Driving System

Abstract

To provide a vehicular operation system capable of vehicular automatic operation and remote operation and further smoothly switching to the remote operation from the automatic operation in accordance with the requirement of an operator.SOLUTION: An automatic operation system includes an automatic operation control device, a remote operation device, an automatic operation control device, and an operation management apparatus for managing permission and inhibition of vehicular operation by the automatic operation control device and the remote operation device. Further, the remote operation device includes a monitor device for monitoring a state of an operator. In a case where the remote operation device requires start of a remote operation while the vehicle is under an automatic operation, the operation management apparatus verifies that the operator is in a cockpit of the remote operation device with the operator being awake, requires the automatic operation control device to execute the automatic operation of the vehicle so as to place the vehicle into a travel state ready for the remote operation, and permits the remote operation after the vehicle becomes the travel state ready for the remote operation.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a driving system that provides functions related to driving a vehicle. [Background technology]

[0002] In recent years, remote driving technology for remotely driving a vehicle from a remote location has been considered. Remote driving is expected to be a technology for assisting self-driving cars when autonomous driving is difficult and for realizing unmanned driving services. For example, Patent Document 1 can be cited as a conventional technology related to remote driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-295360 A Summary of the Invention [Problem to be solved by the invention]

[0004] The applicant of the present application is considering configuring privately owned vehicles, such as personal cars, to be capable of automatic driving and remote driving, in the hope of expanding the scope of use of privately owned vehicles.

[0005] In particular, when driving people to and from work, the driver does not need to accompany the person being picked up, which alleviates the time or location constraints associated with the transportation. In addition, privately owned vehicles are suitable for situations where flexibility is required in the relationship between the driver and the person being picked up (e.g., parent and child) and the timing of the transportation, such as when driving someone to and from work within a household.

[0006] Incidentally, switching from automatic driving to remote driving is performed after the vehicle is in a state where remote driving is possible (for example, stopped). On the other hand, in the case of a privately owned vehicle, it is assumed that the operator who drives the vehicle remotely may want to switch to remote driving at a timing of his or her own choosing. In this case, if switching from automatic driving to remote driving is not performed smoothly in response to the operator's request, the convenience of the vehicle may be impaired.

[0007] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a vehicle driving system that is capable of automatic and remote driving of a vehicle and can smoothly switch from automatic driving to remote driving upon request of an operator. [Means for solving the problem]

[0008] The present disclosure relates to When transporting a person between the source and destination The present disclosure relates to a driving system that provides a function related to driving a vehicle. The driving system according to the present disclosure includes: an automatic driving control device that executes processing related to automatic driving of the vehicle; Located at the pick-up and drop-off point, The system includes a remote driving device that communicates with the vehicle and remotely drives the vehicle, and a driving management device that manages whether or not the vehicle can be driven by the automatic driving control device and the remote driving device. The remote driving device also includes a monitoring device that monitors the state of an operator. When the remote driving device requests the start of the remote driving while the vehicle is performing the automatic driving, the driving management device confirms that the operator is in the cockpit of the remote driving device and is awake, ,before The vehicle is To stop and the vehicle Stopped Thereafter, the remote operation is permitted for the remote operation device. Effect of the Invention

[0009] According to the driving system of the present disclosure, the vehicle can be driven automatically and remotely, and can be switched from automatic to remote driving at the request of the operator. The switching is performed after confirming that the operator is in the cockpit of the remote driving device and is awake, and after performing automatic driving of the vehicle so that the vehicle is in a running state where it can be remotely driven. This allows smooth switching from automatic to remote driving at the request of the operator. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a conceptual diagram for explaining transportation of passengers by a vehicle 1 to which a driving system according to this embodiment is applied. [Diagram 2] FIG. 1 is a conceptual diagram for explaining transportation of passengers by a vehicle 1 to which a driving system according to this embodiment is applied. [Diagram 3] 1 is a block diagram showing a configuration of a driving system according to an embodiment of the present invention; [Figure 4] 1 is a conceptual diagram for explaining a configuration of a remote driving device according to an embodiment of the present invention. [Diagram 5] 4 is a flowchart showing a process related to a first function executed by the operation management device shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings. However, when the number, quantity, amount, range, etc. of each element is mentioned in the embodiments shown below, the idea of ​​the present disclosure is not limited to the mentioned number unless it is specifically stated or the number is clearly specified in principle. Furthermore, the configurations etc. described in the embodiments shown below are not necessarily essential to the idea of ​​the present disclosure unless it is specifically stated or the number is clearly specified in principle. In addition, the same reference numerals are attached to the same or corresponding parts in each drawing, and the duplicated explanation is appropriately simplified or omitted.

[0012] 1. Overview The driving system according to this embodiment provides functions of automatic driving and remote driving. The driving system according to this embodiment is applied to privately owned vehicles such as private cars, and is particularly used when transporting people. Figures 1 and 2 are conceptual diagrams for explaining the transportation of people realized by a vehicle 1 to which the driving system according to this embodiment is applied. Figure 1 shows the case of dropping people off, and Figure 2 shows the case of picking them up.

[0013] First, the case of dropping off will be described with reference to Fig. 1. Fig. 1 shows a case where an operator 2 of a vehicle 1, who is the person taking someone off or picking up, takes a person being picked up or dropped off 3 from a point of origin 4 to a destination 5. For example, the operator 2 and the person being picked up or dropped off 3 are a parent and a child, respectively, and the point of origin 4 and the destination 5 are the home and the child's after-school class, respectively. Fig. 1 also shows four scenes, (A), (B), (C), and (D), in chronological order.

[0014] The vehicle 1 can be driven automatically, and can also be remotely driven by operating a remote driving device 200. The configuration of the driving system will be described later.

[0015] First, in (A), the person being picked up 3 gets into the vehicle 1, and the operator 2 remotely drives the vehicle 1 by operating the remote driving device 200. The operator 2 moves the vehicle 1 from the pick-up / drop-off origin 4 to the automatic driving start location 6 by remote driving. This is, for example, the period from leaving a parking lot at home to reaching the roadway. The automatic driving start location 6 is at least a point where automatic driving can start. Whether automatic driving can start is typically determined by a system related to automatic driving based on the surrounding environment and driving conditions, and a notification is given to the operator 2 (for example, by display or sound).

[0016] In this way, by remote driving from the pick-up / drop-off origin 4 to the automatic driving start location 6, even in a situation where automatic driving cannot be started from the pick-up / drop-off origin 4 due to the surrounding environment, etc., the operator 2 can move the vehicle 1 to the automatic driving start location 6 without leaving the pick-up / drop-off origin 4.

[0017] Next, in (B), the operator 2 starts the automatic driving of the vehicle 1. The automatic driving is started by operating the remote driving device 200. With the start of the automatic driving, the vehicle 1 moves from the automatic driving start location 6 toward the pick-up and drop-off destination 5.

[0018] After the automatic driving starts, the operator 2 can move away from the remote driving device 200. The operator 2 is not moving along with the transportation. Therefore, the operator 2 can move freely at the transportation source 4. For example, the operator 2 can do housework at home or take a rest.

[0019] Next, in (C), the operator 2 returns to the remote driving device 200 and requests the vehicle 1 to start remote driving. This may be at a timing desired by the operator 2. When the start of remote driving is requested, the driving system according to this embodiment starts remote driving using the following function (hereinafter also referred to as the "first function").

[0020] First, the state of the operator 2 is confirmed. Then, when the state of the operator 2 is in a state where remote driving is possible, automatic driving of the vehicle 1 is performed so that the vehicle 1 is in a traveling state (e.g., stopped) where remote driving is possible. After that, the start of remote driving is permitted, and the operator 2 starts remote driving of the vehicle 1 from the remote driving start location 7. On the other hand, when the state of the operator 2 is not in a state where remote driving is possible, the start of remote driving is not permitted.

[0021] In the first function, when the operator 2 is in the cockpit of the remote driving device 200 and is awake, it is determined that the operator 2 is in a state in which remote driving is possible. To check the state of the operator 2, the driving system according to this embodiment includes a monitoring device that monitors the state of the operator 2. The configuration of the remote driving device 200 will be described later.

[0022] In addition, even if the start of remote driving is not requested by the operator 2, the vehicle 1 may be configured to perform automatic driving so as to reach a driving state where remote driving is possible, and to wait until a request to start remote driving is made. For example, this may be the case when automatic driving cannot be started due to the surrounding environment, or when the vehicle arrives at a point where remote driving is to start in a predetermined driving plan. In this case, since it is usually assumed that the operator 2 is away from the remote driving device 200, the operator 2 may be notified that the vehicle 1 is waiting. The notification is made, for example, via a terminal owned by the operator 2 (which may be a general-purpose terminal such as a smartphone with a specific application installed) by communication.

[0023] In this way, by performing remote driving from the remote driving start location 7 to the pick-up / drop-off destination 5, even if automatic driving cannot be continued to the pick-up / drop-off destination 5 due to the surrounding environment, etc., the operator 2 can move the vehicle 1 to the pick-up / drop-off destination 5 without leaving the pick-up / drop-off source 4.

[0024] Then, in (D), the operator 2 drives the vehicle 1 remotely to the pick-up / drop-off destination 5 and completes the transfer of the person being picked up / drop-off 3. After completing the transfer, the operator 2 can move away from the remote driving device 200 while the vehicle 1 remains waiting at the pick-up / drop-off destination 5. The operator 2 is not moving in conjunction with the transfer. In other words, the operator 2 can stay at the pick-up / drop-off origin 4 without having to return the vehicle 1 to the pick-up / drop-off origin 4. Therefore, the operator 2 can move freely at the pick-up / drop-off origin 4 until the person being picked up 3 is picked up. Furthermore, when the person being picked up 3 is picked up, there is no need to move the vehicle 1 to the pick-up / drop-off destination 5 again.

[0025] Next, the case of picking up will be described with reference to Fig. 2. Fig. 2 shows a case where an operator 2 picks up a person being picked up or dropped off 3 from a pick-up destination 5 to a pick-up origin 4. For example, the pick-up destination 5 is a place where the person being picked up or dropped off 3 has finished their lesson. Fig. 2, like Fig. 1, shows four scenes, (A), (B), (C), and (D), in chronological order.

[0026] Driving in the case of picking up is the same as that in the case of dropping off. That is, first, in (A), the person being picked up 3 gets into vehicle 1, and operator 2 remotely drives vehicle 1 by operating remote driving device 200. Operator 2 moves vehicle 1 from pick-up destination 5 to automatic driving start location 6 by remote driving. Next, in (B), operator 2 starts automatic driving of vehicle 1. Vehicle 1 moves from automatic driving start location 6 toward pick-up origin 4 by starting automatic driving. Next, in (C), operator 2 returns to remote driving device 200 and requests vehicle 1 to start remote driving. And in (D), operator 2 remotely drives vehicle 1 to pick-up origin 4 and completes picking up person being picked up 3.

[0027] In this way, the vehicle 1 to which the driving system according to this embodiment is applied is capable of both automatic and remote driving, and is used when transporting people. Furthermore, switching from automatic to remote driving can be performed in response to a request from the operator 2. The switching is performed after confirming that the state of the operator 2 is in a state where remote driving is possible, and performing automatic driving of the vehicle 1 so that the vehicle 1 is in a running state where remote driving is possible (first function). This allows for smooth switching from automatic to remote driving in response to a request from the operator.

[0028] Here, the driving system according to this embodiment has the following characteristic functions when the vehicle 1 is waiting at the pick-up / drop-off destination 5 (the scene shown in (D) in FIG. 1).

[0029] One function (hereinafter also referred to as the "second function") is a function that automatically activates the parking brake, changes the shift position to P range, or activates other stop-holding functions when vehicle 1 is in a driveable state (READY ON) after vehicle 1 arrives at the pick-up / drop-off destination 5.

[0030] By having the second function, safety can be ensured when the operator 2 leaves the remote driving device 200 with the vehicle 1 waiting at the pick-up / drop-off destination 5.

[0031] Furthermore, when the vehicle 1 is waiting at the pick-up / drop-off destination 5, the vehicle 1 may be set to a state in which it cannot travel (READY OFF), and when it is to be set to READY ON again, an operation by the operator 2 may be required. In this case, the state of the vehicle 1 (for example, a malfunction state of a device provided in the vehicle 1) may be notified to the operator 2.

[0032] By configuring the second function in this manner, it is possible to ensure that the vehicle 1 is stopped even if the vehicle 1 breaks down while the operator 2 is away from the remote driving device 200. Also, when the state of the vehicle 1 does not sufficiently ensure safety (for example, when a device provided in the vehicle 1 breaks down), it is possible to prevent the vehicle 1 from becoming READY ON.

[0033] Another function (hereinafter also referred to as "third function") is a function that calculates the fuel required for the pick-up drive (electricity in electric vehicles, hybrid vehicles, etc.) when the driving route for the pick-up drive is set in advance, and puts vehicle 1 into an energy-saving state when there is a risk that the pick-up drive cannot be completed if the current state of vehicle 1 is maintained, based on the remaining fuel in vehicle 1 and the fuel required for the pick-up drive.

[0034] Here, the setting of the driving route for the pick-up drive may be performed by the operator 2 operating the remote driving device 200, or may be performed by estimation in the driving system from information on the driving route for the drop-off drive. In addition, there is a risk that the pick-up drive cannot be completed when, for example, the remaining fuel of the vehicle 1 is not sufficient for the fuel required for the pick-up drive at the time of starting the pick-up drive, based on the expected waiting time and the fuel consumption in the current state of the vehicle 1. In addition, the energy-saving state is, for example, a state in which the power supply for the accessory function of the vehicle 1 is stopped. Alternatively, it may be a state in which the power of the vehicle 1 is turned off.

[0035] By having the third function, it is possible to prevent the vehicle 1 from running out of fuel needed for the pick-up drive due to fuel being consumed while the vehicle 1 is waiting at the pick-up destination 5.

[0036] Furthermore, if there is a risk that the drive to pick up the vehicle cannot be completed, the system may be configured to suggest to the operator 2 that a fueling facility (or a charging facility) be set as the destination in the drive to pick up the vehicle. In this case, since it is assumed that the operator 2 is usually away from the remote driving device 200, a notification may be sent to the operator 2.

[0037] By configuring the third function in this manner, it is possible to ensure that the pick-up operation is completed.

[0038] Another function (hereinafter also referred to as "fourth function") is a function for capturing an image of the person being picked up or dropped off 3 with a camera provided in the vehicle 1 when the vehicle 1 is waiting at the pick-up or drop-off destination 5, and for displaying the captured image to the operator 2. At this time, the vehicle 1 may perform automatic driving so that the vehicle 1 can capture an image of the person being picked up or dropped off 3.

[0039] Here, the camera provided in the vehicle 1 is a camera that captures driving images related to remote driving. Moreover, display to the operator 2 is typically performed by a display device for driving images provided in the remote driving device 200. However, the captured images may also be transmitted to a terminal held by the operator 2 via communication.

[0040] By having the fourth function, the operator 2 can check the condition of the person being picked up or dropped off 3 who is in a remote location, thereby obtaining a sense of security.

[0041] Furthermore, the vehicle 1 may be configured to notify those around the vehicle 1 that the vehicle 1 is capturing images. The notification may be made, for example, by a display or sound on the outside of the vehicle 1.

[0042] By configuring the fourth function in this way, the sense of anxiety felt by people in the vicinity regarding the unmanned vehicle 1 can be reduced.

[0043] Furthermore, image processing may be performed on the captured image to blur areas other than the person being picked up 3 and the scenery, and the image after the image processing may be displayed to the operator 2. The image processing may employ known techniques.

[0044] By configuring the fourth function in this way, it is possible to improve the protection of privacy for people around the vehicle 1 whose images are captured by the camera.

[0045] 2. Driving system The driving system according to this embodiment will be described below. Fig. 3 is a block diagram showing the configuration of the driving system 10 according to this embodiment.

[0046] The driving system 10 includes an automatic driving control device 100, a camera 110, sensors 120, a driving management device 130, a driving control device 140, and a remote driving device 200.

[0047] Camera 110 is provided on vehicle 1 and captures and outputs driving images of vehicle 1. A plurality of cameras 110 may be provided to capture driving images in a plurality of directions (forward, backward, forward and lateral, rearward and lateral, etc.) around vehicle 1. The driving images output by camera 110 are transmitted to remote driving device 200.

[0048] The sensors 120 are a type of sensor provided in the vehicle 1, which detects information related to the driving environment of the vehicle 1 and outputs the detected information (detected information). The sensors 120 include 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.).

[0049] 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.

[0050] Other examples of sensors included in the sensors 120 include a sensor that detects the remaining amount of fuel, a sensor that detects the battery state, and the like.

[0051] The detection information output by the sensors 120 is transmitted to the automatic driving control device 100 and the remote driving device 200. The detection information output by the sensors 120 may include not only information directly detected by the sensors, but also information obtained by arithmetic processing from the directly detected information. In this case, the arithmetic processing may be performed by each sensor, or the sensors 120 may include a device that executes the arithmetic processing.

[0052] The automatic driving control device 100 is a computer that executes processing related to automatic driving of the vehicle 1 based on acquired information, and generates and outputs control signals. The automatic driving control device 100 is typically one of the ECUs (Electronic Control Units) provided in the vehicle 1. However, the automatic driving control device 100 may be a computer provided outside the vehicle 1. For example, the automatic driving control device 100 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 100 acquires information and outputs control signals through communication.

[0053] The automatic driving control device 100 may be a system configured with a plurality of computers. In this case, the plurality of computers cooperate with each other to execute processing related to the automatic driving.

[0054] The information acquired by the autonomous driving control device 100 includes detection information acquired from the sensors 120, as well as HMI information acquired from the remote driving device 200 (e.g., setting information for the pick-up / drop-off destination 5, setting the distance between vehicles, etc.) and communication information acquired from a communication device not shown in FIG. 3 (e.g., map information, road traffic information, etc.).

[0055] The process related to the autonomous driving by the autonomous driving control device 100 typically involves setting a travel plan to a destination (a route on a map to the destination, an arrival time, etc.), and generating a travel route by executing processes related to self-location estimation and traveling environment recognition based on acquired information. Then, control signals related to acceleration, braking, and steering are generated so that the vehicle 1 travels along the travel route.

[0056] Here, the automatic driving control device 100 executes processing related to automatic driving when automatic driving is permitted by a management signal acquired from the operation management device 130. In addition, when the start of remote driving is requested by the management signal, the automatic driving control device 100 executes processing related to automatic driving so as to bring the vehicle into a driving state (e.g., stopped) that allows remote driving.

[0057] The control signal output by the automatic driving control device 100 is transmitted to the driving control device 140 via the driving management device 130. The control signal output by the automatic driving control device 100 also includes information indicating whether or not the vehicle 1 is in a driving state that allows remote driving. Here, the fact that the vehicle 1 is in a driving state that allows remote driving indicates that the vehicle 1 is waiting.

[0058] The remote driving device 200 is a device that provides information related to the driving of the vehicle 1 (driving footage, driving environment, etc.) to the operator 2 at a location away from the vehicle 1, and accepts operations by the operator 2 (operations related to driving, operations related to control settings, etc.) to remotely drive the vehicle 1.

[0059] The remote driving device 200 outputs a signal of the received operation (operation signal). The operation signal includes the amount of operation related to driving (depression amount of accelerator pedal, steering wheel turning angle, etc.) and control setting request (on / off request for accessory function, opening / closing request for door, etc.), as well as a request to start remote driving and a request to start automatic driving.

[0060] The remote driving device 200 also includes a monitoring device that monitors the state of the operator 2 (the configuration of the remote driving device 200 will be described in detail later). The remote driving device 200 then outputs information on the state of the operator 2 acquired by the monitoring device (operator state information). The operator state information includes at least information indicating whether the operator 2 is in the cockpit of the remote driving device 200 and whether the operator 2 is awake or not.

[0061] An operation signal output by the remote operation device 200 is transmitted to the travel control device 140 via the operation management device 130. In addition, operator status information is transmitted to the operation management device 130.

[0062] Furthermore, the remote driving device 200 transmits HMI information such as information set regarding autonomous driving (for example, setting information for the pick-up / drop-off destination 5, setting of the distance between vehicles, etc.) to the autonomous driving control device 100.

[0063] Here, when remote driving is permitted by a management signal obtained from the driving management device 130, the vehicle 1 can be remotely driven by the remote driving device 200.

[0064] The driving management device 130 is a computer that executes processing to manage whether or not the vehicle 1 can be driven by the automatic driving control device 100 and the remote driving device 200 of the vehicle 1. The driving management device 130 is typically one of the ECUs provided in the vehicle 1. However, the driving management device 130 may be a computer provided outside the vehicle 1. Furthermore, the driving management device 130 may be a system composed of multiple computers.

[0065] The operation management device 130 determines whether to permit automatic operation and remote operation based on detection information obtained from the sensors 120, control signals obtained from the automatic operation control device 100, and operation signals and operator status information obtained from the remote operation device 200, and transmits the determination as a management signal to the automatic operation control device 100 and the remote operation device 200. This allows switching from remote operation to automatic operation and switching from automatic operation to remote operation.

[0066] When remote driving of the vehicle 1 is being performed and an operation signal obtained from the remote driving device 200 requests the start of automatic driving, the driving management device 130 determines whether switching to automatic driving is possible. Then, when switching to automatic driving is possible, a management signal is transmitted to the automatic driving control device 100 indicating permission for automatic driving. This causes switching from remote driving to automatic driving. Here, whether switching to automatic driving is possible is determined based on, for example, detection information (surrounding environment, driving state, etc.) obtained from the sensors 120.

[0067] When the start of remote driving is requested by an operation signal acquired from the remote driving device 200 while the vehicle 1 is being driven autonomously, the driving management device 130 executes processing related to the first function. This causes a switch from autonomous driving to remote driving. The processing related to the first function executed by the driving management device 130 will be described later.

[0068] While the vehicle 1 is being driven automatically, the driving management device 130 transmits a control signal acquired from the automatic driving control device 100 to the driving control device 140. Also, while the vehicle 1 is being driven remotely, the driving management device 130 transmits an operation signal to the driving control device 140. Furthermore, if the control signal or operation signal includes commands for various devices (display device, speaker, window, door lock, etc.) provided in the vehicle 1 that are not shown in FIG. 3, the driving management device 130 transmits the control signal or operation signal to those devices.

[0069] The driving control device 140 is a computer that executes processing related to driving control (typically, acceleration, braking, steering) of the vehicle 1 in accordance with a control signal or an operation signal. The driving control device 140 performs driving control of the vehicle 1 in accordance with the control signal or the operation signal, thereby realizing automatic driving or remote driving of the vehicle 1.

[0070] The driving control device 140 is typically configured 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.

[0071] 3.Remote control device The configuration of the remote driving device 200 will be described below. Fig. 4 is a conceptual diagram for explaining the configuration of the remote driving device 200 according to this embodiment. The remote driving device 200 includes an information processing device 210, a display device 220, a driving operation device 230, an operation panel 240, a monitoring device 250, and a seat 260.

[0072] The information processing device 210 is a computer that executes processing related to remote driving. The information processing device 210 is configured to be able to transmit information to and from the display device 220, the driving operation device 230, the operation panel 240, and the monitoring device 250. Typically, they are electrically connected by cables.

[0073] Moreover, the information processing device 210 communicates with the vehicle 1 to transmit and receive information. In particular, the information processing device 210 is configured to be able to transmit and receive information with the automatic driving control device 100, the camera 110, the sensors 120, and the driving management device 130. Typically, it is connected to a network (typically, the Internet) capable of communicating with the vehicle 1.

[0074] The display device 220 performs display in accordance with a signal acquired from the information processing device 210. The display device 220 displays at least a driving image acquired from the camera 110. In addition, the display device 220 may display information related to the driving environment of the vehicle 1 based on detection information acquired from the sensors 120.

[0075] The driving operation device 230 is a device that accepts operations related to driving by the operator 2. In Fig. 4, a steering wheel 230a for accepting steering operations and pedals 230b for accepting acceleration or braking operations are shown as the driving operation device 230. Operation signals accepted by the driving operation device 230 are transmitted to the driving management device 130 via the information processing device 210.

[0076] The operation panel 240 is a device that accepts various operations by the operator 2. The operation panel 240 includes at least a device for requesting the start of automatic operation and a device for requesting the start of remote operation. For example, the operation panel 240 is provided with a switch for requesting the start of automatic operation and a switch for requesting the start of remote operation. The operator 2 can request the start of automatic operation or remote operation by operating the operation panel 240.

[0077] The operation panel 240 may be configured to allow other requests related to remote operation or the remote operation device 200 to be made by operating it. For example, the operation panel 240 may be configured to allow changes in control settings, turning on / off accessory functions, switching the display of the display device 220, and the like.

[0078] The operation signal received by the operation panel 240 is transmitted to the operation management device 130 via the information processing device 210.

[0079] The monitoring device 250 is a device that monitors the state of the operator 2. The monitoring device 250 monitors the state of the operator 2, at least as to whether the operator 2 is in the cockpit and whether he / she is awake. Then, the monitoring information is transmitted to the information processing device 210. The information processing device 210 judges the state of the operator 2 based on the monitoring information, and transmits the operator state information to the operation management device 130.

[0080] 4, a camera having an imaging area 251 around a seat 260 is shown as the monitoring device 250. In this case, the captured image is transmitted to the information processing device 210. Then, the information processing device 210 judges whether the operator 2 is in the cockpit and whether he is awake by image processing of the captured image. Alternatively, the monitoring device 250 may be configured to perform image processing and transmit to the information processing device 210 as monitoring information whether the operator 2 is in the cockpit and whether he is awake.

[0081] Here, the state where the operator 2 is in the cockpit means, for example, a state where the operator 2 is sitting in the seat 260. In addition, whether the operator 2 is awake or not can be determined, for example, from the number of times the operator 2 blinks, the degree to which the eyes are open, the movement of the line of sight, the movement of the head, etc.

[0082] The remote operation device 200 may include other devices. For example, it may include an audio device for transmitting sounds to the operator 2.

[0083] 4. First Function The following describes the processing related to the first function executed by the driving management device 130. Fig. 5 is a flowchart showing the processing related to the first function executed by the driving management device 130. The processing shown in Fig. 5 starts when a request to start remote driving is made while autonomous driving of the vehicle 1 is being performed, and the processing is executed at predetermined intervals.

[0084] In step S100, the operation management device 130 checks the state of the operator 2 based on the operator state information acquired from the remote operation device 200. At least, it checks whether the state of the operator 2 is in the cockpit of the remote operation device 200 and whether the operator 2 is awake.

[0085] After step S100, the process proceeds to step S110.

[0086] In step S110, the operation management device 130 judges whether the state of the operator 2 is a state in which remote operation is possible. When the state of the operator 2 is a state in which the operator 2 is in the cockpit and is awake, the operation management device 130 judges that the state of the operator 2 is a state in which remote operation is possible.

[0087] If the state of the operator 2 is such that remote operation is possible (step S110; Yes), the process proceeds to step S130. If the state of the operator 2 is not such that remote operation is possible (step S110; No), the process proceeds to step S120.

[0088] In step S120, the operation management device 130 transmits a management signal indicating that remote operation is not permitted to the remote operation device 200. At this time, the remote operation device 200 may notify the operator 2 that remote operation is not permitted (for example, by displaying or sounding).

[0089] After step S120, the process ends.

[0090] In step S130, the driving management device 130 transmits a management signal indicating a request to start remote driving to the automatic driving control device 100. As a result, the automatic driving control device 100 executes processing related to automatic driving so that the vehicle 1 is in a driving state where it can be remotely driven.

[0091] After step S130, the process proceeds to step S140.

[0092] In step S140, the driving management device 130 determines, based on a control signal acquired from the automatic driving control device 100, whether or not the vehicle 1 has entered a driving state in which it can be remotely driven.

[0093] When the vehicle 1 is in a traveling state where it can be remotely driven (step S140; Yes), the process proceeds to step S150.

[0094] In step S150, the operation management device 130 transmits a management signal indicating permission for remote operation to the remote operation device 200. This allows the operator 2 to operate the remote operation device 200 to perform remote operation.

[0095] After step S150, the process ends.

[0096] 5. Other features 5-1. Second function In the driving system 10 according to this embodiment, the second function is realized, for example, as follows.

[0097] The operation management device 130 determines that the vehicle 1 has arrived at the destination 5 and is waiting at the destination 5. For example, the operation management device 130 determines that the vehicle 1 is waiting at the destination 5 because the vehicle 1 is located near the destination 5 and the operator 2 is not in the cockpit.

[0098] Then, the driving management device 130 requests the driving control device 140 to activate the parking brake, change the shift position to the P range, or activate other stop-holding functions.

[0099] Thereafter, the operation management device 130 requests an appropriate device to set the vehicle 1 to READY OFF. In addition, in order to set the vehicle 1 to READY ON again after it has been set to READY OFF, the operation panel 240 must be operated. Furthermore, while the vehicle 1 is in READY OFF, the display device 220 is configured to display the status of the vehicle 1.

[0100] 5-2.Third Function In the driving system 10 according to this embodiment, the third function is realized, for example, as follows.

[0101] The remote driving device 200 is configured to allow the operator 2 to set a driving route for the pick-up drive by operating the operation panel 240. For example, the remote driving device 200 is configured to allow the operator 2 to set a driving route for the pick-up drive from several candidates by operating the operation panel 240. The driving management device 130 acquires the driving route for the pick-up drive from the remote driving device 200, and calculates the fuel required for the pick-up drive. The driving management device 130 also acquires the remaining amount of fuel in the vehicle 1 from the sensors 120.

[0102] If the driving management device 130 determines that the pick-up drive cannot be completed if the current state of vehicle 1 is maintained, it requests an appropriate device to switch the control state or turn off a function so as to put vehicle 1 into an energy-saving state.

[0103] Furthermore, when the operation management device 130 determines that the pick-up drive cannot be completed, it transmits a management signal indicating that the pick-up drive cannot be completed to the remote operation device 200. When the remote operation device 200 acquires the management signal indicating that the pick-up drive cannot be completed, it proposes via the display device 220 that the refueling facility (or charging facility) be set as the destination in the pick-up drive. At this time, it is configured so that the refueling facility (or charging facility) can be set as the destination by operating the operation panel 240.

[0104] 5-3. The fourth function In the driving system 10 according to this embodiment, the fourth function is realized, for example, as follows.

[0105] The remote driving device 200 is configured to be able to request the start of imaging of the appearance of the person being transported 3 by operation of the operator 2. For example, the operation panel 240 includes a switch for requesting the start of imaging of the appearance of the person being transported 3.

[0106] When a request is made to capture an image of the person being picked up 3, the remote driving device 200 continues to display the image captured by the camera 110 on the display device 220 while the vehicle 1 is waiting at the pick-up / drop-off destination 5.

[0107] When the driving management device 130 receives a request to start imaging the state of the person being transported 3 as an operation signal, it transmits a management signal indicating that remote driving is not permitted to the remote driving device 200, and transmits a management signal indicating that automatic driving is permitted to the automatic driving control device 100. In addition, the driving management device 130 transmits a management signal indicating that imaging of the state of the person being transported 3 should be started to the automatic driving control device.

[0108] When the automatic driving control device 100 receives a management signal instructing the start of imaging the state of the person being picked up and dropped off 3, it executes processing related to the automatic driving of the vehicle 1 so as to image the state of the person being picked up and dropped off 3.

[0109] Furthermore, the driving management device 130 requests an appropriate device (for example, a display device embedded in the exterior of the vehicle 1) to notify that imaging is being performed.

[0110] Furthermore, the driving management device 130 transmits to the camera 110 the start of imaging of the state of the person being picked up 3. When the camera 110 acquires the start of imaging of the state of the person being picked up 3, it performs image processing on the driving image to be output, blurring everything except the person being picked up 3 and the scenery.

[0111] 6.Effects As described above, the driving system 10 according to this embodiment allows automatic driving and remote driving of the vehicle 1. Furthermore, switching from automatic driving to remote driving can be performed in response to a request from the operator 2. Furthermore, switching is performed after confirming that the state of the operator 2 is in a state where remote driving is possible, and performing automatic driving of the vehicle 1 so that the vehicle 1 is in a traveling state where remote driving is possible. This allows smooth switching from automatic driving to remote driving in response to a request from the operator 2. [Explanation of symbols]

[0112] 1 vehicle 2 Operators 10. Driving System 100 Automatic driving control device 110 Camera 120 Sensors 200 Remote control device 250 Monitoring equipment

Claims

1. A driving system that provides a function related to driving a vehicle when transporting a person between a transportation source and a transportation destination, An automatic driving control device that executes processing related to automatic driving of the vehicle; A remote driving device is disposed at the pick-up / drop-off location, communicates with the vehicle, and remotely drives the vehicle; A driving management device that manages whether or not the automatic driving control device and the remote driving device can drive the vehicle; Including, The remote operation device includes a monitoring device for monitoring the state of an operator, The operation management device includes: When the remote driving device requests the start of the remote driving while the vehicle is performing the automatic driving, Confirm that the operator is in the cockpit of the remote operation device and is awake; Requesting the automatic driving control device to stop the vehicle; After the vehicle is stopped, the remote driving device is permitted to perform the remote driving. A driving system characterized by:

2. The operation management device comprises: When the vehicle arrives at a point where the remote driving is to start in a predetermined driving plan by the autonomous driving, Requesting the automatic driving control device to stop and wait the vehicle; notifying the operator that the vehicle is waiting; 2. The driving system according to claim 1 .

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