Remote operation system

Abstract

To easily and efficiently exchange drivers who remotely operate a vehicle.SOLUTION: A remote operation system includes: a vehicle; a plurality of remote operation terminals capable of remotely operating the vehicle; and a remote operation center capable of communicating with the vehicle and the remote operation terminals. The vehicle includes a control section which can simultaneously communicate with the remote operation terminals, has a function of synthesizing controlled variable of the vehicle based on operation amounts of the remote operation terminals, and controls traveling of the vehicle. When a signal to request a driving exchange is received, the remote operation center selects a driver capable of coping with the driving exchange request from driver candidates so as to notify the selected driver of the exchange of driving. The control section is connected to two remote operation terminals before / after the exchange when the selected driver is to exchange the remote operation of the vehicle, so as to control the traveling of the vehicle according to the controlled variable obtained by synthesizing the operation amounts of the two remote operation terminals.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a remote operation system.

Background Art

[0002] The remote operation system of Patent Document 1 includes a first and a second remote operation device, and a vehicle that can be operated by the first and second remote devices. In this remote operation system, for example, when a driver who is remotely operating a vehicle using the first remote operation device wishes to change, a signal indicating a change request is transmitted to the control unit of the second remote operation device and the control unit of the vehicle. When the control unit of the second remote operation device receives the change request signal, it establishes communication with the vehicle. After the control unit of the vehicle receives the signal indicating the change request and communication with the control unit of the second remote operation device is established, it is configured to drive the vehicle based on the control signal from the second remote operation device instead of the control signal from the first remote operation device on the condition that a predetermined condition is satisfied.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the remote operation system of Patent Document 1, there are a large number of remote operation devices. When there are multiple combinations between a large number of remote operation devices and a large number of vehicles, it is difficult to determine in advance the remote operation device for alternate calling. Further, as in Patent Document 1, when the switching of the driving operation of the vehicle is exclusively executed between the remote operation device currently remotely operating the vehicle and the alternate remote operation device, for the switching of the remote operation device, for example, limited conditions such as being stopped or driving straight are required, the opportunity for driving alternation is restricted, and at the moment of alternation, "synchronized breathing" between the drivers is required, and advanced remote operation skills are required. In this regard, there is room for improvement in the remote operation system of Patent Document 1.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide an improved remote operation system that can easily and efficiently alternate drivers who remotely operate a vehicle.

Means for Solving the Problems

[0006] The remote operation system according to the present disclosure includes a vehicle capable of traveling by remote operation, a plurality of remote operation terminals configured to be able to remotely operate the vehicle, and a remote operation center communicably connected to each of the vehicle and the plurality of remote operation terminals. The vehicle is communicable with a plurality of remote operation terminals simultaneously and has a function of synthesizing the control amount of the vehicle based on the operation amounts of the plurality of remote operation terminals, and includes a control unit that controls the traveling of the vehicle. When the remote operation center receives a signal requesting a driving alternation from the remote operation terminal currently remotely operating the vehicle among the plurality of remote operation terminals, the remote operation center selects a driver capable of responding to the request for driving alternation from among the driver candidates who can remotely operate the vehicle by the remote operation terminal, and notifies the selected driver of the driving alternation. When the selected driver alternates the remote operation of the vehicle, the control unit is connected to the remote operation terminal currently remotely operating the vehicle and another remote operation terminal operated by the selected driver, and controls the traveling of the vehicle according to the control amount synthesized based on the operation amount of the remote operation terminal currently remotely operating the vehicle and the operation amount of the other remote communication terminal.

Effect of the Invention

[0007] According to the remote driving system of the present disclosure, it is possible to efficiently and easily change the driver who performs the remote operation, and it is possible to reduce the driver's labor and improve the operation rate of the vehicle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Modes for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The same reference numerals are given to common elements in each figure, and redundant explanations are omitted. Further, in the embodiments shown below, when referring to the number of each element, such as the number, quantity, amount, range, etc., unless otherwise specified or clearly specified to that number in principle, the technical idea according to the present disclosure is not limited to the mentioned number.

[0010] FIG. 1 is a diagram schematically showing an example of the configuration of a remote driving system according to an embodiment. The remote driving system 1 is a system for remotely driving the vehicle 10 from the remote driving center 30.

[0011] The vehicle 10 is, for example, an autonomous vehicle. Specifically, the vehicle 10 includes, in addition to a driving device 11 for running the vehicle, a braking device 12, a steering device 13, an in-vehicle electronic control unit (vehicle ECU) 14, and an in-vehicle communication device 15, as well as a vehicle state sensor, a recognition sensor, and a GNSS (Global Navigation Satellite System) receiver, etc.

[0012] The vehicle ECU 14 is a computer that controls the vehicle 10 and functions as a control unit. Specifically, the vehicle ECU 14 includes a processor and a storage device. The processor executes various processes. The various processes include a process for controlling the running of the vehicle 10 based on information from the remote operation center 30 and a process for automatic driving control. The storage device stores various information. By the vehicle ECU 14 executing various programs, various processes by the vehicle ECU 14 are realized. The various programs are stored in the storage device. Note that there may be a plurality of vehicle ECUs 14.

[0013] The in-vehicle communicator 15 communicates with each of the remote operation terminal 32 and the server 34 of the remote operation center 30 via a wireless communication network. The vehicle state sensor detects the state of the vehicle 10. Examples of the vehicle state sensor include a vehicle speed sensor (wheel speed sensor), a steering angle sensor, a yaw rate sensor, and a lateral acceleration sensor. The recognition sensor recognizes (detects) the situation around the vehicle 10. Examples of the recognition sensor include a camera, LIDAR (Laser Imaging Detection and Ranging), and a radar. The GNSS receiver acquires the position and orientation of the vehicle 10 based on signals from GNSS satellites.

[0014] The remote operation center 30 includes remote operation terminals 32 installed at each of a plurality of remote operation seats and a management server 34. Note that in this embodiment, in order to distinguish each element installed at each of the plurality of remote operation seats, an alphabet is added to the end of the reference numeral of each element. For example, there may be a description such as "remote operation terminals 32a, 32b". However, when there is no particular need to distinguish, the alphabet is omitted and only the numerical reference numeral is used.

[0015] Each of the plurality of remote operation terminals 32 includes a communication device and can communicate with the vehicle ECU 14 via a wireless communication network, an in-vehicle communication device 15, and the like. The vehicle 10 is configured to be able to travel by remote operation by the remote operation terminal 32. The remote operation terminal 32 includes an information output unit that outputs information necessary for remote operation of the vehicle 10 to the driver 36, and an operation input unit that inputs operations for remote operation by the driver 36. The information output unit includes, for example, a display that outputs an image captured by a camera (recognition sensor) of the vehicle 10, and a speaker that outputs sound collected by a microphone of the vehicle 10. The operation input unit includes, for example, a steering wheel 33, an accelerator pedal, a brake pedal, an operation lever of a direction indicator, and an operation lever of a wiper.

[0016] When there is one remote operation terminal 32 currently remotely operating the vehicle 10, the vehicle ECU 14 receives a signal corresponding to the driving operation amount of that remote operation terminal 32. Based on the received signal, the vehicle ECU 14 determines the control amounts of the drive device 11, the brake device 12, and the steering device 13, and controls the drive device 11, the brake device 12, and the steering device 13 based on this control amount to control the running of the vehicle 10.

[0017] On the other hand, when the driver 36 remotely operating the vehicle 10 is replaced, the vehicle ECU 14 communicates with both the remote operation terminal 32a operated by the driver 36a before replacement and the remote operation terminal 32b operated by the driver 36b after replacement, and can receive signals corresponding to the driving operation amounts from the two remote operation terminals 32a and 32b operated by the drivers before and after replacement. When the vehicle ECU 14 receives signals corresponding to the driving operations from the remote operation terminals 32a and 32b before and after replacement, it enables the signals from both at the same time and has a function of synthesizing the driving operations and determining the control amount.

[0018] Specifically, when the vehicle ECU 14 receives signals regarding the accelerator operation amount from the remote operation terminals 32a and 32b, it selects the maximum value among the operation amounts corresponding to the received signals and uses it as the control amount for the drive device 11. Similarly, when the vehicle ECU 14 receives signals regarding the brake operation from the remote operation terminals 32a and 32b, it selects the maximum value among the operation amounts corresponding to the received signals and uses it as the control amount for the braking device 12.

[0019] In addition, the steering wheel 33 of the remote operation terminal 32 is configured to obtain an action equivalent to that of mechanically installing two steering wheels coaxially and is virtually mechanically coupled so as to obtain the action electro-mechanically. Thereby, when the steering wheel 33a of one remote operation terminal 32a is turned, the steering wheel 33b of the other remote operation terminal 32b also rotates, and the rotational forces are combined. The steering device 13 is controlled by the combined control amount.

[0020] The remote operation terminal 32 is connected to the management server 34 via a wireless or wired communication network. Note that the remote operation center 30 may be a facility where a plurality of remote operation terminals 32 and the management server 34 are installed. Alternatively, the remote operation center 30 may be composed of a management server 34 installed on the cloud and a plurality of remote operation terminals 32 installed at satellite offices or the homes of drivers 36 in various locations.

[0021] The management server 34 is a computer that executes processing related to the remote operation of the vehicle 10 by the remote operation terminal 32 and processing at the time of driver change described later. Specifically, the management server 34 includes a processor and a storage device. The processor executes various processes. The storage device stores various information. By the management server 34 executing various computer programs, various processes by the management server 34 are realized. The various computer programs are stored in the storage device.

[0022] The management server 34 includes a communication device and communicates with the vehicle 10 via a wireless communication network, an in-vehicle communication device 15, etc. Specifically, when the remote operation terminal 32 remotely operates the vehicle 10, the management server 34 acquires information necessary for remote driving from the vehicle 10 and transmits it to the remote operation terminal 32. Further, the management server 34 acquires operation information of the vehicle 10 by the driver 36 from the remote operation terminal 32 and transmits it to the vehicle 10.

[0023] Furthermore, the management server 34 has a function of acquiring information regarding the state of the remote operation terminal 32 and acquiring and managing the current state of the driver who can remotely operate the vehicle 10 by the remote operation terminal 32.

[0024] When a request for a driver change is received from the driver during remote operation of the vehicle 10, the remote operation center 30 executes processing at the time of driver change. The processing at the time of driver change will be described with reference to FIG. 2. FIG. 2 shows an example when the driver 36 operating the remote operation terminal 32a requests a driver change.

[0025] The driver 36 who requests a driver change inputs a request for a driver change using the remote operation terminal 32a that he / she operates. The remote operation terminal 32a transmits a signal for a driver change request to the management server 34 of the remote operation center 30.

[0026] The management server 34 of the remote operation center 30 automatically selects from the available drivers in response to receiving the change request. The priority conditions at the time of driver selection are set in advance. When there are a large number of available drivers, the driver is automatically selected according to these priority conditions. Note that the process of driver selection may be performed by an operator at the remote operation center 30. In this case, when the management server 34 receives a signal for a driver change request, it notifies the operator that a driver change request has been received and displays a list of drivers on a display 35 or the like operated by the operator. The list of drivers also shows whether they can respond to the change request. The operator selects a driver who can respond to the change from the list.

[0027] The operator of the management server 34 or the remote operation center 30 contacts the selected driver 36b to request a driver change. This contact can be made, for example, by calling the mobile terminal 37 such as a mobile phone and a smartphone that the selected driver 36b has.

[0028] If the selected driver 36b does not respond to the call within a certain time, the operator or the management server 34 selects, for example, the next driver with a higher priority from the list of drivers, and similarly contacts the selected driver 36b to request a driver change.

[0029] The driver 36b who responds to the request for a driver change moves as the driver after the change to find an empty driver's seat. The remote operation of the vehicle 10 is started by the remote operation terminal 32b at the moved driver's seat.

[0030] As described above, at the time of the change, both the remote operation terminal 32a operated by the driver 36a before the change and the remote operation terminal 32b operated by the driver 36b after the change are connected to the vehicle 10. At this time, the operation amount of the remote operation terminal 32 of the driver 36b after the change is gradually increased, and the required operation amount of the driver 36a before the change is gradually decreased. When the force required for the operation of the steering wheel 33a operated by the driver 36a before the change gradually decreases due to the virtual mechanical coupling of the steering wheel 33, eventually, the steering wheel 33a rotates even without the operating force. Thereby, the driver 36a before the change can perceive that the change is completed.

[0031] After the process of driver change is completed, the driver 36a before the change terminates the connection between the remote operation terminal 32a and the vehicle 10.

[0032] As described above, according to the process of driver change in the present embodiment, the driver change can be performed smoothly and easily, and the labor of the driver can be reduced and the operation rate can be improved.

[0033] In addition, in this embodiment, the case where, when replacing the driver, the driver is selected from the driver list and a direct call is transmitted to the selected driver 36b has been described. However, the method for selecting and notifying the driver 36b at the time of driver replacement is not limited to this.

[0034] Other examples of driver selection and notification at the time of replacement are shown in FIG. 3. In the example shown in FIG. 3, when receiving a signal for a driver replacement request, the management server 34 or the operator first selects a driver's seat from the available driver's seats. Then, a notification is sent to the nearby driver from the remote driving terminal 32 of the selected driver's seat. In this case, the driver 36c waiting near the selected driver's seat moves to the driver's seat and operates the remote driving terminal 32b to perform the driver replacement. If there is no response from the driver to the call from the remote driving terminal 32b of the selected driver's seat, that is, if there is no input from the driver to the remote driving terminal 32b, the management server 34 or the operator sends a notification from the remote driving terminal 32 of another available driver's seat.

[0035] Also, as another example, when receiving a signal for a driver replacement request, the management server 34 may be configured to display a replacement request on a predetermined monitor such as an operation bulletin board and call the driver waiting around the bulletin board. The call displayed in this case may simply be a call indicating that a driving replacement is necessary. In this case, the available driver around the bulletin board searches for an available driver's seat, moves to it, and starts communication between the remote driving terminal 32 and the vehicle 10 with a driver replacement request to perform driving. Further, the displayed call may include the designation of a specific driver or the designation of the driver's seat to be used.

Explanation of Reference Numerals

[0036] 1 Remote driving system 10 Vehicle 11 Driving device 12 Braking device 13 Steering device 15 In-vehicle communication device 30 Remote operation center 32, 32a, 32b Remote operation terminals 33, 33a, 33b Steering wheels 34 Management server 35 Monitor 36, 36a, 36b, 36c Drivers 37 Mobile terminal

Claims

1. A vehicle capable of traveling by remote operation, a plurality of remote operation terminals configured to be able to remotely operate the vehicle, and a remote operation center communicably connected to each of the vehicle and the plurality of remote operation terminals, wherein the vehicle is capable of communicating with the plurality of remote operation terminals simultaneously, has a function of synthesizing a control amount of the vehicle based on operation amounts of the plurality of remote operation terminals, and includes a control unit that controls traveling of the vehicle, the remote operation center, when receiving a signal requesting a driver change from a remote operation terminal that is currently remotely operating the vehicle among the plurality of remote operation terminals, selects a driver capable of responding to the request for driver change from among driver candidates who can remotely operate the vehicle by the remote operation terminal, and contacts the selected driver to effect a driver change, is configured as such, the control unit, when the selected driver takes over the remote operation of the vehicle, is simultaneously connected to the remote operation terminal that is currently remotely operating the vehicle and another remote operation terminal operated by the selected driver, simultaneously validates an operation amount received from the remote operation terminal that is currently remotely operating the vehicle and an operation amount received from the other remote operation terminal, controls the traveling of the vehicle according to a control amount synthesized based on the operation amount received from the remote operation terminal that is currently remotely operating the vehicle and the operation amount received from the other remote operation terminal, and gradually decreases the required operation amount of the remote operation terminal that is currently remotely operating the vehicle and gradually increases the operation amount of the other remote operation terminal, a remote operation system configured as such.

2. Each of the plurality of remote operation terminals includes a steering wheel that controls a steering device of the vehicle, when the selected driver takes over the remote operation of the vehicle, the steering wheel of the remote operation terminal that is currently remotely operating the vehicle and the steering wheel of the other remote operation terminal are configured such that when one steering wheel is rotated, the other steering wheel also rotates, and rotational forces are synthesized to synthesize the control amount, and gradually decreases the force required for operating the steering wheel of the remote operation terminal that is currently remotely operating the vehicle, the remote operation system according to Claim 1, configured as such.

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