstructing article is detected but a guarantee article is not detected in step S100 (step S210; Yes and step S220; No), the process proceeds to step S240.

[0069] In step S230, the processor 120 permits the transition to manual driving. After step S230, the process ends.

[0070] In step S240, the processor 120 does not permit the handover to manual driving. After step S240, the process ends.

[0071] The processor 120 may be configured to further execute a process of determining permission for handover to another manual driving in step S230. In this case, whether or not handover to manual driving is permitted is finally determined based on the result of the process in step S230.

[0072] The processor 120 may be configured to always execute the detection process at a predetermined cycle regardless of whether or not there is a request to take over to manual driving. In this case, when a request to take over to manual driving is received, the processor 120 executes the process from step S210 shown in FIG. 5 onward.

[0073] 4.Effects As described above, according to the driving handover system 10 and driving handover method of this embodiment, by detecting obstructing items, it is possible to prevent an inappropriate handover to manual driving by a person who is not capable of driving.

[0074] In addition, when a driver is on board the vehicle 1, by detecting a security item, it is possible to prevent unnecessary denial of permission to take over to manual driving. [Explanation of symbols]

[0075] 1 vehicle 3,4 Certain mobile devices 10. Operation handover system 100 Operation management device 110 Memory 111 Data 112 Programs 120 processors 200 Driving operation device 300 HMI equipment 400 Terminal detection device 500 Driving control device 600 Remote Control Device 700 Sensors 800 Automatic Driving Control Device

Claims

1. A driving handover system that manages the handover from remote driving or automatic driving of a vehicle to manual driving, 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 is By executing the program, A detection process for detecting, in the vehicle, an obstructing item, the presence of which in the vehicle is a cause for obstructing the handover to manual driving, and a guarantee item, the presence of which in the vehicle is a guarantee for the handover to manual driving; A decision process for deciding whether or not to permit the handover to manual driving upon receiving a request for the handover to manual driving; Run In the determination process, When the security item is not detected and the obstructing item is detected by the detection process, the handover to the manual operation is not permitted; Even if the obstructing item is detected by the detection process, when the safety item is detected, the handover to the manual operation is permitted. It is configured as follows: A driving handover system characterized by:

2. The operation transfer system according to claim 1, The inhibiting article includes a mobile terminal in which a child is registered as a user. A driving handover system characterized by:

3. The operation transfer system according to claim 2, The security item includes a mobile terminal registered as a user of the child's parent. A driving handover system characterized by:

4. The operation transfer system according to claim 1, The security item includes a mobile terminal in which the driver of the vehicle is registered as a user. A driving handover system characterized by:

5. A driving takeover system according to any one of claims 1 to 4, the vehicle includes a terminal detection device that detects a mobile terminal present in the vehicle through communication; the obstructing article and the security article are each the mobile terminal detectable by the terminal detection device, At least one of the processors is In the detection process, The obstructing article or the security article in the vehicle is detected based on the detection information of the terminal detection device. It is configured as follows: A driving handover system characterized by:

6. A driving handover method for managing a handover from remote driving or automatic driving of a vehicle to manual driving by a computer, comprising: A detection process for detecting, in the vehicle, an obstructing item, the presence of which in the vehicle is a cause for obstructing the handover to manual driving, and a guarantee item, the presence of which in the vehicle is a guarantee for the handover to manual driving; A decision process for deciding whether or not to permit the handover to manual driving upon receiving a request for the handover to manual driving; by said computer, The determination process includes: When the security item is not detected and the obstructing item is detected by the detection process, the handover to the manual operation is not permitted; and permitting the handover to manual driving when the safety item is detected even if the obstructing item is detected by the detection process. A method for taking over operation.

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