Remote Control Device

Abstract

To adjust the speed that a user driving a target vehicle remotely feels to be close to an actual speed of the target vehicle.SOLUTION: A remote driving apparatus (10) drives a target vehicle (20) remotely. The remote driving apparatus includes: image output means (112) which provides a user with images obtained by imaging the outside of the target vehicle; and speed detection means (11) which detects speed of the target vehicle. The images include a first image including a first area located forward in a traveling direction of the target vehicle, a second image including a second area located on the right side in the traveling direction of the target vehicle and adjacent to the first area, and a third image including a third area located on the left side in the traveling direction of the target vehicle and adjacent to the first area. The image output means increases, when the speed of the target vehicle is high, magnification in horizontal direction of each of the second and third images, compared with the case where the speed of the target vehicle is low.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of a remote driving device that remotely drives a target vehicle. [Background technology]

[0002] As an example of this type of device, a device has been proposed that transmits images from a plurality of cameras mounted on a vehicle to a control center and displays the images on a monitor in the control center (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-145777 Summary of the Invention [Problem to be solved by the invention]

[0004] The user who remotely drives the target vehicle from outside the vehicle is not in the target vehicle, which poses a technical problem that there may be a discrepancy between the speed that the user perceives from an image (video) displayed on a monitor, for example, and the actual speed of the target vehicle.

[0005] The present invention has been made in consideration of, for example, the above-mentioned problems, and aims to provide a remote driving device that can bring the speed perceived by a user remotely driving a target vehicle closer to the actual speed of the target vehicle. [Means for solving the problem]

[0006] A remote driving device according to one embodiment of the present invention is a remote driving device that remotely drives a target vehicle, and is equipped with an image output means that provides images of the exterior of the target vehicle to a user remotely driving the target vehicle, and a speed detection means that detects the speed of the target vehicle, wherein the images include a first image including a first area ahead of the target vehicle in the direction of travel, a second image including a second area to the right of the target vehicle in the direction of travel and adjacent to the first area, and a third image including a third area to the left of the target vehicle in the direction of travel and adjacent to the first area, and the image output means increases the horizontal magnification of each of the second image and the third image when the speed of the target vehicle is high compared to when the speed of the target vehicle is low. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing the configuration of a remote driving system according to a first embodiment. [Figure 2] 3 is a diagram showing an example of an imaging range of a camera of a vehicle according to the first embodiment; FIG. [Figure 3] FIG. 2 is a diagram illustrating an example of a display according to the first embodiment. [Figure 4] FIG. 2 is a diagram for explaining the concept of image processing according to the first embodiment. [Figure 5] 10 is an example of a map that defines the relationship between speed and magnification ratio. [Figure 6] 4 is a flowchart showing the operation of the remote operation device according to the first embodiment. [Figure 7] 10 is an example of a map that defines the relationship between the degree of turning operation and the magnification rate. [Figure 8] 10 is a flowchart showing the operation of the remote operation device according to the second embodiment. [Figure 9] FIG. 1 is a block diagram illustrating a configuration of a computer according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] First Embodiment A first embodiment of a remote driving device will be described with reference to Figures 1 to 6. A remote driving device 10 according to the first embodiment constitutes a part of a remote driving system 1. In Figure 1, the remote driving system 1 includes the remote driving device 10 and a vehicle 20 that is remotely driven by the remote driving device 10.

[0009] The remote driving device 10 is designed to resemble, for example, a vehicle cockpit. The remote driving device 10 is provided with a steering wheel, an accelerator pedal, and a brake pedal (none of which are shown) that are operated by a user who uses the remote driving device 10 to remotely drive a target vehicle (here, vehicle 20).

[0010] The remote driving device 10 is configured with a control device 11, a communication unit 12, a steering sensor 13, an accelerator pedal sensor 14, a brake pedal sensor 15, a display 16, and a speaker 17. The steering sensor 13 detects the amount of operation of the steering wheel. The accelerator pedal sensor 14 detects the amount of operation of the accelerator pedal. The brake pedal sensor 15 detects the amount of operation of the brake pedal.

[0011] The vehicle 20 is configured to include cameras 21L, 21C, and 21R, a microphone 22 (hereinafter referred to as "mic 22"), a speed sensor 23, an acceleration sensor 24, a yaw rate sensor 25, and a communication unit .

[0012] The microphone 22 detects sounds around the vehicle 20 (hereinafter referred to as "external environmental sounds"). The speed sensor 23 detects the speed of the vehicle 20. The acceleration sensor 24 detects the acceleration of the vehicle 20. The yaw rate sensor 25 detects the yaw rate of the vehicle 20. The external environmental sounds detected by the microphone 22, the speed detected by the speed sensor 23, the acceleration detected by the acceleration sensor 24, and the yaw rate detected by the yaw rate sensor 25 are transmitted to the remote driving device 10 via the communication unit 26.

[0013] Camera 21C is attached to vehicle 20 so as to be able to capture an image of the area in front of vehicle 20. Camera 21L is attached to vehicle 20 so as to be able to capture an image of the area to the left of vehicle 20. Camera 21R is attached to vehicle 20 so as to be able to capture an image of the area to the right of vehicle 20. Images captured by cameras 21L, 21C, and 21R are transmitted to remote driving device 10 via communication unit 26.

[0014] 2, the range IRL corresponds to the imaging range of the camera 21L, the range IRC corresponds to the imaging range of the camera 21C, and the range IRR corresponds to the imaging range of the camera 21R. In addition to the cameras 21L, 21C, and 21R, the vehicle 20 may be equipped with other cameras, such as a camera that can capture an image of the area behind the vehicle 20.

[0015] The control device 11 of the remote driving device 10 has a vehicle control unit 111, a display control unit 112, and a sound control unit 113, which are either logical blocks logically realized therein or processing circuits physically realized therein.

[0016] The vehicle control unit 111 acquires the speed, acceleration, and yaw rate transmitted from the vehicle 20 via the communication unit 12. The vehicle control unit 111 calculates a command value for controlling the vehicle 20 based on the acquired speed, acceleration, and yaw rate, as well as the operation amount detected by the steering sensor 13, the operation amount detected by the accelerator pedal sensor 14, and the operation amount detected by the brake pedal sensor 15. The vehicle control unit 111 transmits the calculated command value to the vehicle 20 via the communication unit 12.

[0017] The display control unit 112 acquires images captured by each of the cameras 21L, 21C, and 21R via the communication unit 12. Here, the display 16 has display areas DRL, DRC, and DRR, as shown in Fig. 3, for example. The display control unit 112 displays the image captured by the camera 21L in the display area DRL, the image captured by the camera 21C in the display area DRC, and the image captured by the camera 21R in the display area DRR.

[0018] Each of the display regions DRL, DRC, and DRR may be realized as a partial region within one display. The display regions DRL, DRC, and DRR may be realized by a plurality of (e.g., three) displays. Furthermore, instead of individually displaying the images captured by the cameras 21L, 21C, and 21R, the display control unit 112 may combine the images captured by the cameras 21L, 21C, and 21R and then display the combined image on the display 16.

[0019] The sound control unit 113 acquires external environmental sounds transmitted from the vehicle 20 via the communication unit 12. The sound control unit 113 controls the speaker 17 so that the acquired external environmental sounds are emitted.

[0020] The display control unit 112 will be further described with reference to Figures 4 and 5. For example, when the amount of steering wheel operation detected by the steering sensor 13 is relatively small (specifically, when the vehicle 20 is considered to be traveling straight), the display control unit 112 changes the horizontal magnification ratio of the images captured by each of the cameras 21L and 21R. The horizontal magnification ratio when the speed of the vehicle 20 is high is larger than when the speed of the vehicle 20 is low (see Figure 5, for example).

[0021] Image processing by the display control unit 112 will be specifically described with reference to Fig. 4. Here, an image captured by the camera 21R (i.e., an image displayed in the display region DRR of the display 16) is taken as an example. Fig. 4(a) shows an example of an image captured by the camera 21R (i.e., an image to be subjected to image processing).

[0022] The display control unit 112 horizontally enlarges the image captured by the camera 21R at a magnification rate according to the speed of the vehicle 20 (see FIGS. 4(b) and 4(c)). Next, the display control unit 112 trims the range corresponding to the display region DRR from the left end of the horizontally enlarged image (see the trimming range in FIGS. 4(b) and 4(c)). Then, the display control unit 112 displays the trimmed image in the display region DRR.

[0023] 4 is an example and is not limited to this. However, it is desirable that the trimming range be such that the user who remotely drives the target vehicle using the remote driving device 10 does not feel uncomfortable in relation to the image displayed in the display area DRC of the display 16 (i.e., the image captured by the camera 21C).

[0024] The display control unit 112 also performs the same image processing as described above on the image captured by the camera 21L (that is, the image displayed in the display region DRL of the display 16).

[0025] The display control unit 112 may change the horizontal magnification ratio of the images captured by each of the cameras 21L and 21R, for example, according to a map such as that shown in FIG. 5(a). The display control unit 112 may change the horizontal magnification ratio of the images captured by each of the cameras 21L and 21R, for example, according to a map such as that shown in FIG. 5(b) (i.e., a map in which the image is not magnified horizontally when the speed is relatively low). The map defining the relationship between the speed and the horizontal magnification ratio is not limited to the maps shown in FIGS. 5(a) and 5(b), and may be, for example, a map in which the horizontal magnification ratio changes logarithmically or in a stepwise manner in response to changes in the speed. Alternatively, the display control unit 112 may calculate the horizontal magnification ratio from a relational expression defining the relationship between the speed and the horizontal magnification ratio, instead of using a map.

[0026] Furthermore, if the images captured by each of cameras 21L and 21R are enlarged too much horizontally, the field of view of the user remotely driving the target vehicle using the remote driving device 10 will be too limited, so it is desirable to set an upper limit on the horizontal enlargement rate.

[0027] The operation of the remote driving device 10 configured as described above will be further explained with reference to the flowchart in Fig. 6. In Fig. 6, the control device 11 of the remote driving device 10 acquires the speed of the vehicle 20 as the target vehicle via the communication unit 12 (step S101). The display control unit 112 of the control device 11 determines the horizontal magnification ratio of the images captured by the cameras 21L and 21R, respectively, according to the speed acquired in the processing of step S101 (step S102).

[0028] Next, the display control unit 112 horizontally enlarges the images captured by the cameras 21L and 21R in accordance with the horizontal enlargement ratio determined in the processing of step S102. The display control unit 112 then crops a predetermined range from the horizontally enlarged images. The display control unit 112 displays the cropped images in the display regions DRL and DRR of the display 16 (step S103).

[0029] (Technical Effects) A user remotely driving a vehicle 20 (i.e., a target vehicle) using the remote driving device 10 cannot feel, for example, vibrations or accelerations caused by the behavior of the vehicle 20. To enhance the sense of realism of the user remotely driving, images captured by the cameras 21L, 21C, and 21R of the vehicle 20 are displayed on the display 16, for example.

[0030] However, when the speed of the vehicle 20 is relatively low, for example, there is a relatively small amount of change in the images displayed in the display areas DRL and DRR of the display 16. This may cause a discrepancy between the speed of the vehicle 20 perceived by the user remotely driving from the image displayed on the display 16 (for example, the speed perceived from the speed at which the scenery displayed on the display 16 flows behind the vehicle 20 in the traveling direction) and the actual speed of the vehicle 20.

[0031] Therefore, in the remote driving device 10, the horizontal magnification ratio of the images captured by the cameras 21L and 21R is increased according to the speed of the vehicle 20. Specifically, when the speed of the vehicle 20 is high, the horizontal magnification ratio of the images captured by the cameras 21L and 21R is increased compared to when the speed of the vehicle 20 is low. With this configuration, even when the speed of the vehicle 20 is relatively low, the amount of change in the images displayed in the display areas DRL and DRR of the display 16 can be made relatively large.

[0032] As a result, the user remotely driving the vehicle can easily perceive the speed of the vehicle 20 from the image displayed on the display 16. Therefore, according to the remote driving device 10, the speed perceived by the user remotely driving the target vehicle can be made closer to the actual speed of the target vehicle.

[0033] Second Embodiment A second embodiment of the remote driving device 10 will be described with reference to Figures 7 and 8. The second embodiment is similar to the first embodiment described above, except for a partial difference in the operation of the display control unit 112. Therefore, the second embodiment will be omitted from the description that overlaps with the first embodiment, and the differences from the first embodiment will be mainly described.

[0034] In the second embodiment, the display control unit 112 changes the horizontal magnification ratio of the images captured by the cameras 21L and 21R in accordance with the speed of the vehicle 20 (i.e., the target vehicle of remote driving) as well as the degree of turning of the vehicle 20. Specifically, when the vehicle 20 is turning, the display control unit 112 horizontally enlarges the image displayed in the area of ​​the display 16 opposite to the turning direction of the vehicle 20 in accordance with the degree of turning.

[0035] For example, when the vehicle 20 is turning left, the display control unit 112 horizontally enlarges the image displayed in the display region DRR of the display 16 (i.e., the image captured by the camera 21R) in accordance with the degree of the turning motion. For example, when the vehicle 20 is turning right, the display control unit 112 horizontally enlarges the image displayed in the display region DRL of the display 16 (i.e., the image captured by the camera 21L) in accordance with the degree of the turning motion.

[0036] Here, the degree of turning movement of the vehicle 20 may be represented, for example, by the yaw rate of the vehicle 20 detected by the yaw rate sensor 25, or by the lateral acceleration of the vehicle 20 detected by the acceleration sensor 24, or by the product of the speed of the vehicle 20 detected by the speed sensor 23 and the amount of steering wheel operation detected by the steering sensor 13.

[0037] The display control unit 112 may determine the horizontal enlargement ratio based on the degree of turning of the vehicle 20, for example, according to a map such as that shown in FIG. 7(a). The display control unit 112 may determine the horizontal enlargement ratio based on the degree of turning of the vehicle 20, for example, according to a map such as that shown in FIG. 7(b) (i.e., a map in which the image is not enlarged horizontally when the degree of turning is relatively small). Note that the map defining the relationship between the degree of turning and the horizontal enlargement ratio is not limited to the maps shown in FIGS. 7(a) and 7(b), and may be, for example, a map in which the horizontal enlargement ratio changes logarithmically or in a stepwise manner in accordance with changes in the degree of turning. Alternatively, the display control unit 112 may determine the horizontal enlargement ratio from a relational expression that defines the relationship between the degree of turning and the horizontal enlargement ratio, instead of a map.

[0038] The operation of the remote operation device 10 according to the second embodiment will be described with reference to the flowchart of Fig. 8. Note that steps S101, S102, and S103 in Fig. 8 correspond to steps S101, S102, and S103 in Fig. 6.

[0039] 8, in parallel with or before or after the processing of step S101, the control device 11 of the remote driving device 10 acquires at least one of the lateral acceleration and yaw rate of the vehicle 20 and the amount of steering wheel operation detected by the steering sensor 13. Then, the control device 11 acquires the lateral acceleration or yaw rate of the vehicle 20 as an index indicating the degree of turning operation, or acquires the product of the speed of the vehicle 20 and the amount of steering wheel operation detected by the steering sensor 13 as an index indicating the degree of turning operation (step S201).

[0040] The display control unit 112 of the control device 11 determines whether or not the vehicle 20 is turning, based on the degree of the turning operation indicated by the index acquired in the processing of step S201 (step S202). Here, the display control unit 112 may determine that the vehicle 20 is turning when the degree of the turning operation is greater than a predetermined threshold. In other words, the display control unit 112 may determine that the vehicle 20 is not turning when the degree of the turning operation is less than the predetermined threshold. Note that when the degree of the turning operation is equal to the predetermined threshold, either case may be included.

[0041] If it is determined in the processing of step S202 that the vehicle 20 is turning (step S202: Yes), the display control unit 112 determines the horizontal magnification rate (step S203) according to the speed obtained in the processing of step S101 and the indicator indicating the degree of turning motion obtained in the processing of step S201 (and further, for example, maps such as those shown in Figures 5 and 7).

[0042] For example, when vehicle 20 is turning left, display control unit 112 may determine, as the horizontal magnification ratio of the image captured by camera 21R, the product of the horizontal magnification ratio according to the speed acquired in the processing of step S101 and the horizontal magnification ratio according to the index indicating the degree of turning operation acquired in the processing of step S201. Display control unit 112 further determines the horizontal magnification ratio of the image captured by camera 21L in accordance with the speed acquired in the processing of step S101.

[0043] For example, when vehicle 20 is turning right, display control unit 112 may determine, as the horizontal enlargement ratio of the image captured by camera 21L, the product of the horizontal enlargement ratio according to the speed acquired in the processing of step S101 and the horizontal enlargement ratio according to the index indicating the degree of turning operation acquired in the processing of step S201. Display control unit 112 further determines the horizontal enlargement ratio of the image captured by camera 21R in accordance with the speed acquired in the processing of step S101.

[0044] Next, the display control unit 112 horizontally enlarges the images captured by the cameras 21L and 21R in accordance with the horizontal enlargement ratio determined in the processing of step S203. The display control unit 112 then crops a predetermined range from the horizontally enlarged images. The display control unit 112 displays the cropped images in the display regions DRL and DRR of the display 16 (step S103).

[0045] If it is determined in the processing of step S202 that the vehicle 20 is not turning, the display control unit 112 of the control device 11 determines the horizontal magnification ratio of the images captured by the cameras 21L and 21R, respectively, in accordance with the speed obtained in the processing of step S101 (step S102).

[0046] (Technical Effects) According to the remote driving device 10, the speed perceived by the user remotely driving the target vehicle can be made closer to the actual speed of the target vehicle, and the degree of turning movement perceived by the user can be made closer to the degree of actual turning movement of the target vehicle.

[0047] Furthermore, when the vehicle 20 being the target vehicle for remote driving is turning, the display control unit 112 may horizontally enlarge the image captured by the camera 21C (i.e., the image displayed in the display area DRC of the display 16) according to the degree of turning motion.

[0048] <Modification> In the above-described embodiment, the display control unit 112 trims a predetermined range of the horizontally enlarged image, and then the trimmed image is displayed on the display 16. However, the display control unit 112 does not have to trim the horizontally enlarged image.

[0049] Here, if the size of the horizontally enlarged image is larger than the size of the corresponding display area (i.e., display area DRL, DRC, or DRR) of the display 16, the portion of the image that does not fit within the corresponding display area is not displayed (i.e., is cut off) on the display 16. By utilizing this phenomenon, an image similar to that in the case where the horizontally enlarged image is cropped can be displayed on the display 16, even if the display control unit 112 does not crop the horizontally enlarged image.

[0050] In this embodiment, it is desirable to pre-set the pixel of the image corresponding to the reference point of the corresponding display area (e.g., the top left point, center point, etc. of the display area) so that the intended portion of the horizontally enlarged image is displayed on the display 16.

[0051] <Computer Program> An embodiment of a computer program will be described with reference to Fig. 9. Fig. 9 is a block diagram showing the configuration of a computer according to the embodiment.

[0052] 9, a computer 50 constitutes a part of the remote operation device. The computer 50 is configured with a CPU (Central Processing Unit) 51, RAM 52, HDD (Hard Disk Drive) 53, and I / O 54. The CPU 51, RAM 52, HDD 53, and I / O 54 are connected to each other by a bus 55. A computer program 531 according to this embodiment is stored in advance in the HDD 53. The I / O 54 may constitute the communication unit 12 described above.

[0053] The processing of the CPU 51 by the computer program 531 will be described. The CPU 51 acquires the speed, acceleration, and yaw rate transmitted from the vehicle 20 via the I / O 54. The CPU 51 acquires images captured by the cameras 21L, 21C, and 21R via the I / O 54. The CPU 51 acquires external environmental sounds transmitted from the vehicle 20 via the I / O 54.

[0054] Here, the CPU 51 enlarges the images captured by the cameras 21L and 21R in the horizontal direction in accordance with the speed of the vehicle 20. The CPU 51 may determine the horizontal enlargement ratios of the images captured by the cameras 21L and 21R in accordance with a map such as that shown in Fig. 5. The map such as that shown in Fig. 5 may be stored in the HDD 53.

[0055] The CPU 51 may determine whether the vehicle 20 is turning. If the vehicle 20 is turning, the CPU 51 may enlarge the image captured by the camera 21L or 21R in the horizontal direction according to the degree of the turning motion of the vehicle 20. In this case, the CPU 51 may determine the horizontal enlargement ratio of the image captured by the camera 21L or 21R according to a map such as that shown in FIG. 7. The map such as that shown in FIG. 7 may be stored in the HDD 53.

[0056] The computer program 531 may be stored in the HDD 53 by the computer 50 reading the computer program 531 from a recording medium, such as an optical disk such as a CD-ROM (Compact Disc Read Only Memory) or a USB (Universal Serial Bus) memory, that stores the computer program 531. Alternatively, the computer 50 may download the computer program 531 via a network such as the Internet, thereby storing the computer program 531 in the HDD 53.

[0057] According to the computer program 531, like the remote driving device 10 in the first embodiment described above, the speed perceived by the user remotely driving the target vehicle can be made closer to the actual speed of the target vehicle. In addition, like the remote driving device 10 in the second embodiment described above, according to the computer program 531, the speed perceived by the user remotely driving the target vehicle can be made closer to the actual speed of the target vehicle, and the degree of turning movement perceived by the user can be made closer to the degree of actual turning movement of the target vehicle. According to the computer program 531, the remote driving devices 10 in the first and second embodiments described above can be realized relatively easily.

[0058] Various aspects of the invention derived from the above-described embodiments will be described below.

[0059] A remote driving device according to one embodiment of the invention is a remote driving device that remotely drives a target vehicle, and is equipped with an image output means that provides images of the exterior of the target vehicle to a user remotely driving the target vehicle, and a speed detection means that detects the speed of the target vehicle, wherein the images include a first image including a first area ahead of the target vehicle in the direction of travel, a second image including a second area to the right of the target vehicle in the direction of travel and adjacent to the first area, and a third image including a third area to the left of the target vehicle in the direction of travel and adjacent to the first area, and the image output means increases the horizontal magnification of each of the second image and the third image when the speed of the target vehicle is high compared to when the speed of the target vehicle is low.

[0060] In the above-described embodiment, the "display control unit 112" corresponds to an example of an "image output means", the "control device 11" corresponds to an example of a "speed detection means", the "image captured by camera 21C" corresponds to an example of a "first image", the "image captured by camera 21R" corresponds to an example of a "second image", the "image captured by camera 21L" corresponds to an example of a "third image", the "range IRC" corresponds to an example of a "first region", the "range IRR" corresponds to an example of a "second region", and the "range IRL" corresponds to an example of a "third region".

[0061] The remote driving device may include a turning detection means for detecting a turning direction of the target vehicle, and the image output means may increase the horizontal magnification ratio of the image of the second image and the third image on the opposite side of the turning direction of the target vehicle to that of the second image and the third image, compared to the horizontal magnification ratio of the image of the second image and the third image on the same side as the turning direction of the target vehicle. In the above-described embodiment, the "control device 11" corresponds to an example of the "turning detection means."

[0062] In the remote driving device, the image output means may change the horizontal magnification ratio of the image of the second image and the third image opposite the turning direction of the target vehicle based on at least one of (i) yaw rate, (ii) lateral acceleration, and (iii) speed and steering amount.

[0063] An image display method according to one embodiment of the present invention is an image display method in a remote driving device that remotely drives a target vehicle, and includes an image output process that provides an image taken of the exterior of the target vehicle to a user remotely driving the target vehicle, and a speed detection process that detects the speed of the target vehicle, wherein the images include a first image including a first area ahead of the target vehicle in the direction of travel, a second image including a second area to the right of the target vehicle in the direction of travel and adjacent to the first area, and a third image including a third area to the left of the target vehicle in the direction of travel and adjacent to the first area, and in the image output process, when the speed of the target vehicle is high, the horizontal magnification of each of the second image and the third image is increased compared to when the speed of the target vehicle is low.

[0064] The image display method may include a turning detection step for detecting the turning direction of the target vehicle, and in the image output step, the horizontal magnification ratio of the image of the second image and the third image on the opposite side of the turning direction of the target vehicle may be made larger than the horizontal magnification ratio of the image of the second image and the third image on the same side as the turning direction of the target vehicle.

[0065] In the image output process, the horizontal magnification ratio of the image of the second image and the third image opposite the turning direction of the target vehicle may be changed based on at least one of (i) yaw rate, (ii) lateral acceleration, and (iii) speed and steering amount.

[0066] A computer program according to one embodiment of the present invention causes a computer of a remote driving device that remotely drives a target vehicle to function as an image output means that provides images of the exterior of the target vehicle to a user remotely driving the target vehicle, and as a speed detection means that detects the speed of the target vehicle, wherein the images include a first image including a first area ahead of the target vehicle in the direction of travel, a second image including a second area to the right of the target vehicle in the direction of travel and adjacent to the first area, and a third image including a third area to the left of the target vehicle in the direction of travel and adjacent to the first area, and wherein the image output means increases the horizontal magnification of each of the second image and the third image when the speed of the target vehicle is high compared to when the speed of the target vehicle is low.

[0067] The present invention is not limited to the above-described embodiments, but can be modified as appropriate within the scope that does not contradict the gist or idea of ​​the invention that can be read from the claims and the entire specification, and remote driving devices that involve such modifications are also included in the technical scope of the present invention. [Explanation of symbols]

[0068] 1... remote driving system, 10... remote driving device, 11... control device, 12, 26... communication unit, 13... steering sensor, 14... accelerator pedal sensor, 15... brake pedal sensor, 16... display, 17... speaker, 20... vehicle, 21L, 21C, 21R... camera, 22... microphone, 23... speed sensor, 24... acceleration sensor, 25... yaw rate sensor, 111... vehicle control unit, 112... display control unit, 113... sound control unit

Claims

1. A remote driving device that remotely drives a target vehicle, an image output means for providing an image of the exterior of the target vehicle to a user who remotely drives the target vehicle; a speed detection means for detecting the speed of the target vehicle; Equipped with the images include a first image including a first area ahead in the traveling direction of the target vehicle, a second image including a second area to the right of the traveling direction of the target vehicle and adjacent to the first area, and a third image including a third area to the left of the traveling direction of the target vehicle and adjacent to the first area, The image output means increases the horizontal magnification rate of each of the second image and the third image when the speed of the target vehicle is high compared to when the speed of the target vehicle is low. A remote driving device characterized by:

2. a turning detection means for detecting a turning direction of the target vehicle; The image output means increases the horizontal enlargement ratio of the image of the second image and the third image on the opposite side to the turning direction of the target vehicle to be larger than the horizontal enlargement ratio of the image of the second image and the third image on the same side as the turning direction of the target vehicle.

2. The remote driving device according to claim 1.

3. The remote driving device according to claim 2, characterized in that the image output means changes the horizontal magnification ratio of the image of the second image and the third image opposite the turning direction of the target vehicle based on at least one of (i) yaw rate, (ii) lateral acceleration, and (iii) speed and steering amount.

Images