JP2019166992A - Vehicle control device and computer program - Google Patents

Abstract

To improve safety of an operator outside a vehicle who instructs automatic travelling of the vehicle.SOLUTION: A vehicle 10 detects a condition of the periphery of an own vehicle in accordance with output signals from a sensor installed on the own vehicle. The vehicle 10 automatically travels in accordance with the condition of the periphery of the own vehicle when a prescribed instruction is input by an operator 14 outside the vehicle. The vehicle 10 detects a condition of the periphery of the operator 14 in accordance with the output signals from the sensor. The vehicle 10 notifies the operator 14 of the fact that the operator 14 is in a dangerous condition in accordance with the condition of the periphery of the operator 14.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to data processing technology, and more particularly to a vehicle control device and a computer program.

  A remote parking function for moving a vehicle to a parking space by a remote operation by an operator may be mounted on the vehicle.

JP 2017-7399 A

  In the current remote parking, the operator who instructs the vehicle to drive automatically needs to check the surroundings of the vehicle, but in places where other vehicles go, the safety check around the operator is neglected. There is a possibility. In addition, when the operator is a physically handicapped person, it may be difficult to sufficiently confirm his surroundings. As a result, the operator may come into contact with another vehicle or the like approaching.

  The present disclosure has been made in view of these problems, and one object is to improve the safety of an operator outside the vehicle who instructs automatic driving of the vehicle.

  In order to solve the above-described problem, a vehicle control device according to an aspect of the present disclosure includes a first detection unit that detects a state around the vehicle according to an output signal of a sensor mounted on the vehicle, and an operator outside the vehicle. When a predetermined instruction is input, a travel control unit that controls automatic travel of the vehicle according to the state around the vehicle detected by the first detection unit, and a state around the operator according to the output signal of the sensor And a second output unit that outputs a signal for notifying that the operator is in a dangerous state according to the state around the operator detected by the second detector. .

  Another aspect of the present disclosure is a computer program. This computer program causes an information terminal operated by an operator outside the vehicle to execute a process of transmitting a signal instructing automatic driving to the vehicle and a process of displaying information on the screen. The vehicle detects a state around the operator and transmits a signal for notifying that the operator is in a dangerous state to the information terminal according to the state around the operator. In the processing to be displayed, when a signal for notifying danger is received, information indicating that the operator is in a dangerous state is displayed.

  Note that any combination of the above components, the expression of the present disclosure converted between a system, a method, a computer program, a recording medium storing the computer program, a vehicle equipped with the apparatus, and the like are also disclosed in the present disclosure. It is effective as an embodiment of

  According to the present disclosure, it is possible to improve the safety of an operator outside the vehicle who instructs automatic driving of the vehicle.

It is a figure which shows the example of remote parking. It is a figure which shows the structure of the driving assistance system of an Example. It is a figure which shows the display content in an operator terminal. It is a flowchart which shows operation | movement of vehicle control ECU. It is a flowchart which shows operation | movement of an operator terminal.

  First, an outline of the embodiment will be described. FIG. 1 shows an example of remote parking. The operator 14 drives the vehicle 10 to a position near the parking space, gets off the vehicle 10 at a position near the parking space, and gives an instruction for automatic traveling (automatic parking in the embodiment) to the vehicle 10 from outside the vehicle. The vehicle 10 starts automatic parking according to the instruction. That is, the vehicle 10 moves to a parking space (between the other vehicle 12a and the other vehicle 12b in FIG. 1) by automatic traveling.

  Here, dangerous places (obstacle 16 in the figure) such as obstacles and steps exist near the operator 14, and the other vehicle 12 c approaches from behind the operator 14. In the current remote parking, since it is necessary for the operator 14 to confirm safety around the vehicle 10, the operator 14 visually confirms that the vehicle 10 does not come into contact with the other vehicle 12 b or the other vehicle 12 c. Therefore, the field of view of the operator 14 is as shown in the field of view 18 of FIG.

  On the other hand, the sensor mounted on the vehicle 10 can monitor the range of the visual field 20, for example. Therefore, the remote parking system (driving support system 30 described later) of the embodiment detects whether or not the operator 14 is in a dangerous state using the sensor of the vehicle 10. For example, in the situation of FIG. 1, the other vehicle 12c and the obstacle 16 near the operator 14 are detected, and it is detected that the operator 14 is in a dangerous state. When the operator 14 is in a dangerous state, a message that prompts the operator 14 to secure safety is displayed on the information terminal held by the operator 14.

  FIG. 2 shows a configuration of the driving support system 30 of the embodiment. The driving support system 30 includes the vehicle 10 of FIG. 1 and an operator terminal 32 that is a portable information terminal operated by the operator 14 outside the vehicle 10. The operator terminal 32 may be a smartphone, a feature phone, or a tablet terminal. The operator terminal 32 and the vehicle 10 transmit and receive data by known wireless communication. For example, the operator terminal 32 and the vehicle 10 may be connected by Bluetooth (registered trademark).

  FIG. 2 includes a block diagram showing functional blocks of the operator terminal 32. The operator terminal 32 includes an instruction transmission unit 34, an operator information transmission unit 36, a danger notification reception unit 38, a display control unit 40, and a display device 42.

  Each block shown in the block diagram of the present disclosure can be realized in hardware by an element and a mechanical device such as a CPU and a memory of a computer, and is realized by a computer program or the like in software. , Depicts functional blocks realized by their cooperation. Those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software.

  In the embodiment, a computer program (hereinafter also referred to as “automatic parking control application”) including a plurality of modules corresponding to the instruction transmission unit 34, the operator information transmission unit 36, the danger notification reception unit 38, and the display control unit 40 is operated. It is installed in the operator terminal 32 and stored in the memory of the operator terminal 32. The CPU of the operator terminal 32 exhibits the functions of the plurality of functional blocks by reading and executing the automatic parking control application.

  The instruction transmission unit 34 transmits a signal instructing automatic traveling to the vehicle 10 in response to an operation by the operator. In the embodiment, the instruction transmission unit 34 transmits a signal instructing the start of automatic parking and a signal instructing continuation of automatic parking to the vehicle 10. The operator information transmission unit 36 transmits information about the operator (hereinafter also referred to as “operator information”) to the vehicle 10. In the embodiment, the operator information includes information indicating the current position of the operator specified by a known technique such as a GPS (Global Positioning System) function and the direction from the vehicle 10 to the operator.

  The danger notification receiving unit 38 receives a signal (hereinafter also referred to as “first danger notification signal”) for notifying danger transmitted from the vehicle 10 to the operator terminal 32. The display device 42 is, for example, a touch screen, displays various electronic data, and detects an operation input by the operator on the screen. The display control unit 40 controls the display content of the display device 42. When the danger notification receiving unit 38 receives the first danger notification signal, the display control unit 40 displays information (danger information 94 described later) indicating that the operator is in a dangerous state.

  FIG. 3 shows display contents on the operator terminal 32. When the automatic parking control application is activated on the operator terminal 32, the display control unit 40 displays the operation screen 90. The operation screen 90 includes a parking control UI (User Interface) 92 that is an image object for allowing the operator to input an automatic parking continuation instruction. The operator continues the parking operation of the vehicle 10 by confirming the safety around the vehicle 10 and inputting a swipe operation clockwise so as to trace the parking control UI 92.

  When the first danger notification signal is received, the display control unit 40 displays information indicating that the operator is in a dangerous state. In the embodiment, the display control unit 40 invalidates the parking control UI 92 on the operation screen 90 and causes the operation screen 90 to display the danger information 94 indicated by the first danger notification signal. Thereby, it is possible to prompt the operator to confirm safety around the operator.

  Returning to the description of FIG. FIG. 2 includes a block diagram showing functional blocks of the vehicle 10. The vehicle 10 includes a communication unit 50, a lighting device 54 and a horn 56 collectively referred to as an in-vehicle device 52, a peripheral state sensor 58, and a vehicle control ECU (Electronic Control Unit) 60.

  The communication unit 50 communicates with the operator terminal 32 using a known wireless communication technique. The vehicle control ECU 60 described later transmits and receives data to and from the operator terminal 32 via the communication unit 50. The illumination device 54 includes a headlight, a taillight, and a hazard lamp, and also includes an illumination device control ECU that controls lighting on and off. The horn 56 includes a horn control ECU that controls the operation of the horn.

  The surrounding state sensor 58 senses the state around the vehicle 10 and outputs a signal indicating the state around the vehicle 10 (hereinafter referred to as “detection signal”) to the vehicle control ECU 60 described later. The peripheral state sensor 58 may be any one of a rider (LiDAR), a camera, an ultrasonic sensor, a millimeter wave radar, or any combination.

  The vehicle control ECU 60 controls the traveling of the vehicle 10 and controls the automatic parking of the vehicle 10 in the embodiment. The vehicle control ECU 60 includes a reception unit 62, a vehicle peripheral state detection unit 64, a map generation unit 66, a vehicle position estimation unit 68, a route generation unit 70, a travel control unit 72, an operator detection unit 74, and an operator peripheral state detection unit 76. , A risk determination unit 78 and a signal output unit 80 are included. A computer program including a plurality of modules corresponding to the plurality of functional blocks may be stored in the memory of the vehicle control ECU 60. The CPU of the operator terminal 32 may exhibit the functions of the plurality of functional blocks by reading out and executing the computer program.

  The accepting unit 62 accepts an automatic parking start instruction and an automatic parking continuation instruction (referred to as “automatic parking instruction” when collectively referred to) transmitted from the operator terminal 32. The accepting unit 62 accepts operator information transmitted from the operator terminal 32.

  The vehicle surrounding state detection unit 64 detects the state around the vehicle 10 in accordance with the detection signal output from the surrounding state sensor 58. For example, the vehicle surrounding state detection unit 64 detects the presence / absence of another vehicle in the vicinity of the vehicle 10, the direction and distance from the vehicle 10 to the other vehicle, the approach speed (relative speed) of the other vehicle with respect to the vehicle 10, and the like. The vehicle surrounding state detection unit 64 detects the same content for obstacles and steps in the vicinity of the vehicle 10.

  The map generation unit 66 generates a map of the vicinity range of the vehicle 10 according to the state around the vehicle 10 detected by the vehicle peripheral state detection unit 64. The vehicle position estimation unit 68 includes position information specified by a GPS (Global Positioning System) function, a movement locus estimated from speed and movement direction information obtained from the vehicle 10 itself, and a vehicle detected by the vehicle peripheral state detection unit 64. The current position of the vehicle 10 in the map is estimated according to the surrounding conditions (for example, the distance to other objects). The route generation unit 70 generates a route from the current position of the vehicle 10 estimated by the vehicle position estimation unit 68 to the target position for automatic driving (a parking space in the embodiment).

  The traveling control unit 72 controls the automatic traveling of the vehicle 10 according to the state around the vehicle 10 detected by the vehicle surrounding state detection unit 64 when a predetermined instruction is input from an operator outside the vehicle. For example, the travel control unit 72 controls the travel mode of the vehicle 10 by controlling an unillustrated engine control ECU, brake control ECU, and steering control ECU. In the embodiment, the travel control unit 72 moves the vehicle 10 to the parking space along the route generated by the route generation unit 70 when the reception unit 62 receives an automatic parking instruction.

  The configurations of the vehicle surrounding state detection unit 64, the map generation unit 66, the vehicle position estimation unit 68, the route generation unit 70, and the travel control unit 72 are merely examples, and the vehicle 10 performs automatic driving (automatic parking). A known technique may be applied to the configuration for this.

  The operator detection unit 74 detects the position of the operator outside the vehicle based on at least one of the operator information received by the reception unit 62 and the detection signal output from the peripheral state sensor 58. For example, the operator detection unit 74 may specify the positional relationship between the vehicle 10 and the operator based on the position and direction of the operator indicated by the operator information. The operator detection unit 74 may store the operator's face data in advance, and may identify the operator's position by detecting the operator's face from images around the vehicle 10 captured by the camera. . In addition, the operator detection unit 74 detects the position of the vehicle 10 and the position of each person existing in the vicinity of the vehicle 10, recognizes the person closest to the vehicle 10 as the operator, and determines the position of the operator. You may specify.

  The operator peripheral state detection unit 76 detects the state around the operator according to the operator position detected by the operator detection unit 74 and the detection signal output from the peripheral state sensor 58. For example, the operator surrounding state detection unit 76 detects the presence / absence of another vehicle in the vicinity of the operator, the direction and distance from the operator to the other vehicle, the approach speed (relative speed) of the other vehicle with respect to the operator, and the like. In addition, the operator surrounding state detection unit 76 includes the presence / absence of obstacles (and steps) in the vicinity of the operator, the direction and distance from the operator to the obstacles (and steps), and the obstacles (and steps) to the operator. The approach speed (relative speed) etc. is detected.

  The danger determination unit 78 determines whether or not the operator is in a dangerous state according to the state around the operator detected by the operator peripheral state detection unit 76, in other words, whether the operator is in danger. Determine whether or not. The danger determination unit 78 determines that the operator is in a dangerous state when a previously stored danger criterion is satisfied.

  The danger criterion in the embodiment is that an obstacle, a moving object (such as another vehicle) or a step is present within a predetermined distance from the operator position. For example, the risk criterion may be satisfied when at least one of an obstacle or a step within 5 meters from the operator position and an approaching vehicle within 10 meters from the operator position is satisfied. . Appropriate threshold values and conditions may be set for the risk criteria based on the knowledge of the developer of the driving support system 30 and experiments using the driving support system 30.

  As a modification, the danger criterion may be that an obstacle, a moving object (such as another vehicle) or a step reaches the position of the operator within a predetermined time. For example, the danger determination unit 78 derives the distance from the operator to the other vehicle and the approach speed (relative speed) of the other vehicle with respect to the operator, and when the other vehicle reaches the position of the operator within 10 seconds. Alternatively, it may be determined that the risk criterion is satisfied, and the operator may determine that the state is dangerous. The same applies to obstacles and steps. The risk determination unit 78 may determine that the operator is in a dangerous state when at least one of the risk standard of the embodiment and the risk standard of the modification is satisfied.

  The signal output unit 80 outputs a signal for notifying the danger when the danger judging unit 78 judges that the operator is in a dangerous state. In the embodiment, the signal output unit 80 displays the danger information on the operator terminal 32 by transmitting the first danger notification signal to the operator terminal 32. At the same time, the signal output unit 80 transmits at least one of the lighting device 54 and the horn 56 by transmitting the second danger notification signal to the in-vehicle device 52.

  The first danger notification signal includes the danger information shown in FIG. For example, the danger information includes the type of object (vehicle, obstacle, step, etc.) that may pose a danger to the operator, the position of the object (operator reference position), the distance and direction to the object, It may include at least one of the time until the object reaches the position of the operator.

  The second danger notification signal is a signal for instructing the operation of the in-vehicle device 52. The signal output unit 80 may transmit a second danger notification signal to a lighting device control ECU and a horn control ECU (not shown). Note that the signal output unit 80 transmits the first danger notification signal to the operator terminal 32 and the second danger notification signal when the danger determination unit 78 determines that the operator is in a dangerous state. One of the transmissions may be executed.

  When the danger determining unit 78 determines that the operator is in a dangerous state, the traveling control unit 72 stops the automatic traveling of the vehicle 10 and stops the vehicle 10. Thereby, an operator can be made to concentrate on own safety ensuring.

The operation of the driving support system 30 having the above configuration will be described.
FIG. 4 is a flowchart showing the operation of the vehicle control ECU 60. The vehicle surrounding state detection unit 64 detects the state around the vehicle 10 based on the detection signal output from the surrounding state sensor 58 (S10). When the operator who gets off the vehicle 10 activates the automatic parking control application on the operator terminal 32, the operator terminal 32 transmits the operator information to the vehicle 10. When the operator information is received, the operator detection unit 74 of the vehicle control ECU 60 detects the position of the operator, and thereafter continues to capture the operator position (S12). The operator surrounding state detection unit 76 detects the state around the operator, and thereafter continues to capture the state around the operator (S14).

  The operator surrounding state detection unit 76 detects the state around the operator (S14). When the automatic parking start instruction transmitted from the operator terminal 32 is received (Y in S16), the route generation unit 70 determines the movement route to the parking space, and the travel control unit 72 performs the parking operation to the parking space. Is started (S18). Thereafter, the travel control unit 72 continues the parking operation while receiving an automatic parking continuation instruction from the operator terminal 32. The danger determination unit 78 determines whether or not the operator is in a dangerous state (S20).

  When it is determined that the operator is in a dangerous state (Y in S22), the traveling control unit 72 temporarily stops the parking operation (S24). The signal output unit 80 transmits a first danger notification signal to the operator terminal 32 and causes the operator terminal 32 to display danger information. Further, the signal output unit 80 transmits the second danger notification signal to the in-vehicle device 52 to operate the in-vehicle device 52 (S26). For example, the lighting of the vehicle 10 is turned on and the horn of the vehicle 10 is sounded. And it returns to S20 and it is confirmed whether the operator's dangerous state was eliminated.

  When it is determined that the operator is not in a dangerous state (N in S22), if the parking operation is temporarily stopped (Y in S28), the signal output unit 80 displays a signal (hereinafter, “ This is referred to as a “danger elimination notification signal”) to the operator terminal 32. Moreover, the signal output part 80 transmits the signal which stops the action | operation of the vehicle-mounted apparatus 52 to the vehicle-mounted apparatus 52 (S30). The traveling control unit 72 restarts the parking operation corresponding to the automatic parking continuation instruction from the operator terminal 32 (S32). If the parking operation is not paused (N in S28), S30 and S32 are skipped.

  If the parking is not completed (N in S34), the process returns to S20 to confirm again whether or not the operator is in a dangerous state. If parking is completed (Y of S34), the signal output part 80 will transmit the parking completion signal which shows that to the operator terminal 32 (S36), and will complete | finish the flow of this figure. If the automatic parking start instruction has not been received (N in S16), the subsequent processing is skipped and the flow of this figure is terminated.

  FIG. 5 is a flowchart showing the operation of the operator terminal 32. When the automatic parking control application is activated by the operator, the display control unit 40 displays the operation screen 90 including the parking control UI 92 (S40). The operator information transmission unit 36 transmits the operator information to the vehicle 10 (S42). When a predetermined operation for instructing the start of automatic parking is input to the operation screen 90, the instruction transmission unit 34 transmits a signal indicating an instruction to start automatic parking to the vehicle 10 (S44).

  If a predetermined operation (for example, a clockwise swipe operation) on the parking control UI 92 is input (Y in S46) and the parking control UI 92 is valid (Y in S48), the instruction transmission unit 34 instructs to continue automatic parking. Is transmitted to the vehicle 10 (S50). When the predetermined operation on the parking control UI 92 is not input (N in S46), or when the parking control UI 92 is invalidated (N in S48), S50 is skipped.

  When the danger notification receiving unit 38 receives a danger notification signal from the vehicle 10 (Y in S52), the automatic parking control application invalidates the parking control UI 92 (S54). The display control unit 40 displays the danger information indicated by the danger notification signal on the operation screen 90 (S56). If the danger notification signal has not been received (N in S52), S54 and S56 are skipped.

  When the danger notification receiving unit 38 receives the danger elimination notification signal from the vehicle 10 (Y in S58), the display control unit 40 deletes the danger information from the operation screen 90, in other words, the risk information is not displayed on the operation screen 90. Displayed (S60). The automatic parking control application validates the parking control UI 92 (S62). If the danger eliminating notification signal has not been received (N in S58), S60 and S62 are skipped. When a parking completion signal is received from the vehicle 10 (Y in S64), the flow of this figure is terminated. If the parking completion signal has not been received (N in S64), the process returns to S46 and returns to the operation input waiting state.

  According to the driving support system 30 of the embodiment, when the operator outside the vehicle confirms the safety of automatic driving (automatic parking in the embodiment) of the vehicle 10, by notifying the operator of the danger around the operator, The operator's own safety can be increased. For example, it is possible to reduce a risk that the operator collides with an approaching object or an obstacle while the vehicle 10 performs automatic parking, and a risk that the operator is stepped on a step.

  The present disclosure has been described based on the embodiments. This embodiment is an exemplification, and it is understood by those skilled in the art that various modifications can be made to each component of the embodiment or a combination of processing processes, and such modifications are within the scope of the present disclosure. is there.

  In the above-described embodiment, an example in which an operator outside the vehicle automatically parks the vehicle 10 has been described. The technology described in the embodiment is not limited to automatic parking of the vehicle 10, but can be widely applied when an operator outside the vehicle automatically drives the vehicle 10 in various modes. For example, the present invention is also applicable when the vehicle 10 is automatically issued from a parking space. Further, when an operator outside the vehicle automatically drives the vehicle 10 in various modes, it is possible to improve the safety of the operator who should confirm the safety of the automatic driving of the vehicle 10.

  In the said Example, although the illuminating device 54 and the horn 56 were mentioned as an example of the vehicle equipment 52 which alert | reports danger information, it is also possible to alert | report danger information using another vehicle equipment. For example, when a projection device that projects an image or video on the window of the vehicle 10 is mounted on the vehicle 10, the signal output unit 80 of the vehicle control ECU 60 transmits a second danger notification signal including danger information to the projection device. May be. Thereby, you may make a projection apparatus perform the process which displays danger information on the window of the vehicle 10. FIG.

  Any combination of the above-described examples and modifications is also useful as an embodiment of the present disclosure. The new embodiment resulting from the combination has the effects of the combined example and modification. Further, it should be understood by those skilled in the art that the functions to be fulfilled by the constituent elements described in the claims are realized by the individual constituent elements shown in the embodiments and the modified examples or by their cooperation.

The technologies described in the examples and the modifications may be specified by the following items.
[Item 1]
A first detection unit that detects a state around the vehicle according to an output signal of a sensor mounted on the vehicle;
When a predetermined instruction is input from an operator outside the vehicle, a traveling control unit that controls automatic traveling of the vehicle according to a state around the vehicle detected by the first detection unit;
A second detector for detecting a state around the operator in response to an output signal of the sensor;
An output unit that outputs a signal for notifying that the operator is in a dangerous state according to the state around the operator detected by the second detection unit;
A vehicle control device comprising:
According to this vehicle control device, when performing automatic traveling (for example, automatic parking or automatic delivery) according to an instruction from an operator outside the vehicle, the safety of the operator can be improved.
[Item 2]
A reception unit that receives the instruction transmitted from the operator's terminal;
The output unit transmits a signal for notifying the danger to the operator's terminal.
Item 4. The vehicle control device according to item 1.
According to this vehicle control device, it is possible to improve the certainty of notifying the operator of the danger by transmitting a signal for notifying the danger to the operator's terminal.
[Item 3]
The output unit outputs a signal for operating a predetermined device mounted on the vehicle as a signal for notifying the danger.
Item 3. The vehicle control device according to item 1 or 2.
According to this vehicle control device, since the operator watches the vehicle that is automatically traveling, the certainty of notifying the operator of the danger can be improved.
[Item 4]
The output unit notifies that the operator is in a dangerous state when there is an obstacle, a moving object, or a step within a predetermined distance from the position of the operator.
4. The vehicle control device according to any one of items 1 to 3.
According to this vehicle control device, it is possible to appropriately determine whether or not the operator is in danger.
[Item 5]
The output unit informs that the operator is in a dangerous state when the obstacle, the moving object, or the step reaches the operator's position within a predetermined time.
Item 5. The vehicle control device according to any one of items 1 to 4.
According to this vehicle control device, it is possible to appropriately determine whether or not the operator is in danger.
[Item 6]
The travel control unit stops the vehicle when the operator is determined to be in a dangerous state.
The vehicle control device according to any one of items 1 to 5.
According to this vehicle control device, the safety of the operator and the vehicle can be improved by stopping the vehicle in a situation where the operator should avoid danger.
[Item 7]
According to the output signal of the sensor mounted on the vehicle, the state around the vehicle is detected,
When a predetermined instruction is input from an operator outside the vehicle, the automatic driving of the vehicle is controlled according to the state around the vehicle,
According to the output signal of the sensor, the state around the operator is detected,
According to the condition around the operator, a signal for notifying that the operator is in a dangerous state is output.
A computer program that causes a computer to execute the operation.
According to this computer program, the operator's safety can be improved when performing automatic traveling (for example, automatic parking or automatic delivery) according to an instruction from an operator outside the vehicle.
[Item 8]
To the information terminal operated by the operator outside the vehicle,
A process of transmitting a signal instructing automatic driving to the vehicle;
Processing to display information on the screen;
And execute
The vehicle detects a state around the operator, and transmits a signal for notifying that the operator is in a dangerous state to the information terminal according to the state around the operator.
In the process of displaying, when a signal for notifying the danger is received, information indicating that the operator is in a dangerous state is displayed.
Computer program.
According to this computer program, when the danger is imminent to the operator outside the vehicle during automatic driving of the vehicle, the operator's information terminal displays a danger state, thereby improving the safety of the operator. can do.

  DESCRIPTION OF SYMBOLS 10 Vehicle, 32 Operator terminal, 34 Instruction transmission part, 38 Danger notification receiving part, 40 Display control part, 60 Vehicle control ECU, 62 Reception part, 64 Vehicle surrounding state detection part, 72 Travel control part, 76 Operator surrounding state A detection unit, 78 a risk determination unit, and an 80 signal output unit.

Claims (8)

A first detection unit that detects a state around the vehicle according to an output signal of a sensor mounted on the vehicle;
When a predetermined instruction is input from an operator outside the vehicle, a traveling control unit that controls automatic traveling of the vehicle according to a state around the vehicle detected by the first detection unit;
A second detector for detecting a state around the operator in response to an output signal of the sensor;
An output unit that outputs a signal for notifying that the operator is in a dangerous state according to the state around the operator detected by the second detection unit;
A vehicle control device comprising: A reception unit that receives the instruction transmitted from the operator's terminal;
The output unit transmits a signal for notifying the danger to the operator's terminal.
The vehicle control device according to claim 1. The output unit outputs a signal for operating a predetermined device mounted on the vehicle as a signal for notifying the danger.
The vehicle control device according to claim 1 or 2. The output unit notifies that the operator is in a dangerous state when there is an obstacle, a moving object, or a step within a predetermined distance from the position of the operator.
The vehicle control device according to any one of claims 1 to 3. The output unit informs that the operator is in a dangerous state when the obstacle, the moving object, or the step reaches the operator's position within a predetermined time.
The vehicle control device according to any one of claims 1 to 4. The travel control unit stops the vehicle when the operator is determined to be in a dangerous state.
The vehicle control device according to any one of claims 1 to 5. According to the output signal of the sensor mounted on the vehicle, the state around the vehicle is detected,
When a predetermined instruction is input from an operator outside the vehicle, the automatic driving of the vehicle is controlled according to the state around the vehicle,
According to the output signal of the sensor, the state around the operator is detected,
According to the condition around the operator, a signal for notifying that the operator is in a dangerous state is output.
A computer program that causes a computer to execute the operation. To the information terminal operated by the operator outside the vehicle,
A process of transmitting a signal instructing automatic driving to the vehicle;
Processing to display information on the screen;
And execute
The vehicle detects a state around the operator, and transmits a signal for notifying that the operator is in a dangerous state to the information terminal according to the state around the operator.
In the process of displaying, when a signal for notifying the danger is received, information indicating that the operator is in a dangerous state is displayed.
Computer program.

Images