JP2008015839A - Vehicle remote control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle remote control system which has more improved safety/security during remote control. <P>SOLUTION: The vehicle remote control system using a portable terminal to move a vehicle by remote control is provided with: a judging means for judging whether the portable terminal is located in a remote control target vehicle; a restricting means for restricting the actualization of remote control using the portable telephone to move the remote control target vehicle when the portable terminal is judged to be located in the remote control target vehicle; and an authenticating means which is provided in the remote control target vehicle and authenticates whether the operator of the portable terminal is a normal user. The authenticating means outputs predetermined information to the outside of the remote control target vehicle, and authenticates the operator of the portable terminal to be the normal user when predetermined operation corresponding to the output predetermined information is applied to the portable terminal. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention generally relates to a vehicle remote control system that moves a vehicle by remote control using a portable terminal, and more particularly to a vehicle remote control system that further improves safety and security during remote control.

  Conventionally, a vehicle remote control system that moves a vehicle by remote control using a portable terminal is known (for example, see Patent Documents 1 to 3).

  Patent Document 1 discloses a device for moving a vehicle forward and backward by remote control.

  Patent Document 2 discloses a system that permits remote operation after authentication of a mobile terminal if the distance between the mobile terminal and the vehicle is within a predetermined value.

Patent Document 3 discloses an apparatus for guiding a vehicle along a movement route set from the current location of the vehicle to a target stop position.
Japanese Patent Laid-Open No. 9-160639 JP 2003-78593 A JP 2005-41433 A

  However, in the conventional apparatuses / systems described in Patent Documents 1 to 3, there is a possibility that an inappropriate remote operation may be executed from the viewpoint of ensuring safety.

  For example, in the conventional devices described in Patent Documents 1 and 3, since the remote operation is allowed as long as signals can be transmitted and received between the vehicle side and the mobile terminal side, the operator can move around the remote operation target vehicle. There is a risk that the remote operation will be executed in a state where the state of the above cannot be sufficiently confirmed.

  Further, in the conventional system described in Patent Document 2, the remote operator is allowed to be executed only when the remote operator is located in the vicinity of the vehicle. Even if it is in the cabin of the vehicle subject to remote operation and the safety of blind spots caused by pillars or the like cannot be sufficiently confirmed, the remote operation is allowed to be performed. It is hard to say that it is.

  In addition, in the conventional system described in Patent Document 2, user authentication (identity confirmation) is performed using identification information (authentication data) stored in advance in the mobile terminal (mobile phone 2) during remote operation. (Refer to paragraphs [0036] to [0037] and [0061]), such authentication that merely transmits fixed identification information stored in advance and determines whether or not it matches a normal one. Then, for example, when a wireless signal representing authentication OK is forged or transmitted, there is a possibility that the authentication may be broken by an attack by an illegal radio wave from a third party and the vehicle may be moved.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide a vehicle remote control system that further improves safety and security during remote control.

  In order to achieve the above object, a first aspect of the present invention is a vehicle remote control system for moving a vehicle by remote control using a mobile terminal, wherein the mobile terminal is located in a remote control target vehicle. And determining means for determining whether or not the mobile terminal is located in the remote operation target vehicle by the determination means and restricting the realization of the remote operation for moving the remote operation target vehicle using the mobile terminal A vehicle remote control system having a limiting means.

  In the first aspect, in the remotely operated vehicle, if the remote operator is in the front seat, the front of the vehicle is relatively easy to see, but the blind spots are relatively large in the rear of the vehicle. In view of the fact that the rear of the vehicle is relatively easy to visually recognize but the blind spots are relatively large in front of the vehicle, A) when the determination means determines that the portable terminal is located in the remotely operated vehicle. Furthermore, it is determined whether or not the portable terminal is located on the front seat side, and when the limiting means determines that the portable terminal is located on the front seat side in the remotely operated vehicle by the determining means, The mobile terminal may be used to limit the realization of the remote operation for moving the remote operation target vehicle backward, and / or B) when the mobile terminal is located in the remote operation target vehicle. When judged, further It is determined whether or not the belt terminal is located on the rear seat side, and when the limiting means determines that the mobile terminal is located on the rear seat side in the remotely operated vehicle by the determining means, You may make it restrict | limit realization of the remote operation which advances a remote operation object vehicle using.

  According to the first aspect described above, based on the insight that safety confirmation around the vehicle cannot be sufficiently performed when a person who wants to move the vehicle by remote control is in the remote control target vehicle, When the mobile terminal used for the operation is present in the remotely operated target vehicle, the target vehicle cannot be moved by remote control from the mobile terminal. Generation | occurrence | production of the situation where the movement of a vehicle is performed by operation can be avoided appropriately.

  In the first aspect, when the vehicle remote operation system restricts the realization of the remote operation of moving the vehicle to be remotely operated by using the mobile terminal by the restriction means (and outside the vehicle) If the communication device further includes a transmission means (as voice information or visual information), the reason for the failure of the remote operation is a malfunction of the device. However, it is preferable because the remote operator can recognize that the remote operation is attempted from the remote operation target vehicle.

  A second aspect of the present invention for achieving the above object is a vehicle remote control system according to the first aspect, provided in a remote operation target vehicle, and an operator of the portable terminal is a regular user. Authentication means for authenticating whether or not, the authentication means outputs predetermined information to the outside of the target vehicle, and a predetermined operation corresponding to the output predetermined information is applied to the portable terminal. When it is, it is a vehicle remote operation system which authenticates the operator of the said portable terminal that it is a regular user.

  In the second aspect, for example, the authentication unit emits light in a predetermined pattern as the predetermined information, and as the predetermined operation, for example, a) the portable with a pattern corresponding to the predetermined pattern When one or more predetermined buttons of the terminal are operated, or b) when the position of the mobile terminal itself is moved in a pattern corresponding to the predetermined pattern, or c) in the predetermined pattern When a movable part (for example, a retractable side mirror, a telescopic antenna, an opening / closing lid of a fuel filler opening, etc.) that can be manually operated from outside the vehicle is operated with a corresponding pattern. The operator of the portable terminal is authenticated as a regular user.

  According to the second aspect, from the viewpoint of preventing a third party from improperly authenticating from a remote location by illegal radio waves or the like and illegally executing the vehicle remote operation, the remote operator is placed near the vehicle. In order to confirm that the vehicle is located, an operator who emits predetermined information from the vehicle in a manner recognizable only by a person located in the vicinity of the remote operation target vehicle and confirms that the predetermined information has been recognized. By authenticating with a legitimate user, it is possible to prevent unauthorized authentication by a third party attack from a remote location.

  In the second aspect, the authentication means may include a dedicated light-emitting device, but for the sake of simplicity, a lighting device (for example, a head) mounted on the remote operation target vehicle as the predetermined information. It is preferable that at least one of a light, a hazard lamp, a small lamp, a brake lamp, a blinker, etc.) blinks in the predetermined pattern.

  In this case, 1) the vehicle remote control system is provided in a remote operation target vehicle, and further includes detection means for detecting the position of the mobile terminal, and the authentication means is the mobile terminal detected by the detection means. Based on the position, one or more lighting devices that emit light in the direction in which the mobile terminal is present among the lighting devices mounted on the remotely operated vehicle may be blinked in the predetermined pattern, or 2) The vehicle remote operation system is provided in a remote operation target vehicle and further includes detection means for detecting the position of the mobile terminal, and the predetermined pattern is a left side and a right side of the longitudinal axis of the remote operation target vehicle. A pair of lighting devices (for example, headlights, hazard lamps, small lamps, brake lamps, turn signals, etc.) are lit on one by one. And the authentication means includes a case where the portable terminal is located on the front side and a rear side of the remote operation target vehicle based on the position of the portable terminal detected by the detection means. In the predetermined pattern, the timing when the right side of the pair of lighting devices is lit and the timing when the left side is lit may be switched.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle remote control system which further improved the safety | security and security at the time of remote control can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. In addition, since a person skilled in the art knows the basic concept, main hardware configuration, operating principle, and basic control method of a vehicle remote control system that moves a vehicle by remote control using a portable terminal, Detailed description is omitted.

  Hereinafter, a vehicle remote control system according to an embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is an overall schematic diagram of a vehicle remote control system 100 according to the present embodiment, and FIG. 1A illustrates a case where an authorized user P parks (stores) a vehicle V at a predetermined parking position by remote control. FIG. 1B shows a state where the authorized user P leaves the vehicle V from a position where it is parked by remote control (moves it to a position where it can be easily boarded).

  A vehicle remote operation system 100 according to the present embodiment includes an in-vehicle device 101 mounted on a vehicle V that is a target of remote operation, and a portable terminal 102 that is carried by a remote operator P who is an authorized user of the remote operation target vehicle V. It consists of.

In FIGS. 1A and 1B, for convenience, a case where one remote operator P remotely operates one remote operation target vehicle V is illustrated, but a plurality of vehicles V _{1 to} V _N are illustrated. The system may be configured such that _one remote operator P who is an authorized user can remotely control each of the plurality of vehicles V _{1 to} V _N , and conversely, one vehicle V Even if a plurality of persons P _{1 to} P _N are set as authorized users, the system configuration is such that each of the plurality of remote operators P _{1 to} P _N can remotely control one vehicle V. Good.

  In the latter case, it is desirable that two or more cannot be remotely operated at the same time so as not to confuse the operation system. In addition, when the configuration is such that a plurality of users can be registered as regular users as in the latter case, regular user registration is allowed only during engine operation so that a malicious third party cannot arbitrarily register as a regular user. It is desirable to take measures such as to prevent the authorized user registration from being allowed unless it is done by the work / operation of a professional staff at a store or the like.

  In the case of entering / exiting by remote operation as shown in FIG. 1, for example, the parking space is narrow, so the distance between the left and right (or front and rear) surrounding parked vehicles is narrow, and the remotely operated vehicle V is parked at a predetermined parking position. In this state, it is difficult to open the door sufficiently large, and it is particularly useful in situations where it is difficult to get on and off the vehicle V.

  FIG. 2 is a schematic configuration diagram of an in-vehicle device 101 mounted on a remotely operated vehicle in the vehicle remote operation system 100 according to the present embodiment.

  The in-vehicle device 101 includes a communication unit 201 that receives a radio signal transmitted from the mobile terminal 102. The performance and shape of the antenna included in the communication unit 201 and the method and frequency band used for communication are not particularly limited and may be arbitrary. Specifically, for example, it is conceivable to adopt a wireless communication system compliant with a communication standard such as an existing wireless LAN (Wireless Local Area Network) or DSRC (Dedicated Short Range Communication).

  The in-vehicle device 101 further includes a vehicle speed detection unit 202 that detects the vehicle speed of the host vehicle. The vehicle speed detection unit 202 detects the vehicle speed of the host vehicle using, for example, a wheel speed sensor. In the present embodiment, the vehicle speed detection unit 202 is used to measure the movement distance of the host vehicle in a parking lot, for example, as will be described later. It is preferable to have a performance capable of detecting the vehicle speed well.

  The in-vehicle device 101 further includes a steering angle detection unit 203 that detects the rotation angle of the steering wheel. The steering angle detection unit 203 may have any configuration and structure known to those skilled in the art as long as the steering angle can be detected. For example, a sensor configured to output a pulse signal every time the steering wheel rotates by a certain angle. including. In this case, the steering angle of the steering wheel can be detected by counting the number of pulse signals output from such a sensor.

  The in-vehicle device 101 further includes a storage unit 204 that stores in advance authentication pattern data that will be described in detail later. The storage unit 204 may be a storage medium of any type / standard.

  The in-vehicle device 101 further includes a steering control unit 205. A steering control unit 205 is provided that can change the traveling direction of the vehicle by turning the steering wheel independently of the steering operation input to the steering handle by the vehicle driver. The steering control unit 205 is an ECU for electric power steering (EPS), for example, and specifically controls energization of, for example, an electric motor (motor) having a worm gear attached to an output shaft. In this case, the worm gear is fixedly attached to the column shaft (steering shaft) and meshed with a wheel gear that rotates integrally around the column shaft. Further, the column shaft is connected to a rack shaft (rack bar) through a so-called rack and pinion type steering gear. With such a configuration, by energizing the motor, the column shaft can be arbitrarily rotated to generate a desired steering torque.

  The in-vehicle device 101 further includes a driving force control unit 206 that controls the magnitude of the driving force generated in the host vehicle independently of the accelerator pedal operation by the driver. The drive force control unit 206 a) in an engine vehicle using an engine (internal combustion engine) as a drive source, controls the throttle valve opening to adjust the engine output, and b) mounts two power sources, In a hybrid vehicle in which one of them is an electric motor and an electric vehicle using an electric motor as a power source, the magnitude of the driving force of the own vehicle is controlled by controlling the output torque of the electric motor.

  The in-vehicle device 101 further includes a braking force control unit 207 that controls the magnitude of the braking force generated in the host vehicle independently of the brake pedal operation by the driver, for example, by controlling the brake hydraulic pressure.

  The in-vehicle device 101 further includes a lamp control unit 208 that performs on / off control of lamps mounted on the host vehicle. Here, the lights include, for example, a headlight, a hazard lamp, a small lamp, a brake lamp, a blinker lamp, and the like.

  The in-vehicle device 101 further includes an alarm output unit 209 that notifies a user who is a remote operation requester that the remote operation is requested but the execution is rejected because the requirements necessary for the operation execution are not satisfied. . This is mainly an alarm aimed at communicating to the user that the reason why the remote control is not executed but the reason why it is not executed is not a failure of the device or the like, but because the predetermined requirement is not satisfied It is. The conditions required for the remote operation execution in this embodiment will be described in detail later.

  In this embodiment, the alarm output unit 209 outputs an alarm by displaying, for example, A) visual information such as characters and / or charts indicating the alarm content on an arbitrary display installed in the passenger compartment. Or B) to output an alarm by lighting or blinking an alarm indicator or existing lights (such as a hazard lamp) provided exclusively in the passenger compartment or outside the vehicle. Or C) may be configured to output an alarm by providing it from a speaker installed inside or outside the vehicle as audio information that conveys the alarm content, or D) these An alarm may be output by any combination of the above.

  The in-vehicle device 101 further includes a main control unit 210 that comprehensively controls each component of the in-vehicle device 101. The main control unit 210 is, for example, an ECU (Electronic Control Unit).

  In the present embodiment, the main control unit 210 is configured to receive ignition switch (IG) on / off information.

  FIG. 3 is a schematic configuration diagram of the portable terminal 102 that is an operation terminal used by the authorized user P of the vehicle V to park / ship the vehicle V by remote operation in the vehicle remote operation system 100 according to the present embodiment.

  The mobile terminal 102 includes a communication unit 301 for communicating with the in-vehicle device 101 (the communication unit 201) mounted on the remote operation target vehicle V. The performance and shape of the antenna included in the communication unit 301 and the method and frequency band used for communication are not particularly limited and may be arbitrary. Specifically, for example, it is conceivable to adopt a wireless communication system compliant with a communication standard such as an existing wireless LAN or DSRC.

  The portable terminal 102 further includes a user input unit 302 that allows a user to perform an input operation necessary for remote operation. The user input unit 302 includes, for example, a keypad or an arrow key provided as a push button or arranged on a touch panel display. The user input unit 302 may be configured to have a voice input function with the aim of eliminating the need for manual operation by the user.

  In the present embodiment, the user input unit 302 is mainly configured so that the authorized user P of the remote operation target vehicle V a) requests the in-vehicle device 101 to start remote operation, b) sets the target parking / shipping position, and C) Used for performing an input operation necessary for user authentication.

  Information input by the user through the user input unit 302 is appropriately transmitted to the in-vehicle device 101 by the communication unit 301. Details will be described later.

  Here, the portable terminal 102 is described as if it is a portable operation terminal dedicated to remote operation according to the present embodiment, but the present embodiment is not limited to such an embodiment. The mobile terminal 102 may be realized as a function built in a portable information communication terminal device such as a mobile phone or a PDA (Personal Digital Assistants), or may be called “Smart Key System” (registered trademark) or the like. It may be an integrated terminal having a function of an electronic key used in a known smart entry & push start system.

  Next, the flow of the operation / processing of parking / shipping remote operation in the vehicle remote control system 100 having such a configuration will be described with reference to the flowcharts of FIGS.

  First, the main control unit 210 of the in-vehicle device 101 waits for a remote operation request for parking or leaving from the portable terminal 102 (S11).

  When the remote operation request is received (“YES” in S11), the main control unit 210 of the in-vehicle device 101 then carries the mobile operation that requested the remote operation as a first requirement for permitting execution of the remote operation. It is determined whether or not the terminal 102 is located outside the host vehicle V (S12).

  This is because when the remote operator holding and operating the mobile terminal 102 gets into the vehicle interior of the remotely operated vehicle, the remote operator is blinded by the situation around the host vehicle V, in particular, the pillar of the vehicle. Based on the insight that there is a high possibility that the safety of the area to be confirmed cannot be fully confirmed, parking (entrance) / exit remote control will not be executed when the remote operator is in the remotely operated vehicle It is a judgment to make.

  In addition, when leaving in the “following mode” described in detail later, if the remote operator P holding the mobile terminal 102 is present in the remotely operated vehicle V, the “following mode” itself will function normally. This is because the problem that the vehicle V cannot be moved may also occur.

  In the present embodiment, the main control unit 210 of the in-vehicle device 101 employs any method known to those skilled in the art as a method for determining whether or not the mobile terminal 102 that is the remote operation request source is located outside the vehicle. can do. As a possible method, for example, a) A receiver that receives a remote operation request signal from the mobile terminal 102 is installed outside the vehicle V, and a signal from the passenger compartment is received by attenuation or the like by a radio wave shield or the like, for example. (I.e., if a remote operation request is received, it is determined that the mobile terminal 102 of the transmission source is located outside the vehicle V), or b) a remote operation request signal from the mobile terminal 102 The receiver to receive is installed both in the vehicle outside and in the vehicle interior, and is determined from the difference in received power (that is, when the received power in the vehicle interior side receiver is larger than the received power in the vehicle outside receiver, It is determined that the mobile terminal 102 is present in the vehicle), or c) the mobile terminal 102 is integrated with the smart entry & push start system key described above. If it is, using the key detection function of the system, the mobile terminal 102 performs the detection of whether existing in the passenger compartment, and a technique such as.

  When it is determined that the mobile terminal 102 is present in the vehicle interior of the remotely operated vehicle V (“NO” in S12), the main control unit 210 does not accept a remote operation request from the vehicle interior to the alarm output unit 209. An alarm indicating that this is to be transmitted to the user is output (S16), and one routine of this processing flow is terminated without executing the requested parking (entry) / outgoing remote operation. This alarm output is also intended to inform the user that the reason why the requested remote operation is not executed is not a malfunction of the device or the like, and that it can be operated when going out of the vehicle.

  On the other hand, when the mobile terminal 102 is located outside the remote operation target vehicle V (“YES” in S12), the main control unit 210 then reads out authentication pattern data stored and held in advance in the storage unit 204 to perform user authentication. A random ad hoc authentication pattern for the vehicle is generated, and the lights control unit 208 is instructed to output the generated authentication pattern to the outside of the vehicle using a headlight (S13).

  Here, the authentication pattern is a lighting pattern of the left and right headlights that are randomly generated. For example, “right headlight on → off” → “left headlight on → off” → “right headlight on → off” "→" Left headlight on / off "(hereinafter abbreviated as" right → left → right → left "for convenience).

  The main control unit 210 generates a random authentication pattern (in this case, the timing / order of turning on / off the left and right headlights) from the authentication pattern data stored and stored in the storage unit 204 in advance. It is also possible to further improve security by using user-specific information such as biometric information (fingerprint, iris, glow, vein, face, voiceprint, etc.) and immobilizer ID as a key for pattern generation.

  The timing / sequence of turning on / off the left and right headlights is sufficient to enable the remote operator who is an observer to determine whether the headlights are turned on and whether the left and right headlights are turned on. If it is not located in the vicinity of the vehicle, it cannot be visually recognized or discriminated.

  Therefore, whether or not the remote operation requester is located in the immediate vicinity of the remote operation target vehicle V by checking whether or not the remote operation requester can recognize the authentication pattern output through such a headlight. Can be determined.

  That the remote operation requester is located outside the remote operation target vehicle V and in the immediate vicinity means that it is in a state where the surroundings of the vehicle can be sufficiently safely confirmed before the remote operation. .

  The requester of remote vehicle operation performs an input operation corresponding to the lighting / extinguishing pattern of the headlight through the user input unit 302 of the portable terminal 102 for user authentication. For example, if the authentication pattern output by the headlight is “Right → Left → Right → Left”, ““ Right headlight is turned on → Press the button corresponding to turning off (eg right arrow key) ”→“ Left headlight is turned on ” → "Press the button corresponding to turning off (for example, the left arrow key)" → "Right headlight lighting → Press the button corresponding to turning off" → "Left headlight lighting → Press the button corresponding to turning off".

  This input information is transmitted to the in-vehicle device 101 through the communication unit 301 and received by the communication unit 201. The main control unit 210 receives user input operation information for the portable terminal 102 by the communication unit 201, and determines whether or not the input pattern matches the authentication pattern output to the outside of the vehicle by the headlight (S14). .

  When it is determined that the user input that matches the authentication pattern has not been performed (“NO” in S14), the main control unit 210 of the in-vehicle device 101 notifies the user that the user authentication has failed to the alarm output unit 209. Alarm is output (S16). This alarm is an alarm that has a different visual and / or acoustic effect from an alarm when a remote operation request is made from within the vehicle (S16 from “NO” in S12), and can be distinguished by the user. Preferably there is.

  On the other hand, when it is determined that the user operation that matches the authentication pattern output to the outside of the vehicle through the headlight is input to the mobile terminal 102 (“YES” in S14), the main control unit 210 determines that the remote operation request source The operator of the portable terminal 102 is authenticated as an authorized user of the remotely operated vehicle V (S15).

  For example, in the case of a mechanism in which user authentication is completed by, for example, biometric authentication or password input in the mobile terminal 102, a radio signal itself indicating “authentication OK” transmitted from the mobile terminal 102 to the in-vehicle device 101 is forged and transmitted. If this is the case, the in-vehicle device 101 may misrecognize such illegal / interfering radio waves as a signal from a legitimate user, and the vehicle may be allowed to move. Information transmitted from the vehicle 102 to the in-vehicle device 101 is simply user operation information that “a button previously associated with turning on / off the right / left headlight has been pressed”, and the pattern is in the vicinity of the vehicle. Because it is a pattern that can only be recognized by a human being, it is practical for a third party to forge and transmit a wireless signal that matches the authentication pattern from a remote location. It can be impossible.

  Thus, when it is confirmed that the remote operation requester is an authorized user located outside the remote operation target vehicle, the main control unit 210 of the in-vehicle device 101 includes a steering control unit 205, a driving force control unit 206, After confirming that the braking force control unit 207 can operate normally, for example, 1) sounding a horn (horn) or 2) outputting a predetermined voice message or buzzer sound outside the vehicle 3) The mobile terminal 102 is equipped with a voice output function, and a predetermined voice message or buzzer sound is output from the mobile terminal 102 by remote control from the in-vehicle device 101, or 4) the hazard lamp blinks. 5) The mobile terminal 102 is equipped with a vibration function, and the mobile terminal 102 is vibrated by remote control from the in-vehicle device 101, or 6) mobile A terminal 102 is equipped with a display, and a predetermined character message is displayed on the portable terminal 102 by remote operation from the in-vehicle device 101. 7) Headlights are displayed in a predetermined pattern (for example, left and right headlights simultaneously). Or blinking at a short interval, such as “Pap”, or 8) Any combination of two or more of the above 1) to 7) (simply using two or more systems simultaneously, for example, Carrying out horns during the day / flashing the headlights during the night, etc., depending on the surrounding environment), etc. This is signaled (S17).

  When alerting the user that the vehicle starts to move in this way, the main control unit 210 of the in-vehicle device 101 instructs the braking force control unit 207 to release the electric parking brake and turn on the brake. It is in a standby state where it can start moving at any time.

  Next, the main control unit 210 confirms whether or not the engine is operating (S18). If the engine is not operating ("NO" in S18), the main control unit 210 is operated (S19). For example, when a vehicle is to be parked in a narrow parking space where there is not enough space to get off, the user drives the vehicle close to the parking space, stops it, gets off without stopping the engine, and then remotely operates When parking (entry) is instructed by S, the engine is still operating (“YES” in S18), and S19 is skipped.

  These steps S18 to S19 are unnecessary for a vehicle whose power source is other than the engine. However, in the case of a hybrid vehicle in which one of the power sources is an engine, a) when the remaining battery capacity is below a certain level, or b) when leaving the vehicle, it is necessary to warm the engine and / or catalyst with warm air. Or c) when it is desired to notify a third party around the remotely operated vehicle that the vehicle starts to move, the engine may be started. On the other hand, d) When it is determined from the clock or user settings that it is nighttime, or e) When it is determined from the GPS or the like that the area is provided with the idling stop ordinance, or f) Remote operation target It is preferable not to start the engine when it is found from a clearance sonar, radar, tire interference sensor, camera, or the like that a third party is located near the traveling direction of the vehicle or the muffler.

  Next, the main control unit 210 of the in-vehicle device 101 determines whether or not the requested remote operation is a leaving operation in the follow-up mode (S20).

  Here, the follow-up mode means that the in-vehicle device 101 travels the vehicle V according to the position of the mobile terminal 102 and the change in the position so that the distance between the vehicle V and the mobile terminal 102 is reduced to a predetermined distance. This is a remote operation mode in which the vehicle V parked in the parking space is delivered until the user desires.

  Here, the in-vehicle device 101 determines the position of the mobile terminal 102, for example, a) the presence direction and the distance interval of the mobile terminal 102 from the reception power and reception direction of the radio wave transmitted from the mobile terminal 102 in the in-vehicle device 101. Alternatively, b) a camera that captures the mobile terminal 102 may be provided, and the presence direction and distance interval of the mobile terminal 102 may be determined by performing image analysis processing on the captured image, or c) a) above And b) may be used to determine the direction in which the mobile terminal 102 exists and the distance interval.

  Whether to leave in the follow-up mode may be comprehensively set in advance by the user before the remote operation, or may be selected and designated by the user every time a remote exit operation request is made.

  When the requested remote operation is not the exit in the follow-up mode (“NO” in S20), the remote operator is requested to set the target parking (entrance) / exit position (S21). The target parking position is set through the user input unit 302 while the user looks at the display screen, for example.

  In the case of delivery in the follow-up mode (“YES” in S20), there is no need to set the target position, and S21 is skipped.

  Next, the main control unit 210 of the in-vehicle device 101 determines the moving distance of the own vehicle based on the moving distance of the own vehicle based on the vehicle speed detected by the vehicle speed detecting unit 202 and the steering wheel steering angle detected by the steering angle detecting unit 203. While monitoring, the steering control unit 205, the driving force control unit 206, and the braking force control unit 207 are instructed to follow the movement of the mobile terminal 102 if the follow mode is set. The host vehicle is caused to travel so as to reach the target position (S22).

  In either case of parking (entrance) / exit, in order to ensure safety, the main control unit 210 monitors the vehicle speed detected by the vehicle speed detection unit 202 while the vehicle is moving, and the driving force control unit 206 and braking force are monitored. The control unit 207 is instructed to slow down the host vehicle V.

  In the case of leaving in the follow-up mode, the remote operator holding the mobile terminal 102 stands in front of the remote operation target vehicle V and looks at the vehicle V directly in front while ensuring safety of himself and the surroundings of the vehicle V. Then, the vehicle moves backward (rearward) toward a desired position (for example, a position where the door of the vehicle V can be opened enough to get on). That is, the in-vehicle device 101 is configured to move the vehicle V so that the distance between the head of the vehicle V and the mobile terminal 102 is maintained at a predetermined distance in the follow-up mode. It is also possible to move the vehicle V together so that the user holding the mobile terminal 102 moves together, that is, the distance between one side of the vehicle V and the mobile terminal 102 is kept at a predetermined distance. However, it is considered relatively unfavorable in that the blind spot from the user increases depending on the surrounding situation.

  In such a follow-up mode, the remote operator P holding the portable terminal 102 is remotely operated in order for the user to check the safety around the vehicle V and for the in-vehicle device 101 to detect the position of the portable terminal 102. It is necessary to be located within a predetermined distance / angle range with respect to V. If the user is not located within such a predetermined range at the start of delivery in the tracking mode of the vehicle V, first, automatic travel (for example, turnover or the like) is executed once with such a range as the target position. Then, the tracking mode may be entered.

  In addition, the surrounding environment of the vehicle V is relatively dark, such as when the vehicle is moved by the remote operation at night or in the rain, regardless of whether the vehicle is parked (entering) or out of the vehicle and in the follow-up mode. When it is performed below, the main control unit is lit so that the feet of the user who is the remote operator P, the predicted traveling direction region of the vehicle V predicted from the current or past movement history, and the like are illuminated during the vehicle movement. 210 is preferably configured to instruct the lights control unit 208 to turn on the headlight of the vehicle V. In that case, for example, the determination of whether or not the headlight needs to be turned on may be determined by using a light amount sensor to determine that the headlight needs to be turned on when the amount of light outside the vehicle is below a predetermined level. Or, b) more simply, the predetermined time zone may be determined in advance as nighttime when the headlight needs to be turned on, and may be determined according to the time indicated by the in-vehicle clock, or c) using a rain sensor, When the rainfall is above a predetermined level, it may be determined that the headlight needs to be turned on.

  Furthermore, the remote operation target vehicle V is equipped with a device for detecting an obstacle such as a camera or a radar so that the obstacle around the vehicle and / or the user is detected while the vehicle is moving by the remote operation. If detected, for example, 1) sounding a horn (horn), 2) outputting a voice message or buzzer sound for alerting to the outside of the vehicle, or 3) a voice output function to the portable terminal 102 And a voice message or buzzer sound for alerting is output from the mobile terminal 102 by remote control from the in-vehicle device 101, or 4) a hazard lamp blinks, or 5) the mobile terminal 102 Equipped with a vibration function to vibrate the mobile terminal 102 by remote control from the in-vehicle device 101, or 6) mount a display on the mobile terminal 102 In addition, a text message for calling attention is displayed on the mobile terminal 102 by remote operation from the in-vehicle device 101, or 7) any combination of two or more of the above 1) to 6), etc. It is preferably configured to alert the user.

  In addition, especially in the case of leaving in the follow-up mode, as described above, the user moves backward while looking at the vehicle V directly in front, so that the in-vehicle device 101 detects the orientation of the face of the user located in front of the vehicle V. The direction and area that are blind spots for the user (for example, if the user is looking at the vehicle V in front, the user is behind the user, and if the user is looking at the rear, the vehicle is The surroundings of V, etc.) may be detected dynamically, and obstacle detection may be executed only for the blind spot direction / region. In this case, in order to accurately detect the orientation of the face of the remote operator P, it is desirable that the above-described process of turning on the headlight is also performed if the surroundings are dark during the movement of the vehicle.

  In this way, the in-vehicle device 101 monitors the stop timing while moving the remotely operated vehicle V (S23). When the target stop position is set, the time when the target position is reached is the timing of stopping, that is, the automatic travel stop.

  In the case of leaving in the follow-up mode, for example, the time when the mobile terminal 102 has not moved for a certain period can be set as the stop timing.

  When the delivery in the follow-up mode is configured such that the vehicle V follows the mobile terminal 102 only while the user performs a predetermined operation (for example, pressing a predetermined button) on the mobile terminal 102, The stop timing is when the predetermined operation is not executed for a certain period.

  Also, when the remote operator issues a stop command to the in-vehicle device 101 through the user input unit 302 of the mobile terminal 102, the vehicle V is assumed to stop moving for entry / exit.

  The automatic traveling of the vehicle V is continued until one of such stop timings is reached ("NO" in S23 and the process returns to S22).

  On the other hand, when any stop timing is reached and the vehicle V stops (“YES” in S23), the main control unit 210 of the in-vehicle device 101 causes the braking force control unit 207 to apply an electric power brake and, for example, 1 2) A predetermined voice message or buzzer sound is output to the outside of the vehicle, or 3) The mobile terminal 102 is equipped with a voice output function, and is remote from the in-vehicle device 101. A predetermined voice message or buzzer sound is output from the mobile terminal 102 by operation, or 4) the hazard lamp blinks, or 5) the mobile terminal 102 is equipped with a vibration function and is remotely operated from the in-vehicle device 101. Or 6) The mobile terminal 102 is equipped with a display and is remotely connected to the in-vehicle device 101. 7) Flashing the headlights in a predetermined pattern (for example, flashing the left and right headlights at the same time at short intervals, etc.) 8) Arbitrary combinations of two or more of the above 1) to 7) (not only using two or more systems at the same time, but also, for example, horn blowing during the day, headlight blinking at night, etc. The remote operator is signaled that the vehicle has stopped (S24).

  Next, the main control unit 210 of the in-vehicle device 101 determines whether or not the current remote operation is parking (entry) (or whether or not it is not exited) (S25).

  If it is determined that the vehicle is parked (entry) (“YES” in S25), it is determined that the possibility that the user will get on the vehicle V and start running immediately after the vehicle stops and the engine is automatically activated. It is turned off (S26). However, at that time, for example, when music content is being downloaded in communication with the center, or when the remaining battery capacity in the hybrid vehicle is below a certain level, the download waits or the battery charging is completed. The engine may be turned off later.

  On the other hand, if it is determined that the vehicle is leaving (“NO” in S25), it is determined that there is a high possibility that the user gets on the vehicle V as it is after stopping and starts running, and the engine is not turned off (S26). Skip).

  The determination as to whether or not the remote operation of parking (warehousing) may be made based on, for example, a) information selected and input in advance by the user at the time of remote operation request, or b) For example, a device for detecting the current position of the host vehicle V, such as GPS (Global Positioning System), is installed, and parking is performed when the current vehicle position is within a predetermined parking space frame. Or c) the vehicle V is parked in a predetermined manner using a remote monitoring target vehicle V or a surrounding surveillance camera installed in a parking lot where there is a parking space to be parked (warehousing). It may be determined that the vehicle is parked (entered) when the vehicle stops within the space frame, or d) the vehicle-mounted device 101 starts the engine of the vehicle V. It is configured to record a movement history, a traveling history, and a door opening / closing history, and based on these histories, it may be determined whether or not the vehicle is parked at the time of stopping, or e) in the vehicle interior of the vehicle V A parking mode selection button may be provided, and it may be determined by whether or not the button is pressed before getting off just before the user parks (enters) the vehicle V by remote operation, or f) a) to above It may be determined by any combination of two or more of e).

  Thus, according to the present embodiment, when it is determined that the mobile terminal that is the transmission source of the remote operation command is present in the remote operation target vehicle, the remote operation is not executed. The occurrence of a situation in which the vehicle movement by remote operation is executed in a state where the user cannot sufficiently confirm the situation around the remote operation target vehicle is appropriately avoided, and the safety during vehicle movement by remote operation is further improved be able to.

  Further, according to the present embodiment, remote control is permitted only when the remote operator is sufficiently close to the vehicle so that it can be considered that safety confirmation around the vehicle to be remotely operated is sufficiently performed. For example, even if the three parties send illegal radio waves indicating successful authentication, etc., the vehicle cannot be moved, so the security when moving the vehicle by remote control can be further improved. .

  In the above-described embodiment, as an example, the authentication pattern is output to the outside of the vehicle by blinking the left and right headlights. However, the present invention is not limited to such an embodiment, and remote control is performed. Any method can be adopted as long as it can be confirmed that the person is located in the vicinity of the remotely operated vehicle.

  For example, instead of blinking the headlight, the headlight irradiation direction (according to the existing variable light distribution system: Adaptive Front-lighting System (AFS)), the hazard / blinker lamp, the small lamp, or the brake lamp Another pair of left and right lamps such as blinking may be used to visually output an authentication pattern consisting of left and right similar to the case of the above-described embodiment to the outside of the vehicle. As long as the remote operator can perform an operation associated in advance as an indication that the authentication pattern has been recognized, these plural types of lights / lamps may be used in appropriate combination.

  In any case, when outputting an authentication pattern using lights, the direction in which the mobile terminal, that is, the remote operator as seen from the remote operation target vehicle is detected in advance by the method described above, Only the light / lamp in the direction of the remote operator may be used for authentication pattern output.

  Specifically, for example, when the remote operator is located on the right side of the remotely operated vehicle, the authentication pattern may be output by the right front turn signal lamp and the right rear turn signal lamp. Further, for example, a method in which a headlight is used when the remote operator is located in front of the remotely operated vehicle and a brake lamp is used when located at the rear is also possible. However, when switching between the front / rear lights / lamps, the left and right for the vehicle and the left and right viewed from the remote operator are interchanged, so that the left and right are reversed on the vehicle side that received the user input operation information. It becomes necessary to make a coincidence judgment.

  In the case of a vehicle equipped with a mechanism capable of adjusting the vehicle height, such as a pneumatically controlled suspension, for example, the upper and lower patterns can be adopted instead of the left and right patterns as described above by moving the vehicle up and down.

  In the above embodiment, as an example, in order to confirm that the remote operation requester holding the mobile terminal is located outside the remote operation target vehicle and close to the vehicle, user authentication is performed. Therefore, the user is required to perform an input operation (for example, pressing the left and right arrow keys) to the mobile terminal corresponding to the authentication pattern (in the above embodiment, as an example, the lighting pattern of the left and right headlights). However, the present invention is not limited to such an embodiment. For example, A) operation of movable parts (for example, a retractable side mirror, a telescopic antenna, an opening / closing lid of a fuel filler opening, etc.) that can be manually operated from the outside of the parts of the vehicle to be remotely operated is required. (For example, the left and right side mirrors are tilted in accordance with the left and right authentication patterns that have been output → are awakened, or these movable parts must be moved before the input operation to the portable terminal as described above must be performed. Or B) the mobile terminal itself may be required to move (shake) to the left or right according to the output left and right authentication patterns, or C) the mobile terminal. According to the left and right authentication pattern output (for example, the right (left) when the user's body completely comes to the right (left) side of the remotely operated vehicle) And that there is an input, etc.) as. Here, in the case of B), it is possible to detect in which direction the mobile terminal is shaken by incorporating an acceleration sensor in the mobile terminal, for example. Further, in the case of C), the presence direction of the mobile terminal can be detected by image analysis processing using a camera, for example, as in the case described above.

  In the above embodiment, as an example, when a mobile terminal used for remote operation (a remote operator holding the mobile terminal) is present in the vehicle interior of the vehicle subject to remote operation, the vehicle is uniformly parked by remote operation ( Entry / exit is prohibited, but the present invention is not limited to such an embodiment. For example, if the remote operator is in the front seat of the vehicle, the front of the vehicle is relatively easy to see, but there are relatively many blind spots behind the vehicle. Conversely, if the remote operator is in the back seat, the rear of the vehicle is relatively easy to see. Based on the insight that there will be a relatively large number of blind spots in front of the vehicle, it is determined whether or not a portable terminal used for remote operation exists in the vehicle interior of the remotely operated vehicle. In addition, it is also determined whether it is present in the front seat or the rear seat in the passenger compartment, and when it is determined that the mobile terminal is located on the front seat side, only the remote operation for moving the vehicle subject to remote operation backward is performed. If it is prohibited and it is determined that the vehicle is located on the rear seat side, only remote operation for moving the vehicle subject to remote operation forward may be prohibited.

  Furthermore, in the above-mentioned one embodiment, as an example, the actual vehicle movement is started when the user authentication is completed after the remote operation command, but the present invention is not limited to such an embodiment, The system may be configured such that user authentication is performed first and a remote operation request can be accepted only for a predetermined period after the authentication is completed.

  The present invention can be used for a vehicle remote control system. The power source type, fuel type, appearance design, weight, size, running performance, etc. of the vehicle to be controlled are all unquestioned.

It is a figure which shows the mode of entering / exiting by the vehicle remote control system which concerns on one Example of this invention. It is a schematic block diagram of the vehicle-mounted apparatus mounted in the remote operation object vehicle in the vehicle remote control system which concerns on one Example of this invention. It is a schematic block diagram of the portable terminal used in order to command remote operation in the vehicle remote control system which concerns on one Example of this invention. It is a part of flowchart which shows the flow of the vehicle remote control process by the vehicle remote control system which concerns on one Example of this invention. It is the remainder of the flowchart which shows the flow of the vehicle remote control process by the vehicle remote control system which concerns on one Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Vehicle remote control system 101 Car-mounted apparatus 102 Portable terminal 201 Communication part 202 Vehicle speed detection part 203 Steering angle detection part 204 Storage part 205 Steering control part 206 Driving force control part 207 Braking force control part 208 Lights control part 209 Alarm output part 210 Main control unit 301 Communication unit 302 User input unit

Claims (11)

A vehicle remote control system for moving a vehicle by remote control using a mobile terminal,
Determining means for determining whether or not the mobile terminal is located in a remotely operated vehicle;
Limiting means for restricting realization of remote operation for moving the remote operation target vehicle using the mobile terminal when the determination unit determines that the mobile terminal is located in the remote operation target vehicle. Vehicle remote control system. The vehicle remote control system according to claim 1,
When the determination means determines that the mobile terminal is located in the remote operation target vehicle, the determination means further determines whether or not the mobile terminal is positioned on the front seat side,
The restricting means restricts the realization of the remote operation for retreating the remotely operated target vehicle using the portable terminal when the determining means determines that the portable terminal is located on the front seat side in the remotely operated target vehicle. A vehicle remote control system characterized by that. The vehicle remote control system according to claim 1 or 2,
When the determination means determines that the mobile terminal is located in the remote operation target vehicle, the determination means further determines whether or not the mobile terminal is located on the rear seat side,
The restricting means restricts the realization of the remote operation to advance the remote operation target vehicle using the mobile terminal when the determination means determines that the mobile terminal is located on the rear seat side in the remote operation target vehicle. A vehicle remote control system characterized by that. The vehicle remote control system according to any one of claims 1 to 3,
When the restriction means restricts the realization of the remote operation for moving the remotely operated vehicle using the portable terminal, the restriction means further includes a transmission means for transmitting the fact to the operator of the portable terminal. Vehicle remote control system. The vehicle remote control system according to any one of claims 1 to 4,
Provided in a remotely operated vehicle, further comprising an authentication means for authenticating whether or not the operator of the mobile terminal is an authorized user;
The authentication means outputs predetermined information to the outside of the target vehicle, and when a predetermined operation corresponding to the output predetermined information is applied to the portable terminal, an operator of the portable terminal is designated as an authorized user. A vehicle remote control system characterized by authenticating that The vehicle remote control system according to claim 5,
The authentication means emits light in a predetermined pattern as the predetermined information, and when one or more predetermined buttons of the portable terminal are operated with a pattern corresponding to the predetermined pattern as the predetermined operation A vehicle remote control system for authenticating an operator of the portable terminal as an authorized user. The vehicle remote control system according to claim 5,
The authentication means emits light in a predetermined pattern as the predetermined information, and when the position of the mobile terminal itself is moved in a pattern corresponding to the predetermined pattern as the predetermined operation, A vehicle remote control system for authenticating an operator as an authorized user. The vehicle remote control system according to claim 5,
The authentication means emits light in a predetermined pattern as the predetermined information, and can be manually operated from outside the vehicle among the components of the remote operation target vehicle in a pattern corresponding to the predetermined pattern as the predetermined operation. When a movable part is operated, the operator of the said portable terminal is authenticated as an authorized user, The vehicle remote control system characterized by the above-mentioned. The vehicle remote control system according to any one of claims 6 to 8,
The vehicle authentication system according to claim 1, wherein the authentication unit blinks at least one of the lighting devices mounted on the remote operation target vehicle as the predetermined information in the predetermined pattern. The vehicle remote control system according to claim 9, wherein
Provided in a remotely operated vehicle, further comprising a detecting means for detecting the position of the mobile terminal;
The authentication unit includes at least one lighting device that emits light in a direction in which the portable terminal is present among lighting devices mounted on the remote operation target vehicle based on the position of the portable terminal detected by the detection unit. A vehicle remote control system characterized by flashing in the predetermined pattern. The vehicle remote control system according to claim 9, wherein
Provided in a remotely operated vehicle, further comprising a detecting means for detecting the position of the mobile terminal;
The predetermined pattern is for lighting one of a pair of lighting devices respectively provided on the left and right sides of the longitudinal longitudinal axis of the remotely operated vehicle,
Based on the position of the mobile terminal detected by the detection means, the authentication unit is configured to perform the predetermined pattern depending on whether the mobile terminal is positioned on the front side or the rear side of the remote operation target vehicle. The vehicle remote control system according to claim 1, wherein the timing at which the right side of the pair of lighting devices is turned on and the timing at which the left side is lit are switched.

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