Remote support device

Abstract

To provide a remote support device that remotely supports the travel of a vehicle, and during turning of the vehicle, allows a remote driver to grasp the subsequent movement of a portion outside turning of the vehicle when the vehicle is turned at a specific steering angle.SOLUTION: A remote support device 11 comprises a remote support control unit 91 enabling wirelessly communicate with a vehicle 100, and remotely supports the travel of the vehicle. The remote support control unit acquires, through the wireless communication, an image in an advancing direction of the vehicle acquired by an imaging apparatus 126 of the vehicle and displays the image on a display device 114 of the remote support device, and displays, on the image being displayed on the display device, a setting steering angle line that is a line through which a portion outside turning of the vehicle is predicted to pass when the vehicle makes a turn at the setting steering angle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a remote support device.

Background Art

[0002] There is known a remote support device for remotely supporting the running of a vehicle. As this type of remote support device, there is also known a remote support device configured to provide information regarding the traveling route of a vehicle to an operator (remote driver) who remotely drives the vehicle using the remote support device by displaying the traveling route of the vehicle on a display of the remote support device (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] If a remote driver can grasp the future movement of the outer part of the vehicle when the vehicle is turned at a specific steering angle during the turning of the vehicle, it becomes easier for the remote driver to perform assistance using the remote support device.

[0005] An object of the present invention is to provide a remote support device that remotely supports the running of a vehicle and enables a remote driver to grasp the future movement of the outer part of the vehicle when the vehicle is turned at a specific steering angle during the turning of the vehicle.

[0006] The remote support device according to the present invention includes a remote support control device capable of wireless communication with a vehicle, and remotely supports the running of the vehicle. The remote support control device acquires an image in the traveling direction of the vehicle acquired by an imaging device of the vehicle by wireless communication and displays it on a display device of the remote support device. If the first condition that the vehicle is turning is met, the bumper line predicted to be the line that the left and right ends of the vehicle's front bumper will pass through when the vehicle turns at the vehicle's current steering angle is obtained, and if the second condition that the first condition is met, the vehicle speed is less than or equal to a predetermined vehicle speed, and the vehicle steering angle is greater than or equal to a predetermined steering angle is met, the set steering angle used as the steering angle of the vehicle to predict the set steering angle line, which is the line that the outer part of the turning vehicle is predicted to pass through, is set based on the resolution of the image and the delay amount of the wireless communication with the vehicle, and if the first and second conditions are met, theThe line that the outer part of the vehicle is expected to pass through when the vehicle turns at the set steering angle. The set rudder angle line is obtained and the The set rudder angle line is displayed on the image shown on the display device. In addition, the bumper line is displayed in the image shown on the display device. It is structured in this way. Furthermore, the remote support control device is configured to set the steering angle to a smaller angle when the image resolution is a first resolution than when the resolution is a second resolution which is higher than the first resolution, and to set the steering angle to a smaller angle when the delay amount of wireless communication with the vehicle is a second delay amount which is greater than the first delay amount than when the delay amount is a first delay amount.

[0007] According to the remote support device of the present invention, when the vehicle is turned at a set steering angle, the line that the outer part of the vehicle will pass through is displayed on the display device. Therefore, the operator (remote driver) who remotely assists the vehicle's movement by operating the remote support device can understand the future movement of the outer part of the vehicle when the vehicle is turned at a set steering angle during the turn.

[0009] also, According to the remote support device of the present invention, the image resolution is relatively Low If it is difficult for the remote driver to determine the exact area the vehicle will pass through from the image, the set steering angle will be set to a smaller steering angle. Therefore, the set steering angle line displayed in the image at this time will be the line the vehicle will pass through when turned with a smaller steering angle. This allows the remote driver to provide more appropriate assistance for the vehicle's movement.

[0011] also, According to the remote support device of the present invention, if the delay in wireless communication with the vehicle is large and it is difficult for the remote driver to grasp the exact area the vehicle will pass through from the image, the set steering angle is set to a smaller steering angle. Therefore, the set steering angle line displayed in the image at this time will be the line that the vehicle will pass through when turned with a smaller steering angle. As a result, the remote driver can provide more appropriate support for the vehicle's driving.

[0016] 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]

[0017] [Figure 1] Figure 1 is a diagram showing a remote support system including a remote support device according to an embodiment of the present invention. [Figure 2] Figure 2 is a flowchart showing the routine executed by the remote support device according to an embodiment of the present invention. [Figure 3] Figure 3 shows a display of a remote support device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0018] In embodiments of the present invention, remote driving, a type of remote support, will be used as an example. Remote driving refers to a type of remote support in which at least some of the DDT (Dynamic Driving Task) is performed by a person located remotely from the vehicle. The person located remotely is called a remote driver.

[0019] Hereinafter, a remote driving system including a remote driving device according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 shows the remote driving system 10. The remote driving system 10 includes a remote driving device 11 and a vehicle 100. The vehicle 100 is equipped with a vehicle control device 12.

[0020] The remote driving device 11 is a device installed on the outside of the vehicle 100 and is used to remotely assist in the driving of the vehicle 100, as will be described later. In particular, in this example, the remote driving device 11 is used to remotely drive the vehicle 100.

[0021] As shown in Figure 1, the remote driving device 11 is equipped with an ECU (remote driving ECU 91) as a control device. Similarly, the vehicle control device 12 is also equipped with an ECU (vehicle control ECU 92) as a control device.

[0022] The remote operation ECU 91 and the vehicle control ECU 92 are mainly equipped with a microcomputer. The microcomputer includes a CPU, a ROM, a RAM, a storage medium such as a non-volatile memory, and an interface, etc. The CPU is adapted to realize various functions by executing instructions, programs or routines stored in the storage medium. In particular, in this example, the remote operation device 11 stores a program for realizing various controls executed by the remote operation device 11 in the storage medium, and the vehicle control device 12 also stores a program for realizing various controls executed by the vehicle control device 12 in the storage medium.

[0023] In addition, the remote operation device 11 and the vehicle control device 12 may be configured to be able to update (update) the programs stored in the storage medium by wireless communication (for example, Internet communication) with an external device.

[0024] The remote operation device 11 is equipped with a transceiver (remote operation transceiver 110) as a transmission and reception device. Also, the vehicle 100 is equipped with a transceiver (vehicle control transceiver 120) as a transmission and reception device. The remote operation transceiver 110 is electrically connected to the remote operation ECU 91. Also, the vehicle control transceiver 120 is electrically connected to the vehicle control ECU 92. The remote operation device 11 and the vehicle control device 12 can transmit and receive signals (information) to and from each other via the remote operation transceiver 110 and the vehicle control transceiver 120. That is, the remote operation device 11 can communicate wirelessly with the vehicle 100.

[0025] In particular, the remote operation device 11 and the vehicle control device 12 perform remote operation (remote support) of the vehicle 100. The vehicle control device 12 transmits, as information used by the remote operation device 11 to perform remote operation of the vehicle 100, the identification information (so-called ID) of the vehicle 100, the time when the information was transmitted, the position of the vehicle 100, the traveling speed, acceleration and traveling direction, direction indicator signal and siren information, fuel amount and / or battery charge amount, abnormal information of the vehicle 100, and various information such as tire friction and / or road friction to the remote operation device 11.

[0026] Further, the vehicle 100 is equipped with a traveling device 121. The traveling device 121 is a device for causing the vehicle 100 to travel. In this example, it includes a driving device, a braking device, and a steering device. The driving device is a device for applying a driving force to the vehicle 100. The braking device is a device for applying a braking force to the vehicle 100. The steering device is a device for applying a steering force to the vehicle 100.

[0027] Furthermore, the vehicle 100 is equipped with a steering angle sensor 122, a yaw rate sensor 123, a lateral acceleration sensor 124, a vehicle speed detection device 125, and a camera 126 as an imaging device.

[0028] These steering angle sensor 122, yaw rate sensor 123, lateral acceleration sensor 124, vehicle speed detection device 125, and camera 126 are electrically connected to the vehicle control ECU 92. The vehicle control device 12 acquires the steering angle of the vehicle 100 as the steering angle δ by the steering angle sensor 122, acquires the yaw rate of the vehicle 100 as the yaw rate YR by the yaw rate sensor 123, acquires the lateral acceleration of the vehicle 100 as the lateral acceleration Gy by the lateral acceleration sensor 124, acquires the traveling speed of the vehicle 100 as the vehicle speed V by the vehicle speed detection device 125, and acquires an image of the surroundings of the vehicle 100 as a camera image by the camera 126.

[0029] The vehicle control device 12 transmits the acquired information on the steering angle δ, yaw rate YR, lateral acceleration Gy, vehicle speed V, and camera image via the vehicle control transceiver 120 to the outside of the vehicle 100. The information transmitted from the vehicle control device 12 is acquired by the remote operation ECU 91 via the remote operation transceiver 110.

[0030]

[0031] These accelerator operator 111, decelerator operator 112, steering operator 113, and display 114 are electrically connected to the remote operation ECU 91.

[0032] The acceleration controller 111 is a device operated by a remote driver to provide driving force to the vehicle 100. When the acceleration controller 111 is operated, the remote driving device 11 transmits information regarding the operation of the acceleration controller 111 (acceleration operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 acquires the acceleration operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120 and controls the operation of the running gear 121 based on the acceleration operation information to provide driving force to the vehicle 100.

[0033] Furthermore, the remote driver is a person who remotely assists the driving of the vehicle 100 using the remote driving device 11, and in this example, is a person who remotely drives the vehicle 100 using the remote driving device 11.

[0034] The deceleration control device 112 is a device operated by a remote driver to apply braking force to the vehicle 100. When the deceleration control device 112 is operated, the remote driving device 11 transmits information regarding the operation of the deceleration control device 112 (deceleration operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 acquires the deceleration operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120 and controls the operation of the running gear 121 based on the deceleration operation information to apply braking force to the vehicle 100.

[0035] The steering control device 113 is a device operated by a remote driver to provide steering force to the vehicle 100. When the steering control device 113 is operated, the remote driving device 11 transmits information regarding the operation of the steering control device 113 (steering operation information) to the outside of the remote driving device 11 via the remote driving transceiver 110. The vehicle control device 12 acquires the steering operation information transmitted by the remote driving device 11 via the vehicle control transceiver 120 and controls the operation of the running gear 121 based on the steering operation information to provide steering force to the vehicle 100.

[0036] The display 114 is a device that displays images. The remote driving device 11 can display various images on the display 114. In particular, the remote driving device 11 is configured to display on the display 114 a camera image of the direction of travel of the vehicle 100, which has been acquired wirelessly from the vehicle control device 12.

[0037] Furthermore, the display 114 may include only a display that shows a camera image in the direction of travel of the vehicle 100, or it may also include a left side monitor that displays an image of the left side of the vehicle 100 and an image of the scenery reflected in the left side mirror of the vehicle 100, and a right side monitor that displays an image of the right side of the vehicle 100 and an image of the scenery reflected in the right side mirror of the vehicle 100.

[0038] <Operation of the remote driving system> Next, the operation of the remote driving system 10 will be described. The remote driving system 10 is a system that allows a remote driver to remotely drive the vehicle 100 by operating the acceleration control 111, deceleration control 112, and steering control 113 of the remote driving device 11.

[0039] Therefore, as mentioned above, when the remote driver operates the acceleration control unit 111, the deceleration control unit 112, and the steering control unit 113, the remote driving device 11 transmits acceleration operation information, deceleration operation information, and steering operation information to the vehicle 100, and the vehicle control device 12 controls the operation of the running gear 121 based on this acceleration operation information, deceleration operation information, and steering operation information to drive the vehicle 100.

[0040] Furthermore, the remote driving device 11 executes the routine shown in Figure 2 at a predetermined calculation cycle, and when predetermined conditions are met, it displays the rear inner wheel line Lin, the bumper line Lbp, and the set steering angle line Lset as auxiliary lines on the display 114.

[0041] Specifically, when a predetermined timing occurs, the remote control device 11 starts processing from step S200 of the routine shown in Figure 2, proceeds to step S205, and determines whether or not the vehicle 100 is turning. The remote control device 11 determines whether or not the vehicle 100 is turning based on the steering angle δ, yaw rate YR, lateral acceleration Gy, etc.

[0042] If the remote driving device 11 determines "Yes" in step S205, it proceeds to step S210 and calculates the rear inner wheel line Lin and the bumper line Lbp.

[0043] The rear inner wheel line Lin is the predicted line that the inner rear wheel of the vehicle 100 will pass through in the future. Alternatively, the remote control device 11 may be configured to calculate and obtain, instead of the rear inner wheel line Lin, the predicted line that the innermost part of the left or right side of the vehicle 100 will pass through in the future.

[0044] Furthermore, the bumper line Lbp is the predicted line that the left edge of the front bumper of vehicle 100 will pass through in the future (bumper left edge line Lbp_L), and the predicted line that the right edge of the front bumper of vehicle 100 will pass through in the future (bumper right edge line Lbp_R).

[0045] Furthermore, the remote control device 11 calculates the rear inner wheel line Lin and the bumper line Lbp based on the steering angle δ, yaw rate YR, and lateral acceleration Gy, etc.

[0046] Furthermore, the remote driving device 11 may calculate a rear inner wheel line Lin of a constant length regardless of the steering angle δ, but in this example, it is configured to calculate rear inner wheel line Lin of different lengths depending on the steering angle δ. Specifically, the remote driving device 11 calculates a rear inner wheel line Lin of a longer length the larger the steering angle δ is. In other words, the remote driving device 11 is configured to predict the rear inner wheel line Lin to a more distant point when the steering angle δ of the vehicle 100 is a second steering angle (larger than the first steering angle) than when the steering angle δ of the vehicle 100 is a first steering angle.

[0047] Furthermore, as the rear inner wheel line Lin, when vehicle 100 is turning left, the predicted line that the left rear wheel will pass through next is calculated, and when vehicle 100 is turning right, the predicted line that the right rear wheel will pass through next is calculated.

[0048] Next, the remote control device 11 proceeds to step S215 to determine whether or not the display conditions are met.

[0049] The display conditions are those for displaying the rear inner wheel line Lin, bumper line Lbp, and set steering angle line Lset on the display 114. In this example, these conditions are at least one of the following: a vehicle speed condition where the vehicle speed V is less than or equal to a relatively small predetermined vehicle speed (predetermined display speed Vdp); a steering angle condition where the steering angle δ is greater than or equal to a relatively large predetermined steering angle (predetermined display steering angle δdp); and an intersection condition where, if the rear inner wheel line Lin and bumper line Lbp were displayed in the camera image on the display 114, the rear inner wheel line Lin or bumper line Lbp would intersect with an object in the camera image.

[0050] Furthermore, the camera image displayed on the display 114 is a camera image showing the direction of travel of the vehicle 100, and the remote driving device 11 determines whether the rear inner wheel line Lin or the bumper line Lbp intersects with an object in the camera image displayed on the display 114 by image processing based on the camera image information, information about the rear inner wheel line Lin, and information about the bumper line Lbp.

[0051] If the remote control device 11 determines "Yes" in step S215, it proceeds to step S220 and obtains the set steering angle line Lset by calculation.

[0052] The set steering angle line Lset is a line predicted to pass through the outer part of the vehicle 100 when the vehicle 100 turns with a relatively large predetermined steering angle (set steering angle δset). In this example, it is specifically the line predicted to pass through the outermost part of the outermost part of the vehicle 100 when the vehicle 100 turns with a set steering angle δset.

[0053] The set steering angle δset may be the maximum steering angle of the vehicle 100, but in this example, it is set to an angle within a predetermined range that is smaller than the maximum steering angle of the vehicle 100, based on at least one of the remote driver's operational proficiency, camera image resolution, and communication delay degree.

[0054] Specifically, the less the remote driver's operational proficiency, that is, the less experience the remote driver has driving the vehicle 100 remotely using the remote driving device 11, the smaller the set steering angle δset will be set to.

[0055] Furthermore, the lower the camera image resolution, that is, the lower the resolution of the camera image displayed on the display 114, the smaller the set rudder angle δset will be set to. In other words, when the resolution of the camera image displayed on the display 114 is the first resolution, the set rudder angle δset will be set to a smaller angle than when the resolution of the camera image displayed on the display 114 is the second resolution, which is higher than the first resolution.

[0056] Furthermore, the greater the degree of communication delay, that is, the greater the degree of delay in wireless communication between the remote driving ECU 91 and the vehicle control ECU 92, the smaller the steering angle δset will be set to. In other words, the steering angle δset will be set to a smaller angle when the delay amount of wireless communication with the vehicle 100 is a second delay amount (greater than the first delay amount) than when the delay amount of wireless communication with the vehicle 100 is a first delay amount.

[0057] Furthermore, the upper limit of the set steering angle δset can be set as appropriate. For example, it can be set to an angle that takes into account design variations and manufacturing variations of the vehicle 100 (for example, an angle that is 90% of the maximum steering angle of the vehicle 100).

[0058] Furthermore, the remote control device 11 calculates the set steering angle line Lset based on the turning radius ρ of the vehicle 100 when the vehicle 100 turns at the set steering angle δset.

[0059] For example, the turning radius ρ of vehicle 100 when vehicle 100 turns at a set steering angle δset can be obtained by calculation according to equation 1 below. In equation 1, "Kh" is the stability factor, "V" is the vehicle speed V, "L" is the wheelbase of vehicle 100, and "δset" is the set steering angle δset.

[0060] ρ = (1 + Kh × V) 2 ) × L / δset …(1)

[0061] Furthermore, when the set steering angle line Lset is calculated, the vehicle speed V is a low speed close to zero, so equation 1 can be approximated as shown in equation 2 below.

[0062] ρ = L / δset …(2)

[0063] Therefore, the remote driving device 11 obtains the turning radius ρ of the vehicle 100 when the vehicle 100 turns at a set steering angle δset by calculation according to Equation 2, and calculates the set steering angle line Lset based on the said turning radius ρ.

[0064] Furthermore, the set steering angle line Lset may be calculated to obtain both the line that the right side of the vehicle 100 will pass through when the vehicle 100 turns left at the set steering angle δset, and the line that the left side of the vehicle 100 will pass through when the vehicle 100 turns right at the set steering angle δset. Alternatively, when the vehicle 100 is turning left, only the line that the right side of the vehicle 100 will pass through may be calculated, and when the vehicle 100 is turning right, only the line that the left side of the vehicle 100 will pass through may be calculated.

[0065] Next, the remote control device 11 proceeds to step S225, setting the visibility (visibility) of the set steering angle line Lset.

[0066] In this example, the visibility of the set steering angle line Lset is determined according to at least one of the following: vehicle speed V, steering angle δ, the remote driver's proficiency level, and whether or not the stopping range line Lsp is displayed on the display 114. Specifically, the visibility of the set steering angle line Lset is set to be higher the smaller the vehicle speed V is. Furthermore, the visibility of the set steering angle line Lset is set to be higher the closer the steering angle δ is to the set steering angle δset, within the range of being less than or equal to the set steering angle δset. Also, the visibility of the set steering angle line Lset is set to be higher the lower the remote driver's proficiency level is. In addition, the visibility of the set steering angle line Lset is set to be higher when the stopping range line Lsp is not displayed on the display 114 than when it is displayed.

[0067] In this example, the vehicle control device 12 is configured to automatically stop the vehicle 100 if wireless communication with the remote control device 11 is lost, and the stopping range line Lsp is a line indicating the position (predicted stopping position) where the vehicle 100 will thus automatically stop. The remote control device 11 is configured to display the stopping range line Lsp on the display 114. However, when the vehicle speed V is relatively high, the stopping range line Lsp is located relatively far from the vehicle 100, so the remote control device 11 can display the stopping range line Lsp on the display 114. However, when the vehicle speed V is relatively low, the stopping range line Lsp is located relatively close to the vehicle 100, so the remote control device 11 cannot display the stopping range line Lsp on the display 114. For these reasons, in this example, there are cases where the stopping range line Lsp is displayed on the display 114 and cases where it is not. Therefore, the remote driving device 11 is configured to display the set steering angle line Lset on the camera image displayed on the display 114 with higher visibility than when the predicted stopping position (stopping range line Lsp) is not in a position that can be displayed within the camera image displayed on the display 114.

[0068] Next, the remote control device 11 proceeds to step S230, and as shown in Figure 3, displays the rear inner wheel line Lin and the bumper line Lbp on the camera image displayed on the display 114, and also displays the set steering angle line Lset on the camera image displayed on the display 114 with the visibility set in step S225.

[0069] Furthermore, when displaying the rear inner wheel line Lin, bumper line Lbp, and set steering angle line Lset on the camera image displayed on the display 114, the images of the rear inner wheel line Lin, bumper line Lbp, and set steering angle line Lset may be superimposed on the camera image, or the image data of the rear inner wheel line Lin, bumper line Lbp, and set steering angle line Lset may be combined with the camera image data and then displayed.

[0070] Furthermore, at this time, the remote driving device 11 displays a rear inner wheel line Lin at the position predicted to be the position where the rear inner wheel of the vehicle 100 will pass in the camera image displayed on the display 114, a bumper left edge line Lbp_L at the position predicted to be the position where the left edge of the front bumper of the vehicle 100 will pass, a bumper right edge line Lbp_R at the position predicted to be the position where the right edge of the front bumper of the vehicle 100 will pass, and a set steering angle line Lset at the position predicted to be the position where the outermost part of the outermost part of the vehicle 100 will pass when the steering angle δ is set steering angle δset.

[0071] Furthermore, if the display 114 includes a left side monitor and a right side monitor, the rear inner wheel line Lin, the bumper line Lbp, or the set steering angle line Lset may be displayed on the left side monitor or the right side monitor.

[0072] Furthermore, the remote driving device 11 may be configured to set the visibility of the rear inner wheel line Lin and / or bumper line Lbp, similar to the visibility of the set steering angle line Lset, and to display the rear inner wheel line Lin and / or bumper line Lbp on the display 114 with the visibility thus set.

[0073] Furthermore, if the rear inner wheel line Lin is displayed on the camera image of the display 114, the remote control device 11 may be configured to display the rear inner wheel line Lin on the display 114 with high visibility when the rear inner wheel line Lin intersects with an object in the camera image. In addition, in this case, the remote control device 11 may be configured to highlight the entire area where the rear inner wheel line Lin intersects with an object in the camera image by coloring it or by making that area flash.

[0074] In this example, the visibility of the set rudder angle line Lset can be changed, for example, by changing the density of the set rudder angle line Lset, changing the color of the set rudder angle line Lset, switching the line type between a solid line and a dashed line, or switching the line between continuous illumination and flashing.

[0075] Furthermore, in Figure 3, the symbol OBJ represents an object in the camera image.

[0076] Next, the remote control device 11 proceeds to step S295 and terminates the processing of this routine.

[0077] Furthermore, if the remote control device 11 determines "No" in step S205 or step S215, it proceeds directly to step S295 and terminates the processing of this routine.

[0078] The above describes the operation of the remote driving system 10. In this way, the remote driving device 11 is equipped with a remote driving control device (remote driving ECU 91) that can communicate wirelessly with the vehicle 100, and remotely assists the driving of the vehicle 100. The remote driving control device (remote driving ECU 91) acquires an image (camera image) of the direction of travel of the vehicle 100, which is acquired by the vehicle 100's imaging device (camera 126), via wireless communication and displays it on the display device (display 114) of the remote driving device 11. During a turn of the vehicle 100, the rear inner wheel line Lin, which is the predicted line that the rear inner wheel of the vehicle 100 will pass through, is displayed on the camera image shown on the display device (display 114).

[0079] According to this, while the vehicle 100 is turning, the rear inner wheel line Lin is displayed in the image (camera image) of the vehicle 100 in the direction of travel. Therefore, the operator (remote driver) who remotely assists the driving of the vehicle 100 by operating the remote driving device 11 can understand the future movement of the vehicle 100.

[0080] Furthermore, the remote control device 11 displays the set steering angle line Lset on the image (camera image) displayed on the display device (display 114).

[0081] According to this, the remote driver can determine the line (set steering angle line Lset) that the outer part of the vehicle 100 passes through when the vehicle 100 is turned at a set steering angle δset.

[0082] 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.

[0083] This invention is applicable not only to remote driving but also to remote support in general, including remote assistance and remote monitoring. Remote assistance refers to the provision of information by a remote supporter located remotely from the autonomous vehicle to continue autonomous driving when the autonomous vehicle encounters a situation it cannot handle. Remote monitoring refers to the monitoring of at least some of the autonomous vehicle's communication status, driving environment, vehicle status, autonomous driving system status, and passenger status by a person located remotely from the autonomous vehicle. [Explanation of Symbols]

[0084] 10...Remote driving system, 11...Remote driving device, 12...Vehicle control device, 91...Remote driving ECU, 92...Vehicle control ECU, 100...Vehicle, 110...Remote driving transceiver, 114...Display, 120...Vehicle control transceiver, 126...Camera

Claims

[Claim 1] A remote support device equipped with a remote support control device capable of wireless communication with a vehicle, which remotely assists the driving of the said vehicle, The remote support control device is The vehicle's imaging device acquires an image of the vehicle's direction of travel via wireless communication, and this image is displayed on the display device of the remote support device. If the first condition that the vehicle is turning is met, the bumper line predicted to be the path that the left and right ends of the vehicle's front bumper will take when the vehicle turns at its current steering angle is obtained. If the first condition is met and the second condition is met, that the vehicle speed is less than or equal to a predetermined vehicle speed and the steering angle of the vehicle is greater than or equal to a predetermined steering angle, the set steering angle used as the steering angle of the vehicle for predicting the set steering angle line, which is the line that the outer part of the turning portion of the vehicle is expected to pass through, is set based on the resolution of the image and the delay amount of the wireless communication with the vehicle. When the first and second conditions are met, the line predicted to be passed by the outer part of the vehicle when it turns at the set steering angle is acquired as the set steering angle line, and the set steering angle line is displayed on the image displayed on the display device, and the bumper line is also displayed on the image displayed on the display device. It is configured in such a way, The remote support control device is When the resolution of the image is the first resolution, the set rudder angle is set to a smaller rudder angle than when the resolution is the second resolution which is higher than the first resolution. When the delay amount of wireless communication with the vehicle is a second delay amount which is greater than the first delay amount, the set steering angle is set to a smaller steering angle than when the delay amount of wireless communication with the vehicle is a first delay amount. It is structured in such a way. Remote support device.

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