Remote driving system

Abstract

To provide a remotely-controlled running system that enables an operator to concentrate on remote control.SOLUTION: A remotely-controlled running system 10 enables a vehicle 200 to run by remote control using a control terminal 199. When a boarding condition that an operator who performs remote control is boarding a non-target vehicle 200N which is different from a target vehicle 200T which is made to run by the remote control is satisfied, the remotely-controlled running system permits the target vehicle to run by the remote control, when a start-suppressing condition that the non-target vehicle stops and is in an unmovable state is satisfied.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a remote driving system.

Background Art

[0002] There is known a remote driving system in which a vehicle user remotely drives a vehicle using an operation terminal (see, for example, Patent Document 1).

[0003] In addition, vehicle control related to parking of a vehicle is defined in ISO20900 (Partially automated parking systems: PAPS) and ISO16787 (Assisted parking systems: APS), which are standard specifications.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] When two vehicles are parked relatively close to each other and one of the two vehicles is driven by remote operation, if the other vehicle is in a drivable state, the operator who is trying to drive the vehicle by remote operation may not be able to concentrate on the remote operation.

[0006] An object of the present invention is to provide a remote driving system that allows an operator to concentrate on remote operation.

[0007] The remote driving system according to the present invention is a system that drives a vehicle by remote operation using an operation terminal. And, the remote driving system according to the present invention involves a non-target vehicle that is different from the target vehicle, which is the vehicle that the operator performing the remote operation drives by the remote operation, boarding the non-target vehicle Furthermore, the drive system of the non-target vehicle is in operation.When the conditions for boarding are met, and the conditions for preventing the vehicle from moving are met, such as the vehicle being stopped and not moving, the system is configured to allow the vehicle to move via remote control. Furthermore, the remote driving system according to the present invention is configured to notify the operator of a start suppression request, which requires the operator to keep the non-target vehicle in a state of not moving, without allowing the target vehicle to be driven by remote control, when the ride condition is met but the start suppression condition is not met.

[0008] According to the remote driving system of the present invention, even if the operator attempting to drive the target vehicle remotely is riding in the non-target vehicle, the non-target vehicle remains stationary. Therefore, the operator can concentrate on remotely driving the target vehicle and monitoring the target vehicle being driven remotely.

[0010] also, When the drive system of a non-target vehicle is activated, there is a high probability that the operator will not be able to concentrate on remotely controlling the target vehicle to move. According to the remote driving system of the present invention, when the drive system of a non-target vehicle is activated, remote driving of the target vehicle is permitted only when the non-target vehicle is not moving. Therefore, the operator can concentrate on remotely controlling the target vehicle to move.

[0011] Furthermore, in the remote driving system according to the present invention, the starting suppression condition is met when at least one of the following conditions is met: the shift range of the non-target vehicle is set to the parking range; the non-target vehicle is held in a stationary state by an electric parking brake device; and the brake pedal of the non-target vehicle is operated by the operator and the vehicle speed of the non-target vehicle is zero. Remote driving system.

[0012] According to the remote driving system of the present invention, remote driving of the target vehicle is permitted when the shift range of the non-target vehicle is set to the parking range, or when the non-target vehicle is held in a stationary state by the electric parking brake device, or when the brake pedal of the non-target vehicle is operated by the operator and the vehicle speed of the non-target vehicle is zero. Therefore, remote driving of the target vehicle is permitted when the non-target vehicle is not moving. As a result, the operator can concentrate on the remote operation to drive the target vehicle.

[0015] The components of the present invention are not limited to the embodiments described below with reference to the drawings. Other objects, features, and incidental advantages of the present invention will be readily apparent from the description of the embodiments. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a diagram showing a remote driving system according to an embodiment of the present invention. [Figure 2] Figure 2 shows a remote control device for a remote driving system according to an embodiment of the present invention. [Figure 3] Figure 3 shows a vehicle driving support device for a remote driving system according to an embodiment of the present invention. [Figure 4] Figure 4 is a flowchart showing the routine executed by the remote driving system according to an embodiment of the present invention. [Figure 5] Figure 5 is a flowchart showing the routine executed by the remote driving system according to an embodiment of the present invention. [Figure 6] Figure 6 shows a scene in which a target vehicle is released from a parking lot by a remote driving system according to an embodiment of the present invention. [Figure 7] Figure 7 shows a scenario in which a non-target vehicle is driven out of the depot by a driver. [Figure 8] Figure 8 shows a scene in which a target vehicle is brought into a parking lot by a remote driving system according to an embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a routine executed by the remote driving system according to an embodiment of the present invention.

Mode for Carrying Out the Invention

[0017] Hereinafter, the remote driving system according to an embodiment of the present invention will be described with reference to the drawings. The technology according to the present invention described below is applicable to technologies conforming to the standard specifications ISO20900 (Partially automated parking systems: PAPS) and ISO16787 (Assisted parking systems: APS).

[0018] FIG. 1 shows a remote driving system 10 according to an embodiment of the present invention. The remote driving system 10 is a system including a remote driving device 110 and a vehicle driving support device 210.

[0019] As shown in FIG. 2, the remote driving device 110 is mounted on the operation terminal 100. Also, as shown in FIG. 3, the vehicle driving support device 210 is mounted on the vehicle 200.

[0020] The operation terminal 100 is a device used by a person (operator) who intends to drive a vehicle by remote operation to drive the vehicle by remote operation. The operation terminal 100 is, for example, a device such as a mobile phone. The remote driving device 110 is a device that autonomously drives the vehicle on the vehicle driving support device 210 by an operation (remote operation) performed by the operator on the operation terminal 100.

[0021] Also, the vehicle driving support device 210 is a device that autonomously drives the vehicle 200 by an operation (remote operation) performed by the operator on the operation terminal 100.

[0022] As shown in Figure 2, the remote driving device 110 is equipped with a terminal ECU 190 as a control device. Also, as shown in Figure 3, the vehicle driving support device 210 is equipped with a vehicle ECU 290 as a control device.

[0023] An ECU is an electronic control unit. The terminal ECU 190 and the vehicle ECU 90 each have a microcomputer as their main component. The microcomputer includes a CPU, ROM, RAM, and computer-readable storage media such as non-volatile memory, as well as interfaces. The CPU is designed to perform various functions by executing instructions, programs, or routines stored in the storage media. In particular, in this example, the remote driving device 110 and the vehicle driving support device 210 each store programs in their storage media that realize various controls and processes performed by the remote driving system 10.

[0024] In this example, the remote driving device 110 and the vehicle driving support device 210 each have only one terminal ECU 190, but they may also be configured to have multiple ECUs, with each ECU handling a portion of the functions of the remote driving device 110.

[0025] Furthermore, the remote driving device 110 and the vehicle driving support device 210 may each be configured to update the programs stored in their storage media via wireless communication (for example, internet communication) with external devices.

[0026] As shown in Figure 2, the operating terminal 100 is equipped with an operating screen 120 and a terminal transmitter / receiver 170.

[0027] The operation screen 120 is a display that shows various images. Furthermore, the operation screen 120 is a so-called touchscreen capable of detecting when an operator's finger touches the operation screen 120. The operation screen 120 is electrically connected to the terminal ECU 190. The remote driving device 110 can display various images on the operation screen 120. The remote driving device 110 can also detect when an operator touches the operation screen 120 with their finger.

[0028] The terminal transmitter / receiver 170 is a device that transmits various wireless signals to the outside of the remote-controlled vehicle 110 (and consequently, the operating terminal 100) and receives various wireless signals arriving from the outside. The terminal transmitter / receiver 170 is electrically connected to the terminal ECU 190. The remote-controlled vehicle 110 can transmit wireless signals to the outside of the remote-controlled vehicle 110 (and consequently, the operating terminal 100) via the terminal transmitter / receiver 170. The remote-controlled vehicle 110 can also receive wireless signals from the outside via the terminal transmitter / receiver 170.

[0029] Furthermore, the vehicle 200 is equipped with a running gear 220, a parking brake device 231, an electric parking brake device 232, and a display device 240.

[0030] The running gear 220 is a device for moving the vehicle 200. The running gear 220 includes a drive unit 221, a braking unit 222, and a steering unit 223.

[0031] The drive unit 221 is a device that provides driving force to the vehicle 200. The drive unit 221 is electrically connected to the vehicle ECU 90. The vehicle driving support device 210 can control the driving force provided to the vehicle 200 by controlling the operation of the drive unit 221.

[0032] The braking device 222 is a device that applies braking force to the vehicle 200. The braking device 222 is electrically connected to the vehicle ECU 90. The vehicle driving support device 210 can control the braking force applied to the vehicle 200 by controlling the operation of the braking device 222.

[0033] The steering device 223 is a device that applies steering force to the vehicle 200 for steering the vehicle 200. The steering device 223 is electrically connected to the vehicle ECU 90. The vehicle driving assistance device 210 can steer the vehicle 200 by controlling the steering force applied to the vehicle 200 through the operation of the steering device 223.

[0034] The parking brake device 231 is a device that holds the vehicle 200 in a stationary state by mechanically engaging with the vehicle's transmission gear. The parking brake device 231 is electrically connected to the vehicle ECU 90. The vehicle driving assistance device 210 can hold the vehicle 200 in a stationary state by the parking brake device 231.

[0035] The electric parking brake device 232 is a device that holds the vehicle 200 in a stationary state by gripping the brake pads provided on each wheel of the vehicle 200. The electric parking brake device 232 is electrically connected to the vehicle ECU 90. The vehicle driving assistance device 210 can hold the vehicle 200 in a stationary state by the electric parking brake device 232.

[0036] The display device 240 is a device that displays various images to the operator (driver) riding in the vehicle 200. The display device 240 is equipped with a display 241. The display device 240 is electrically connected to the vehicle ECU 90. The vehicle driving assistance device 210 can display various images on the display 241 by controlling the operation of the display device 240.

[0037] Furthermore, the vehicle 200 is equipped with a brake pedal 251, a brake pedal sensor 252, a shift lever 253, a shift lever sensor 254, an electric parking brake switch 255, a vehicle speed detection device 256, a surrounding information acquisition device 260, and a vehicle transmitter / receiver 270.

[0038] The brake pedal 251 is a device operated by the driver to brake the vehicle 200. The brake pedal sensor 252 is a sensor that detects whether the brake pedal 251 is being operated. The brake pedal sensor 252 is also a sensor that detects the amount of operation of the brake pedal 251. The brake pedal sensor 252 is electrically connected to the vehicle ECU 90. The vehicle driver assistance device 210 can recognize whether or not the brake pedal 251 is being operated by the brake pedal sensor 252. The vehicle driver assistance device 210 also detects the amount of operation of the brake pedal 251 by the brake pedal sensor 252 and controls the operation of the braking device 222 so that a braking force corresponding to the detected amount of operation is applied to the vehicle 200.

[0039] The shift lever 253 is a device operated by the driver (operator) to set the so-called shift range. The shift lever sensor 254 is a sensor that detects the shift range to which the shift lever 253 is set. The shift lever sensor 254 is electrically connected to the vehicle ECU 90. When the vehicle driving assistance device 210 detects that the shift lever 253 has been set to the parking range using the shift lever sensor 254, it activates the parking brake device 231 to keep the vehicle 200 stationary.

[0040] The electric parking brake switch 255 is a device operated by the driver (operator) to activate the electric parking brake device 232. The electric parking brake switch 255 is electrically connected to the vehicle ECU 90. When the electric parking brake switch 255 is operated while the electric parking brake device 232 is in a non-activated state, the vehicle driving assistance device 210 activates the electric parking brake device 232 to keep the vehicle 200 stationary.

[0041] The vehicle speed detection device 256 is a device that detects the travel speed of the vehicle 200, and is, for example, a wheel speed sensor provided on each wheel of the vehicle 200. The vehicle speed detection device 256 is electrically connected to the vehicle ECU 90. The vehicle driving support device 210 acquires the travel speed of the vehicle 200 as the vehicle speed V from the vehicle speed detection device 256.

[0042] The surrounding information acquisition device 260 is a device that acquires information about the vehicle 200. The surrounding information acquisition device 260 is equipped with an image sensor 261 and an electromagnetic wave sensor 262.

[0043] The image sensor 261 is a sensor that captures images of the area around the vehicle 200 and acquires images. The image sensor 261 is, for example, a camera. In the following description, the images acquired by the image sensor 261 will be referred to as "camera images". The image sensor 261 is electrically connected to the vehicle ECU 90. The vehicle driving assistance device 210 acquires camera images using the image sensor 261.

[0044] The electromagnetic wave sensor 262 is a sensor that detects objects present around the vehicle 200. The electromagnetic wave sensor 262 is, for example, a millimeter-wave radar. The electromagnetic wave sensor 262 is electrically connected to the vehicle ECU 90. The vehicle driving support system 210 detects objects present around the vehicle 200 using the electromagnetic wave sensor 262 and acquires data related to the detected objects.

[0045] The vehicle transmitter / receiver 270 is a device that transmits various wireless signals to the outside of the vehicle driving support system 210 and receives various wireless signals arriving from the outside. The vehicle transmitter / receiver 270 is electrically connected to the terminal ECU 190. The vehicle driving support system 210 can transmit wireless signals to the outside of the vehicle driving support system 210 via the vehicle transmitter / receiver 270. The vehicle driving support system 210 can also receive wireless signals from the outside via the vehicle transmitter / receiver 270.

[0046] <Activation of the remote driving system> Next, the operation of the remote driving system 10 will be described. The remote driving system 10 is configured to drive the vehicle 200 by remote control using the operation terminal 100. That is, the remote driving system 10 is configured to drive the vehicle 200 in response to an operation (remote control) by the operator on the operation terminal 100 (particularly the operation screen 120).

[0047] The operation of the remote driving system 10 will be explained below using the cases shown in Figures 6 to 8 as examples. In the examples shown in Figures 6 to 8, as shown in Figure 6, two vehicles 200 are parked in the parking space 300 in a front-to-back position. These vehicles 200 are each driven by remote control using the same operating terminal 100. However, the vehicle 200 parked in the rear does not have to be driven by remote control using the operating terminal 100.

[0048] In the following description, of the two vehicles 200, the vehicle 200 parked in front is the vehicle that is driven by remote control (target vehicle 200T), and the vehicle 200 parked in rear is the vehicle that is driven by manual operation (operated by an operator) (non-target vehicle 200N).

[0049] In the examples shown in Figures 6 to 8, as shown in Figure 6, with the operator outside the target vehicle 200T and the non-target vehicle 200N, the target vehicle 200T is driven remotely and exits the parking space 300. Then, as shown in Figure 7, the operator gets into the non-target vehicle 200N, and the non-target vehicle 200N is driven manually by the operator and exits the parking space 300. Finally, as shown in Figure 8, with the operator still inside the non-target vehicle 200N, the target vehicle 200T is driven remotely and enters the parking space 300.

[0050] The remote driving system 10 is configured to execute the routines shown in Figures 4 and 5 at predetermined time intervals in order to drive the vehicle 200 by remote control. The processing of each step of the routines shown in Figures 4 and 5 may be appropriately performed by the remote driving device 110 of the operation terminal 100, the vehicle driving support device 210 of the target vehicle 200T, or the vehicle driving support device 210 of the non-target vehicle 200N, respectively.

[0051] When a predetermined timing occurs, the remote driving system 10 starts processing from step S400 of the routine shown in Figure 4, proceeds to step S405, and determines whether or not the remote driving application has been launched. The remote driving application is application software installed on the terminal ECU 190 of the operation terminal 100 in order to drive the vehicle 200 by remote control.

[0052] If the remote driving application is running, the remote driving system 10 determines "Yes" in step S405 and proceeds to step S410 to determine whether the value of the selection completion flag X1 is "0". The value of the selection completion flag X1 is set to "0" if the selection of the vehicle 200 to be driven by remote control has not been completed.

[0053] If the value of the selection completion flag X1 is "0" (i.e., the selection of a vehicle to be driven by remote control has not been completed), the remote driving system 10 determines "Yes" in step S410 and proceeds to step S415 to search for a vehicle 200 registered in the remote driving application, i.e., a vehicle 200 that can be driven by remote control (remote driving vehicle 200R). In the example shown in Figures 6 to 8, two vehicles 200 driven by remote control using the same operation terminal 100 are within the distance range that can be driven by remote control. Therefore, in the search in step S415, the two vehicles 200 shown in Figures 6 to 8 are recognized as remote driving vehicles 200R.

[0054] Next, the remote driving system 10 proceeds to step S420 and displays a selection screen on the operation screen 120 of the operation terminal 100. The selection screen allows the operator to select which remote driving vehicle 200R to be driven remotely from the recognized remote driving vehicles 200R.

[0055] Next, the remote driving system 10 proceeds to step S425 and determines whether or not a selection operation has been performed by the operator. The selection operation is an operation (for example, a touch operation such as a tap) performed by the operator on the selection screen in order to select the remote driving vehicle 200R to be driven by remote control.

[0056] If the remote driving system 10 has not performed a selection operation by the operator, it determines "No" in step S425, proceeds directly to step S495, and terminates the processing of this routine.

[0057] On the other hand, if the operator makes a selection, the remote driving system 10 determines "Yes" in step S425 and proceeds to step S430, setting the value of the selection completion flag X1 to "1". As a result, the remote driving system 10 will determine "No" in step S410 next time and proceed directly to step S505 of the routine shown in Figure 5.

[0058] In the examples shown in Figures 6 to 8, the vehicle 200 parked ahead (remotely operated vehicle 200R) is selected by the selection operation as the remotely operated vehicle 200R to be driven remotely.

[0059] Next, the remote driving system 10 proceeds to step S435, activating the vehicle driving support device 210 of the remote driving vehicle 200R (target vehicle 200T) which is to be driven by remote control, and the vehicle driving support device 210 of the remote driving vehicle 200R (non-target vehicle 200N) which is not to be driven by remote control, and establishing wireless communication between the remote driving device 110 of the operation terminal 100 and the vehicle driving support device 210 of the target vehicle 200T and the vehicle driving support device 210 of the non-target vehicle 200N.

[0060] In this example, the remote driving system 10 establishes wireless communication between the remote driving device 110 of the operating terminal 100 and the vehicle driving support device 210 of the target vehicle 200T, as well as wireless communication between the vehicle driving support device 210 of the target vehicle 200T and the vehicle driving support device 210 of the non-target vehicle 200N. However, the remote driving system 10 may be configured to establish wireless communication between the remote driving device 110 of the operating terminal 100 and the vehicle driving support device 210 of the target vehicle 200T, as well as wireless communication between the remote driving device 110 and the vehicle driving support device 210 of the non-target vehicle 200N. Alternatively, in particular, if the operator is in the non-target vehicle 200N before starting to move the target vehicle 200T out of the parking space 300, the remote driving system 10 may be configured to establish wireless communication between the remote driving device 110 of the operating terminal 100 and the vehicle driving support device 210 of the non-target vehicle 200N, and also to establish wireless communication between the vehicle driving support device 210 of the non-target vehicle 200N and the vehicle driving support device 210 of the target vehicle 200T.

[0061] Furthermore, when the vehicle driver assistance system 210 of the target vehicle 200T is activated, the drive system 221 of the target vehicle 200T becomes operational.

[0062] Next, the remote driving system 10 proceeds to step S440, displaying the remote control screen on the operation screen 120 of the operation terminal 100. The remote control screen is a screen that allows the operator to perform remote operations to drive the target vehicle 200T.

[0063] Next, the remote driving system 10 proceeds to step S505 of the routine shown in Figure 5, and determines whether or not an operation (remote control) has been performed on the remote control screen by the operator. Remote control is an operation performed by the operator on the remote control screen in order to drive the target vehicle 200T (for example, a touch operation such as sliding a finger on the remote control screen).

[0064] If remote operation is not being performed, the remote driving system 10 determines "No" in step S505, proceeds directly to step S595, and terminates the processing of this routine.

[0065] On the other hand, if remote operation is performed, the remote driving system 10 determines "Yes" in step S505 and proceeds to step S510 to determine whether or not the riding condition C1 is met.

[0066] Boarding condition C1 is the condition that the operator is riding in the non-target vehicle 200N and the drive unit 221 of the non-target vehicle 200N is in operation. Alternatively, boarding condition C1 may simply be the condition that the operator is riding in the non-target vehicle 200N.

[0067] Furthermore, the remote driving system 10 can determine whether or not the operator is in the non-target vehicle 200N by wireless communication between a device held by the operator, such as a so-called smart key corresponding to the non-target vehicle 200N, and the vehicle driving support device 210 of the non-target vehicle 200N. Of course, the remote driving system 10 may also be configured to determine whether or not the operator is in the non-target vehicle 200N by wireless communication between the remote driving device 110 of the operation terminal 100 and the vehicle driving support device 210 of the non-target vehicle 200N.

[0068] In the examples shown in Figures 6 to 8, at the point when the process proceeds to step S510, the operator is not in the non-target vehicle 200N, and the drive unit 221 of the non-target vehicle 200N is not in operation.

[0069] Therefore, the remote driving system 10 determines "No" in step S510 and proceeds directly to step S525, initiating the driving of the target vehicle 200T in response to the remote control. Next, the remote driving system 10 proceeds to step S595 and terminates the processing of this routine. As a result, the target vehicle 200T is remotely removed from the parking space 300.

[0070] Subsequently, the operator gets into the non-target vehicle 200N and activates the drive unit 221. Then, as shown in Figure 7, the operator drives the non-target vehicle 200N out of the parking space 300 by driving it directly.

[0071] Furthermore, while the non-target vehicle 200N is being removed from the parking space 300, the remote driving system 10 executes the routines shown in Figures 4 and 5 at predetermined time intervals. At this time, the remote driving system 10 starts processing from step S400, and when it proceeds to step S405, the remote driving application is activated. Therefore, the remote driving system 10 determines "Yes" in step S405, proceeds to step S410, and determines whether the value of the selection completion flag X1 is "0".

[0072] At this time, the value of the selection completion flag X1 is "1". Therefore, the remote driving system 10 determines "No" in step S410 and proceeds to step S505 of the routine shown in Figure 5 to determine whether or not remote operation was performed.

[0073] While the non-target vehicle 200N is being driven out of the parking space by a manual operator, no remote control is performed. Therefore, the remote driving system 10 determines "No" in step S425 and proceeds directly to step S495, temporarily ending the processing of this routine. While the non-target vehicle 200N is being driven out of the parking space by a manual operator, the remote driving system 10 repeatedly performs the above process. For this reason, the target vehicle 200T remains parked outside the parking space 300.

[0074] In the examples shown in Figures 6 to 8, the operator remotely controls the non-target vehicle 200N while remaining inside the vehicle after it has been moved out of the parking space 300. In this case, the remote driving system 10 operates as follows.

[0075] In other words, the remote driving system 10 starts processing from step S400 of the routine shown in Figure 4 and proceeds to step S405. At this time, the remote driving application is running. Therefore, the remote driving system 10 determines "Yes" in step S405 and proceeds to step S410 to determine whether the value of the selection completion flag X1 is "0".

[0076] At this time, the value of the selection completion flag X1 is "1". Therefore, the remote driving system 10 determines "No" in step S410 and proceeds to step S505 of the routine shown in Figure 5 to determine whether or not remote operation was performed.

[0077] At this time, remote control is being performed. Therefore, the remote driving system 10 determines "Yes" in step S505 and proceeds to step S510 to determine whether or not the riding condition C1 is met.

[0078] At this time, the operator is riding in the non-target vehicle 200N, and the drive unit 221 of the non-target vehicle 200N is in operation. Therefore, the remote driving system 10 determines "Yes" in step S510 and proceeds to step S515 to determine whether or not the start suppression condition C2 is met.

[0079] The starting suppression condition C2 is the condition that the non-target vehicle 200N is stopped and not in a state of movement. More specifically, the starting suppression condition C2 is the condition that the non-target vehicle 200N is stopped and even if driving force is applied to the non-target vehicle 200N from its drive unit 221, the non-target vehicle 200N will not start moving. In other words, the starting suppression condition C2 is the condition that the non-target vehicle 200N is kept in a stopped state.

[0080] The starting suppression condition C2 is met when the shift range of the non-target vehicle 200N is set to the parking range (i.e., when the non-target vehicle 200N is held in a stationary state by the parking brake device 231), or when the non-target vehicle 200N is held in a stationary state by the electric parking brake device 232, or when the brake pedal 251 is operated by the operator and the vehicle speed V of the non-target vehicle 200N is zero (i.e., when braking force is applied to the non-target vehicle 200N by the braking device 222 and the vehicle speed V of the non-target vehicle 200N is zero).

[0081] The remote driving system 10 will start when the start suppression condition C2 is met. There are In the case where (i.e., the non-target vehicle 200N is stopped and not moving), the system determines "Yes" in step S515 and proceeds to step S520 to display the camera image. The camera image display involves displaying the camera image captured and acquired by the image sensor 261 of the target vehicle 200T on the display 241 of the non-target vehicle 200N. At this time, the remote driving system 10 may also be configured to display the camera image on the operation screen 120 of the operation terminal 100.

[0082] Next, the remote driving system 10 proceeds to step S525 and performs remote driving. Remote driving involves driving the target vehicle 200T in response to remote control. That is, the remote driving system 10 permits the target vehicle 200T to be driven by remote control and drives the target vehicle 200T in response to the remote control.

[0083] As a result, in the examples shown in Figures 6 to 8, the target vehicle 200T is parked in parking space 300, as shown in Figure 8.

[0084] Next, the remote driving system 10 proceeds to step S595 and terminates the processing of this routine.

[0085] On the other hand, if the starting suppression condition C2 is not met (i.e., the non-target vehicle 200N is moving, or the non-target vehicle 200N is stopped but in a state where it can start moving), the remote driving system 10 determines "No" in step S515, proceeds to step S530, and notifies the operator of the starting suppression request.

[0086] A start suppression request requires the operator to keep the non-target vehicle 200N in a state where it does not start moving. In other words, a start suppression request requires the operator to keep the non-target vehicle 200N in a state where the start suppression condition C2 is met. In this example, the start suppression request is made by displaying an image on either the display 241 of the non-target vehicle 200N or the operation screen 120 of the operation terminal 100, or both, that requires the operator to keep the non-target vehicle 200N in a state where it does not start moving.

[0087] Next, the remote driving system 10 proceeds to step S495 and terminates the processing of this routine.

[0088] Subsequently, if the operator puts the non-target vehicle 200N into a state where it does not move, the remote driving system 10 determines "Yes" in step S515 and proceeds to step S525 to perform remote driving. Remote driving is the process of moving the target vehicle 200T in response to remote control.

[0089] Furthermore, if the remote driving system 10 determines "No" in step S405 of the routine shown in Figure 4 (i.e., if the remote driving application is not running), it proceeds to step S445 and performs the termination process.

[0090] The termination process involves deactivating the vehicle driver assistance system 210 and drive unit 221 of the target vehicle 200T, disconnecting wireless communication between the vehicle driver assistance system 210 of the target vehicle 200T and the vehicle driver assistance system 210 of the non-target vehicle 200N, and setting the value of the selection completion flag X1 to "0". Note that by deactivating the vehicle driver assistance system 210 of the target vehicle 200T, wireless communication between the remote driving device 110 of the operation terminal 100 and the vehicle driver assistance system 210 of the target vehicle 200T is disconnected.

[0091] Next, the remote driving system 10 proceeds to step S495 and terminates the processing of this routine.

[0092] The above describes the operation of the remote driving system 10.

[0093] According to the remote driving system 10, even if the operator attempting to remotely drive the target vehicle 200T is riding in the non-target vehicle 200N, the non-target vehicle 200N will not start moving. Therefore, the operator can concentrate on remotely driving the target vehicle 200T and monitoring the target vehicle 200T that is being driven by the remote operation.

[0094] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention.

[0095] For example, the remote driving system 10 may be configured to execute the routine shown in Figure 9 instead of the routine shown in Figure 5.

[0096] In this case, the remote driving system 10 displays the remote control screen in step S440 of the routine shown in Figure 4, or determines "No" in step S410, and then proceeds to step S905 of the routine shown in Figure 9 to determine whether or not remote control was performed.

[0097] If remote operation is not being performed, the remote driving system 10 determines "No" in step S905, proceeds directly to step S995, and terminates the processing of this routine.

[0098] On the other hand, if remote operation is performed, the remote driving system 10 determines "Yes" in step S905 and proceeds to step S915 to determine whether or not the start suppression condition C2 is met.

[0099] If the departure suppression condition C2 is not met (i.e., the non-target vehicle 200N is moving, or the non-target vehicle 200N is stopped but in a state where it can start moving), the remote driving system 10 determines "No" in step S915 and proceeds to step S930 to notify a departure suppression request. Next, the remote driving system 10 proceeds to step S995 and terminates the processing of this routine.

[0100] On the other hand, if the starting suppression condition C2 is met (i.e., the non-target vehicle 200N is stopped and not moving), the remote driving system 10 determines "Yes" in step S915 and proceeds to step S920 to display the camera image. At this time, the remote driving system 10 may also be configured to display the camera image on the operation screen 120 of the operation terminal 100.

[0101] Next, the remote driving system 10 proceeds to step S925 and drives the target vehicle 200T in response to the remote control. Then, the remote driving system 10 proceeds to step S995 and terminates the processing of this routine.

[0102] According to the remote driving system 10, the other vehicle 200 (target vehicle 200T) is permitted to be driven by remote control only when one vehicle 200 (non-target vehicle 200N) is not moving. Therefore, the operator can concentrate on remotely controlling the target vehicle 200T to move and monitoring the target vehicle 200T while it is being driven by said remote control. [Explanation of symbols]

[0103] 10...Remote driving system, 100...Operating terminal, 190...Terminal ECU, 200...Vehicle, 200T...Target vehicle, 200N...Non-target vehicle, 222...Braking system, 231...Parking brake system, 232...Electric parking brake system, 290...Vehicle ECU

Claims

1. In a remote driving system that operates a vehicle remotely using an operating terminal, When the operator performing the remote control is riding in a non-target vehicle, which is a different vehicle from the target vehicle that is to be driven by the remote control, and the driving system of the non-target vehicle is in operation, and the driving suppression condition is met, then the remote control shall be permitted to drive the target vehicle. If the aforementioned boarding conditions are met but the aforementioned start suppression conditions are not met, the operator is notified of a start suppression request that requires the operator to keep the non-target vehicle in a state where it does not move, without permitting the target vehicle to move by remote control. A remote driving system configured in such a way.

2. In the remote driving system according to Claim 1, The aforementioned starting suppression condition is met when at least one of the following conditions is met: the shift range of the non-target vehicle is set to the parking range; the non-target vehicle is held in a stationary state by the electric parking brake device; and the brake pedal of the non-target vehicle is operated by the operator and the vehicle speed of the non-target vehicle is zero. Remote driving system.

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