JP2003195941A - Method for providing service for moving mobile object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide service for moving a mobile object without a manual aid, available from anywhere. <P>SOLUTION: The method for providing service for moving the mobile object 101 includes a step ST1 in which a service center 1 receives an application for service, and a step ST2 in which the service center 1 remotely operates the mobile object 101 according to the application contents. The operating step ST2 may include a step for receiving an image showing surroundings of the mobile object sent by the mobile object 101, a step for displaying the image on a display device 3, a step for receiving an operation input related to the image displayed on the display device 3, a step for generating an operation signal 310 for controlling the operation of the mobile object 101 according to the operation input, and a step for transmitting the operation signal 310 to the mobile object 101. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for providing a service for moving a mobile body, and more particularly to a method for providing a service for remotely moving a mobile body.

[0002]

2. Description of the Related Art Conventionally, there is known a service agency service which provides a service for driving and moving a car (moving body) on behalf of a person who cannot drive the car due to drinking, fatigue, or the like. For example, by using such a service after drinking alcohol at a restaurant or the like, the owner of the vehicle desires to use the vehicle for subsequent use (for example, next day work) without driving drunk. Can be moved to another location (eg, home).

[0003]

Such a driving agency service has the following problems. That is, when providing a service for driving agency, the driver who moves the vehicle on behalf of the owner of the vehicle must be placed at the position of the vehicle that should be moved, and the driver who has finished the movement must select the driver. Since it has to be returned to the position, it takes a lot of manpower to provide the driver's agency service, and it takes time to arrange such a driver, especially outside the business area where the driver's agency service is provided. That is, such driving agency services are not readily available.

For example, when the owner of a car feels uncomfortable while driving and wants to use a driver-substituting service, it takes time for the driver to arrive at the place, so it is easy to use. I can't.

Further, when the owner of the car leaves the car at the company and goes on a business trip from the company and then returns home directly from the business trip destination, in order to use the car the next day to go to the company, a driving agency service is provided. Must be used. However, if there is no driving agent service company whose business area is near the company, the driving agent service cannot be used.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a service that can be easily used from anywhere and moves a moving body without human intervention.

[0007]

The method of the present invention is a method for providing a service for moving a mobile body, the method comprising: a service center accepting an application for the service; Remote controlling the mobile unit based on the content of the application, whereby the above object is achieved.

The moving body may be a vehicle.

Said step of remote controlling receives at least a part of at least one image representing the surroundings of said mobile, transmitted by said mobile;
Displaying at least a part of the at least one image on a display device, receiving an operation input related to the image displayed on the display device, and exercising the movement of the moving body based on the operation input. The method may include generating an operation signal for controlling and transmitting the operation signal to the mobile body.

The moving body has a photographing section for photographing at least one image around the moving body, and the at least one photographing unit.
A transmitter that transmits at least a part of one image, a receiver that receives an operation signal transmitted from the service center, and a controller that controls the movement of the moving body based on the received operation signal. A transmission image determining unit that determines at least a part of the image of the images captured by the capturing unit based on the received operation signal may be provided.

The photographing unit may include a camera having a built-in visible light sensor and a camera having a built-in infrared light sensor.

[0012] The step of accepting an application for the service may include the step of confirming with the applicant for the service whether or not a passenger of the mobile body is present.

The method further comprises the step of, if there is an occupant in the moving body, confirming that the riding of the occupant in the moving body is completed before remote controlling the moving body. May be.

The mobile unit may include a display unit for displaying a message or a voice generating unit for generating a warning sound when the mobile unit is remotely operated by the service center.

The service center provides the service 2
It may be provided on a 4-hour basis.

The step of remote controlling may further include the step of receiving from the moving body a characteristic relating to the movement of the moving body.

The operation will be described below.

A method of providing a service for moving a moving body such as a vehicle according to the present invention includes the step of remotely controlling the moving body based on the contents of an application. This eliminates the need for a driver to move the vehicle at the location of the vehicle. Therefore, no human labor is required,
Moreover, it is possible to provide a service that can be easily used from anywhere.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. Throughout the drawings, the same components are designated by the same reference numerals.

FIG. 1 shows an outline of a vehicle remote control service according to the present invention. In the vehicle remote control service, the vehicle remote control service center 1 operates a vehicle 101 (for example, an automobile).
It is a service to move by remote control. Therefore, when the vehicle 101 is not occupied by a person, the vehicle 10
1 can be moved.

In the example shown in FIG. 1, an applicant 13 who desires to receive a vehicle remote control service uses the mobile phone 12 to apply for a vehicle remote control service to the vehicle remote control service center 1. Mobile phone 12
And the vehicle remote control service center 1 (hereinafter referred to as the service center 1) are connected via a radio base station 40 and a telephone network 11. The service center 1 receiving this application moves the vehicle 101 by remote control according to the content of the application. The vehicle 101 is equipped with the vehicle-mounted device 14, and the vehicle-mounted device 14 and the service center 1 are bidirectionally connected via the wireless base station 40 and the telephone circuit network 11.

FIG. 2 shows how the service center 1 moves the vehicle 101 by remote control.

In the example shown in FIGS. 1 and 2, the vehicle 1
The vehicle-mounted device 14 mounted in 01 and the service center 1 were connected by a wireless telephone line. But,
The form of connection between the vehicle-mounted device 14 and the service center 1 is
It is not limited to this. The vehicle-mounted device 14 and the service center 1 can be connected by an arbitrary communication path. For example, between the vehicle-mounted device 14 and the service center 1,
It can be connected via any network, including the Internet. Of course, an arbitrary network may be interposed between the mobile phone 12 owned by the applicant 13 (FIG. 1) and the service center.

FIG. 3 shows the configuration of the vehicle-mounted device 14 and the service center 1.

First, the structure of the vehicle-mounted device 14 will be described.

The vehicle-mounted device 14 is used by being mounted on the vehicle 101. The vehicle 101 can be, for example, an automobile.
In the following description, the vehicle 101 is an automobile unless otherwise specified.

The vehicle-mounted device 14 includes an image processing unit 24, a transmitting unit 23, a receiving unit 22, a control unit 21, and a camera 25-1.
~ 25-6 are included.

The receiving unit 22 receives the operation signal 310 transmitted from the service center 1, and receives the operation signal 31.
0 is passed to the control unit 21.

The control unit 21 controls at least the movement of the vehicle 101 based on the operation signal 310. Vehicle 1
The movement of 01 can be controlled by, for example, appropriately adjusting the amount of depressing the accelerator of the vehicle 101, the angle of turning the steering wheel, and the force of depressing the brake.
The control unit 21 can depress the accelerator of the vehicle 101 with an actuator of any type that operates based on the operation signal 310 received via the reception unit 22, for example. Thereby, the vehicle 101 can be accelerated. Of course, in order for the control unit 21 to accelerate the vehicle 101, it is not essential to actually step on the accelerator of the vehicle 101. For example, when the vehicle 101 is an electric vehicle powered by a motor, the control unit 21 may control the electric power supplied to the motor of the vehicle 101 based on the operation signal 310.

The control unit 21 can also control devices that are not directly related to the movement of the vehicle 101. For example, the control unit 2
1 is ON and OF of lights provided in the vehicle 101
F may be controlled. In order to move the vehicle 101 with the engine not started by remote control, the control unit 21 preferably has a function of controlling ON / OFF of the engine.

The cameras 25-1 to 25-6 are mounted on the vehicle 101.
An image representing the surrounding area is captured. Camera 25-1 to 25-
Each of the 6 can be, for example, a color CCD camera. The cameras 25-1 to 25-6 are, as a whole, the vehicle 1
01 functions as an imaging unit that captures at least one image representing the surroundings.

The cameras 25-1 to 25-6 preferably include a camera incorporating an infrared sensor and a camera incorporating a visible light sensor. Since the camera having the infrared sensor has a high ability to detect a pedestrian or the like at night, it is possible to enhance the safety when remotely controlling the vehicle 101 at night. Of course, one camera may include both an infrared sensor and a visible light sensor.

The image processing section 24 includes cameras 25-1 to 25-25.
Among the images captured by each of −6, which image should be transmitted to the service center 1 is determined. The image processor 24 outputs an image signal 311 representing an image to be transmitted to the service center 1 to the transmitter 23. The image processing unit 24 may be, for example, a switch that switches a plurality of cameras connected to the image processing unit 24.

The transmitter 23 transmits the image signal 311 to the service center 1.

Next, the structure of the service center 1 will be described.

The service center 1 includes a receiving unit 4, a display device 3, an input device 2 and a transmitting unit 5.

The receiving unit 4 receives the image signal 311 transmitted by the vehicle-mounted device 14 and outputs the image signal 311 to the display device 3.

The display device 3 displays the image represented by the image signal 311 to the operator 10 (human).
The display device 3 can be, for example, a liquid crystal display.

The input device 2 receives an operation input input by the operator 10 and generates an operation signal 310 for controlling the vehicle 101. The operation signal 31
0 is transmitted to the vehicle-mounted device 14 by the transmitter 5.

As described above with reference to FIG. 1, between the transmitter 5 of the service center 1 and the receiver 22 of the vehicle-mounted device 14, and between the receiver 4 of the service center 1 and the transmitter 23 of the vehicle-mounted device 14. Can be connected by any communication path. The transmitting unit 5 and the receiving unit 4 of the service center 1, and the receiving unit 22 and the transmitting unit 23 of the vehicle-mounted device 14 may have a known configuration according to the type of the communication path.

FIG. 4 shows how the operator 10 remotely operates the vehicle 101 in the service center 1. In the example shown in FIG. 4, a handlebar 2-1, an accelerator 2-2, and a brake 2-3 are shown as the input device 2. An image representing the surroundings of the vehicle 101 is displayed on the display device 3 provided in front of the operator 10.

In the example shown in FIG. 4, the image in front of the vehicle 101 is displayed on the display device 3. This image shows, for example, the camera 2 facing the front of the vehicle 101.
It is the image imaged by 5-2 (FIG. 3). The operator 10 looks at this image and operates the handlebar 2-1, the accelerator 2-2, and the brake 2-3,
Input operation inputs to these input devices. Therefore,
This operation input is related to the image displayed on the display device 3.

The operation inputs are, for example, the angle at which the handle 2-1 is rotated, the amount by which the accelerator 2-2 is depressed, and the strength of the force by which the brake 2-3 is depressed. These operation inputs are sensed by a sensor (not shown), and the operation signal 310 (FIG. 3) is generated based on the operation inputs. The vehicle-mounted device 14 that has received the operation signal 310 performs the same operation as the operation input by the operator 10 on the vehicle 101. For example, when the operator 10 depresses the brake 2-3 with a force of 20 kgf, the actual brake of the vehicle 101 is also pushed with a force of 20 kgf. In this way, the operator 10 operates the steering wheel 2- as if he / she were actually driving the vehicle (virtually realistically).
1, the accelerator 2-2 and the brake 2-3 can be operated to remotely operate the vehicle 101.

In order to further facilitate the remote control of the vehicle 101 by the operator 10, it is preferable to present the operator 10 with information regarding the vehicle 101. In the example shown in FIG. 4, a car navigation screen 8 for presenting the operator 10 with information regarding the position of the vehicle 101.
And a meter 7 for presenting the state of the vehicle 101 (for example, speed, engine speed).

A vehicle 10 on a land unknown to the operator 10
When operating 1 remotely, the car navigation screen 8
It is very effective from the viewpoint of safety to inform the operator 10 of the position of the vehicle 101 by presenting the information to the operator 10.

When the vehicle 101 is backed up, it is preferable that an image behind the vehicle 101 is displayed on the display device 3. This is because the control unit 21 (FIG. 3) outputs the image switching signal 312 based on the operation signal 310 generated by the operator 10 moving the gear lever (not shown) of the input device 2 to the “reverse” position. It is performed by outputting and controlling the image processing unit 24 accordingly. In this case, the control unit 21 may, for example, the image processing unit 2
An image signal 3 representing an image captured by the camera 25-5 (or the camera 25-4) facing the rear of the vehicle 101 among the six cameras 25-1 to 25-6 connected to the vehicle 4
The image processing unit 24 is controlled so as to output 11. As a result, the switching of the camera becomes quicker than the case of switching the camera after the image processing unit 24 senses that the gear lever has actually moved to the "reverse" position.

As described above, the image processing section 24 and the control section 21.
And functions as a transmission image determination unit that determines one image (at least a part) transmitted to the service center 1 among at least one camera image based on the operation signal 310.

Therefore, the step of remotely controlling the vehicle 101 includes the following steps (a) to (e). (A) Receiving at least a part of at least one image representing the surroundings of the vehicle 101 transmitted by the vehicle 101. (B) displaying at least a part of the at least one image on the display device 3. (C) A step of receiving an operation input by the operator 10 relating to the image displayed on the display device 3. (D) Generating an operation signal 310 for controlling the motion of the vehicle 101 based on the operation input. (E) A step of transmitting the operation signal 310 to the vehicle 101.

Note that such switching of cameras may be designated by the operator 10. For example, when the operator 10 wants to confirm the situation on the right side of the vehicle 101, by operating a predetermined switch of the input device 2, the image is taken by the camera 25-3 directed to the right side of the vehicle 101. The image may be displayed on the display device 3. Alternatively, the operator 10
The operator 10 is provided with a sensor for detecting the movement of the head.
The image captured by the camera 25-3 may be displayed on the display device 3 when is turned to the right. Alternatively, the operator can switch cameras.
It may be performed in conjunction with the operation of the winker or the steering wheel of the input device 2 by 0.

In the example shown in FIG. 4, the display device 3 is provided only on the front surface of the operator 10, and any one of the images of the six cameras provided on the vehicle 101 is required for the display device 3. It was displayed selectively. Since the image processing unit 24 for switching the camera is provided in the vehicle-mounted device 14 (that is, the vehicle 101 side), only the image signal representing the required image is transmitted from the vehicle-mounted device 14 to the service center 1. . As a result, the amount of communication between the service center 1 and the vehicle-mounted device 14 can be reduced.
However, it is not essential for the present invention to switch the images of a plurality of cameras and display the images on the display device.

FIGS. 5A and 5B show examples of the arrangement of the display device and the cameras when the images of the plurality of cameras are displayed on the display device without switching. Figure 5 (a)
Means that the operator 10 at the service center is the vehicle 10
1 shows a state in which 1 is remotely controlled. In the example shown in FIG. 5A, the display devices 3-1 to 3-8 are arranged around the operator 10 in eight directions. FIG. 5 (b) shows
An example of arrangement of the cameras 25-1 to 25-8 installed in the vehicle 101 is shown.

In the example shown in FIGS. 5A and 5B, the images captured by the eight cameras 25-1 to 25-8 are displayed on the display devices 3-1 to 3-3- of the service center 1. It is displayed in each of 8. The camera and the display device in the same direction are associated with each other, and the image of the camera is displayed on the corresponding display device. For example, the vehicle 10
The image captured by the camera 25-3 directed to the right side of 1 is the display device 3-located on the right side of the operator 10.
It is displayed in 3.

According to this structure, eight cameras 2
It is not necessary to switch the images of 5-1 to 25-8, and signals representing the images captured by the cameras 25-1 to 25-8 are transmitted from the vehicle-mounted device 14 to the service center 1. In this case, the image processing unit 24 that switches the camera
(FIG. 3) may be omitted.

The image synthesizing unit not only simply switches the images of a plurality of cameras, but also appropriately transforms the images of the plurality of cameras, and the image signal representing the converted image is transmitted to the service center 1. You may do it.

An example in which the image synthesizing section transforms an image will be described below with reference to FIGS. 6 to 9.

FIG. 6 shows an example of the configuration of the image processing section 24 shown in FIG.

The image processing section 24 includes a plurality of mapping tables (MPT) 104-1 to 104-N, a selector 103 for selecting the MPTs 104-1 to 104-N by an image switching signal (mapping table switching signal) 312, The image combining unit 102 is included. Image processing unit 24
Receives a plurality of images (camera images) output from a plurality of cameras 25-1 to 25-N, transforms and combines them according to a selected mapping table, and creates a new image (for example, when viewed from a virtual viewpoint). Image).
An image signal representing the combined image (composite image) is transmitted to the service center 1 (FIG. 3) by the transmission unit 23.

In the present specification, the "composite image" includes not only an image generated from a plurality of images but also an image generated by transforming / combining one image.

The image composition unit 102 generates a composite image from a plurality of camera images in order to generate a mapping table 10.
4 is used. Here, the “mapping table” refers to a table in which the correspondence relationship between the pixels of the composite image and the pixel data of each camera image is stored.

FIGS. 7A to 7E are views for explaining the process of generating a composite image from a plurality of camera images using the mapping table.

FIGS. 7A to 7C are images taken by three cameras mounted at different positions, respectively. FIG. 7 (d) shows FIGS. 7 (a)-(c).
Mapping table 104 (MPT1 shown in FIG. 6) used to generate a composite image from each camera image of
04-1 to MPT104-N). The image synthesis unit 102 (FIG. 6) uses the mapping table 10 of FIG. 7D from the three camera images of FIGS.
Based on the information of No. 4, one composite image shown in FIG. 7E is generated.

The mapping table shown in FIG. 7 (d) has the following meaning for each pixel of the composite image shown in FIG. 7 (e).
Each has mapping data. The mapping data stores information of which camera image pixel generates the pixel of the corresponding composite image.

Generating a composite image is determining the values of all pixels in the composite image. Here, the image synthesizing unit 102 determines the pixel values of the synthetic image sequentially in raster order from the upper left, and the image synthesizing is performed by taking the case where the value of the pixel P1 (FIG. 7E) is determined midway as an example. The processing performed by the unit 102 will be described.

First, the mapping data MP1 corresponding to the composite image P1 is referred to. The mapping data MP1 stores the corresponding camera number and the corresponding coordinates of the camera image. Mapping data MP
1 has "1" as the camera number and "3" as the X coordinate.
“40” is stored as the Y coordinate, and “121” is stored as the Y coordinate.

The image synthesizing section 102 uses the mapping data M.
According to the content of P1, the pixel data C1 of the coordinates (340, 121) of the camera image of the camera 1 shown in FIG.
From the value of the pixel data C1 to the pixel P of the composite image.
Determine the value of 1. Here, as the simplest determination method, the value of the pixel data C1 is directly used as the value of the pixel P1. Similarly, the value of each pixel of the composite image can be determined, and thus the composite image shown in FIG. 7E is generated.

For example, since the mapping data MP2 corresponding to the pixel P2 of the composite image shows the pixel data C2 of the camera 2 shown in FIG. 7C, the value of the pixel data C2 is given as the value of the pixel P2. To be Similarly, since the mapping data MP3 corresponding to the pixel P3 of the composite image indicates the pixel data C3 of the camera image of the camera 3 shown in FIG. 7A, the value of the pixel data C3 is the value of the pixel P3. Is given.

In the mapping table of FIG. 7D, the area R1 corresponds to the camera 1, and the area R2 is the camera 2.
, And the region R3 corresponds to the camera 3.

Three regions R1 to R3 corresponding to each camera
The region R4 other than is a region other than the photographing region of each camera or a blind spot hidden by the vehicle 101 itself, and is a region where the corresponding camera image does not exist. For example, the pixel P4 of the composite image is a pixel of such a region R4. In this case, the camera number of the mapping data MP4 corresponding to the pixel P4 stores a specific number (“-1” in the example shown in FIG. 7D) indicating that the corresponding camera image does not exist. Keep it. When the camera number is "-1", the pixel P4 is set with predetermined pixel data indicating that it is outside the photographing area or is a blind spot. In the example shown in FIG. 7E, pixel data representing black is set as the predetermined pixel data.

Image signal 311 representing the generated composite image
(FIG. 3) is transmitted to the service center 1 by the transmitter 23. Of course, instead of the image signal representing the entire composite image, an image signal representing at least a part of the composite image may be transmitted. As described above, since the pixel value of the composite image is derived from the pixel value of the plurality of images captured by the plurality of cameras, at least a part of the composite image is the plurality of images captured by the plurality of cameras. Can be said to be at least part of.

In the example of FIG. 7, the mapping table is constructed so as to be able to generate a composite image in which the surroundings of the vehicle are looked down from a virtual viewpoint above the vehicle 101.

How to generate a composite image from a plurality of images picked up by a plurality of cameras (for example, where to set a virtual viewpoint) is determined by the mapping table 10.
It can be realized by switching 4-1 to 104-N. The switching of the mapping table and which part of the generated composite image is to be transmitted to the service center 1 can be determined by, for example, the image switching signal 312 generated based on the operation signal 310 (FIG. 3). Alternatively, this may be determined based on the speed of the vehicle 101.

In this way, the image processing unit 2 shown in FIG.
When the configuration of No. 4 is adopted, the image processing unit 24 and the control unit 21
(FIG. 3) functions as a transmission image determination unit that determines at least a part of the composite image (at least one image) to be transmitted to the service center 1 based on the operation signal 310.

So far, an example of the mapping tables 104-1 to 104-N has been described with reference to FIG. When a plurality of mapping tables 104-1 to 104-N are prepared and the mapping table is switched according to the driving condition of the vehicle 101 (for example, the traveling speed of the vehicle 101, the position of the gear lever, etc.), high-speed image composition switching is performed. Can be realized.

FIG. 8 shows an example of the arrangement of cameras installed in the vehicle 101 and an example of images taken by the cameras. In this example, the vehicle 101 has eight cameras 25-1.
25-8 are arranged. From this captured image (camera image), a composite image when viewed from a virtual viewpoint is generated.

FIG. 9 is a diagram showing an example in which the direction of the virtual viewpoint of the composite image is changed according to the traveling state of the vehicle 101. The images shown in FIGS. 9A to 9D are created corresponding to each of the mapping tables 104-1 to 104-N. In the order of (a) → (b) → (c) → (d), the direction of the line of sight of the virtual viewpoint gradually changes from diagonally rearward to vertically downward. Moreover, the model for generating the composite image is changing along with the change of the direction of the line of sight.
That is, as the direction of the line of sight is inclined, the area of the synthetic image of the pseudo cylindrical model becomes larger, and it becomes easier to see farther.

When the traveling speed of the vehicle is low, the direction of the line of sight is kept right below, and as the traveling speed increases, the direction of the line of sight is tilted, and the traveling direction (backward in this example) is displayed.

The virtual viewpoint can be set at an arbitrary position in the three-dimensional space in an arbitrary direction, as in the case of arranging the viewpoint in the image generation of computer graphics. The virtual viewpoint can be represented by parameters of position, orientation, and focal length, for example. By selecting these parameters according to the situation (for example, the speed of the vehicle 101), an appropriate composite image can be generated.

The composite image (FIGS. 7 and 9D) in which the virtual viewpoint is directly above the vehicle 101 is particularly useful for the operator 1
0 (FIG. 4) is convenient when the vehicle 101 is remotely operated to enter a garage or change lanes. It should be noted that such a composite image together with an image representing the front of the vehicle 101,
It may be presented to the operator 10 as a supplement.

FIG. 10 shows an example of a screen when the composite image is presented to the operator 10. In the example shown in FIG. 10, a car navigation screen 8 that displays information from the car navigation system and a composite image screen 1203 that displays a composite image on the left and right of the display device 3 that displays an image representing the front of the vehicle 101. And are provided. The car navigation screen 8 and the composite image screen 1203
May be displayed on the divided part by dividing the screen of the display device 3 or may be displayed on a dedicated display.

In the example described above with reference to FIGS. 6 to 9, the images from the upper side of the vehicle 101 are presented to the operator 10 by combining the images of the cameras installed in the vehicle 101. However, the camera itself may be installed at a position overlooking the vehicle 101 from above.

11A and 11B show an example in which the camera is installed at a position where the vehicle 101 is looked down from above. In the example shown in FIG. 11A, the camera 525-
1 and the camera 525-2 are installed at a position where the vehicle 101 is looked down from above. The camera 525-1 and the camera 525-2 are provided not on the vehicle side but on the ground side. Such an arrangement of the camera 525-1 and the camera 525-2 can be realized by using, for example, a streetlight or a roof of a parking lot.

A communication path 501-1 is established between the camera 525-1 and the base station 1310, and the camera 525-2
A communication path 501-2 is established between the base station 1310 and the base station 1310. The base station 1310 is connected to the service center 1 (FIG. 1) via an arbitrary communication path. Note that the communication paths 501-1 and 501-2 between the camera 525-1 or 525-2 and the base station 1310 may be wireless communication paths or wire communication paths. Camera 5
25-1 or 525-2 captures an image of the vehicle 101 looking down from above, and transmits an image signal representing the image to the service center 1 via the communication path 501-1 or 501-2 and the base station 1310. Send. The operator 10 of the service center 1 looks at this image and looks at the vehicle 101.
Remote control.

When a plurality of such cameras are provided along the moving route of the vehicle 101, the service center 1 may switch the cameras to be used according to the movement of the vehicle 101. . This is the vehicle 101
This is possible by preparing in advance a database showing how a plurality of cameras are installed along the movement route of.

In the example shown in FIG. 11B, the camera 5
35-1 and the camera 535-2 are connected to the wireless communication channel 511.
-1 and 511-2, the image signal representing the captured image is transmitted to the vehicle 101. The vehicle 101 transmits this image signal to the service center 1 (FIG. 1) via the wireless communication path 521 and the wireless base station 40. In this case, the vehicle-mounted device 14 mounted on the vehicle 101 (see FIG. 11B)
The camera 535-1 is not shown in FIG.
It is also necessary to have a function of receiving the image signal transmitted from the camera 535-2.

FIG. 12 shows an image presented to the operator 10 of the service center 1 in the configuration shown in FIG. By looking at this image, the operator 10
Makes it easy to put the vehicle 101 into the garage by remote control. Note that the camera provided on the ground as shown in FIG. 11 may be provided only in the vicinity of a parking lot where the vehicle 101 can be parked. When remotely operating a place where such a camera is not provided, an image of a camera installed in the vehicle 101 may be used.

The vehicle type of the vehicle 101 which can be remotely operated by the service center 1 is not particularly limited. Therefore, the operator 10 moves various types of vehicles 101 by remote control. Operator 10
It is preferable to grasp the characteristics of the movement of the vehicle 101 before performing the remote control.

FIG. 13 shows the difference in the characteristics relating to the movement due to the difference in the vehicle 101. A curve 1401 represents the relationship between the accelerator depression amount and the acceleration when the accelerator pedal is depressed while the vehicle type A is traveling at a predetermined speed (for example, 30 km / h). The curve 1400 represents the same relationship for the vehicle type B. As can be seen from FIG. 13, in vehicle type B, the acceleration when the accelerator is depressed by b% is 5 km / h / s, while in vehicle type A, the acceleration when the accelerator is depressed by the same amount is 8 km / h. h / s. Unlike driving in the actual location of the vehicle, the acceleration cannot be felt as a sensation when remotely controlling the vehicle.

At the service center 1, the accelerator 2 of the input device 2 is irrespective of the type of vehicle to be remotely operated.
Assuming that the operation signal 310 is generated so that the depression amount (%) of −2 and the accelerator depression amount (%) of the vehicle to be remotely controlled are the same, the operator is accustomed to the remote control of the vehicle of vehicle type B. If the operator 10 remotely operates the vehicle of the vehicle type A without grasping such a difference in the characteristics relating to the motion of the vehicle, there is a risk that the speed may be unexpectedly increased.

If the operator 10 can grasp the difference in the characteristics relating to the movement of the vehicle before the operator 10 starts the remote control of the vehicle of the vehicle type A, the operator 1
0 can avoid such a danger by stepping on the accelerator 2-2 of the input device 2 shallowly. For example, while the operator 10 is remotely controlling a vehicle of vehicle type A, instead of depressing the accelerator 2-2 of the input device 2 by b%, the amount of depression is kept at a%, so that the vehicle is operated as intended at 5 km / h. It can be accelerated by / s.

Therefore, prior to the remote control of the vehicle 101, the characteristics relating to the motion of the vehicle 101 are determined by the service center 1.
Is preferably received from the vehicle-mounted device 14 of the vehicle 101.

Further, even if the operation signal 310 generated in the service center 1 is appropriately converted according to such a difference in the characteristics relating to the movement, and the converted operation signal is transmitted to the vehicle-mounted device 14 of the vehicle 101. Good. Such conversion can be performed by the input device 2 (FIG. 3), for example.

For example, even if the operator 10 depresses the accelerator 2-2 of the input device 2 by b% during remote control of a vehicle of vehicle type A, the operator operates so that only a% of the accelerator is depressed in the actual vehicle. If the signal 310 is converted, this vehicle can be accelerated at 5 km / h / s. Therefore, the operator 10 can safely perform the remote control of the vehicle 101 without being aware of the difference in the characteristics regarding exercise.

FIG. 14 shows a processing procedure of processing for providing a vehicle remote control service.

Step ST1: The service center 1 (FIG. 1) receives an application for the vehicle remote control service.

Step ST2: The service center 1 remotely operates the vehicle based on the contents of the application.

Step ST3: The service center 1 charges the applicant for the vehicle remote control service according to the content of the vehicle remote control. Payment of fees may be made, for example, via a credit card account designated by the applicant 13 (FIG. 1).

The application for the vehicle remote control service can be made, for example, by telephone, FAX, Internet home page, mobile terminal device, mobile phone or the like.

FIGS. 15 (a) and 15 (b) show that when applying for a vehicle remote control service using a mobile phone,
An example of a screen displayed on the mobile phone is shown.

On the screen shown in FIG. 15 (a), the applicant 13 says "Movement of vehicle when passengers are present",
Services such as "moving the vehicle when there are no passengers", "parking at a parking lot", and "others" can be selected.
As described above, on the screen shown in FIG. 15A, it is confirmed to the service applicant whether there is a passenger of the mobile body.

FIG. 15 (b) shows the screen displayed on the mobile phone of the applicant 13 when "Move vehicle without passengers" is selected on the screen shown in FIG. 15 (a). Here is an example: On this screen, move start location (enter by latitude and longitude), move end location (enter by latitude and longitude),
By inputting the movement start time, the movement end time, the name of the vehicle owner, the IP address of the vehicle-mounted device mounted on the vehicle, the credit card number, etc., the application for the vehicle remote control service is completed.

The "movement of the vehicle when there is a passenger" can be used, for example, when the physical condition of the vehicle suddenly deteriorates or the owner of the vehicle cannot continue driving due to drinking or the like.

"Moving a vehicle when there is no passenger" can be used, for example, when an applicant at a company wants a car at home to be sent to the company. Such an example can occur, for example, when an applicant who travels from his / her home to a business trip destination by train or bus and returns to the company from the business trip destination in the afternoon of the day wants to return home by car.

"Movement of vehicle with passengers",
The charge for the service may be different from the "movement of the vehicle when there is no passenger". In addition, in the case of “moving the vehicle when there is an occupant”, it is preferable to confirm that the occupant of the occupant is completed in the vehicle before remotely controlling the vehicle. This confirmation may be made by the operator 10 speaking to the passenger via a car telephone. Such a car phone may be provided in the vehicle 101. Alternatively, an infrared sensor or the like may be used to detect whether or not the passenger has completely boarded.

It is preferable that the vehicle-mounted device 14 be provided with a sound collecting microphone for the operator 10 to drive while listening to the sound around the vehicle 101 while the vehicle 101 is being remotely controlled. This allows the vehicle 10 to be operated while the vehicle 101 is being operated remotely.
When 1 encounters an emergency vehicle such as an ambulance, the operator 10 can take appropriate measures such as giving way to the emergency vehicle by listening to the sound of the siren of the emergency vehicle.

In addition, the vehicle 101 that is being operated remotely is
It is preferable to include a display unit for indicating that or a sound generating unit for generating a warning sound. Such a display can be made, for example, by turning on a lamp, blinking a lamp, or the like. With such a display, other vehicles running on the road and pedestrians can be notified that the vehicle 101 is remotely controlled, and the safety is improved.

The vehicle remote control service of the present invention can be used in various aspects. For example, an unmanned taxi can be realized. In this case, it is advisable to provide a car parking lot (pool) at a predetermined place and park an unmanned taxi there. When the service center 1 receives an instruction from the user, this unmanned taxi (vehicle) can be remotely operated and moved to the user. The user may drive the vehicle by himself or may receive the service of "moving the vehicle when there is an occupant" to remotely operate the vehicle. This type of service is very convenient for users who do not own a car.

According to the present invention, the vehicle can be moved from anywhere. For example, it is possible to remotely control a vehicle in Japan from the service center 1 in the United States.
When moving a vehicle in Japan at midnight, the operator 1
0 is freed from the pain of late night work. In this way, by providing the service centers 1 all over the world and utilizing the time difference, it is possible to eliminate the midnight labor of the operator 10 and
It is possible to provide a remote vehicle control service on a time basis. By freeing the operator 10 from the labor of late night work, the applicant can use the service without hesitation.

In the above-described embodiment, the vehicle is described as an example of the moving body. However, the present invention is not limited to this. For example, inspection robots for performing inspection work in plants such as nuclear power plants or factories,
The present invention can also be applied to moving a cleaning robot in a home.

[0109]

According to the present invention, a method for providing a service for moving a moving body such as a vehicle includes a step of remotely controlling the moving body based on the contents of the application. This eliminates the need for a driver to move the vehicle at the location of the vehicle. Therefore, it is possible to provide a service that requires no human labor and can be easily used from anywhere.

[Brief description of drawings]

FIG. 1 is a diagram showing an outline of a vehicle remote control service according to the present invention.

FIG. 2 is a view showing that a vehicle 10 is remotely operated by a service center 1.
Diagram showing how 1 is moved

FIG. 3 is a block diagram showing configurations of an on-vehicle device 14 and a service center 1.

FIG. 4 is a diagram showing an operator 10 operating a vehicle 101 remotely at a service center 1.

5A and 5B are diagrams showing an example of arrangement of display devices and cameras when images on a plurality of cameras are displayed on the display device without switching.

FIG. 6 is a diagram showing an example of a configuration of an image processing unit 24.

7A to 7E are views for explaining a process of generating a composite image from a plurality of camera images using a mapping table.

FIG. 8 is a diagram showing an example of arrangement of cameras installed in a vehicle 101.

FIG. 9 is a diagram showing an example of a composite image when the direction of the virtual viewpoint is changed according to the traveling state of the vehicle.

FIG. 10 is a diagram showing an example of a screen when a composite image is presented to the operator 10.

11 (a) and (b) show that the camera is a vehicle 101. FIG.
Figure showing an example installed at a position looking down from above

12 is a diagram showing an image presented to the operator 10 of the service center 1 in the configuration shown in FIG.

FIG. 13 is a diagram showing a difference in characteristics relating to motion due to a difference in vehicle 101.

FIG. 14 is a flowchart showing a processing procedure of processing for providing a vehicle remote control service.

15 (a) and 15 (b) are diagrams showing examples of screens displayed on a mobile phone when applying for a vehicle remote control service using the mobile phone.

[Explanation of symbols]

1 Vehicle remote control service center 2 input devices 3 display devices 4 Receiver 5 transmitter 7 instrument 10 operators 40 wireless base stations 11 telephone network 14 Onboard equipment 21 Control unit 22 Receiver 23 Transmitter 24 Image processing unit 101 vehicle (moving body) 310 Operation signal 311 image signal 312 image switching signal

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Osamu Okamoto             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. F term (reference) 5H301 AA03 BB20 CC03 CC06 CC08                       DD06 DD17 EE12 GG09 KK03                       KK10 KK20 QQ06                 5K067 AA34 BB02 BB21 DD51 DD52                       FF02

Claims (10)

[Claims] 1. A method of providing a service for moving a mobile body, comprising: a service center accepting an application for the service; and the service center remotely operating the mobile body based on the content of the application. And a step of performing. 2. The method according to claim 1, wherein the moving body is a vehicle. 3. The remote controlling step comprises: receiving at least a part of at least one image representing the periphery of the moving body, which is transmitted by the moving body; and the at least one of the at least one image. Displaying a unit on a display device, receiving an operation input related to an image displayed on the display device, and generating an operation signal for controlling the movement of the moving body based on the operation input. The method of claim 1, comprising the steps of: transmitting the operational signal to the mobile. 4. The moving body, a photographing unit for photographing at least one image around the moving body, a transmitting unit for transmitting at least a part of the at least one image, and an operation transmitted from the service center. A receiving unit that receives a signal, a control unit that controls the movement of the moving body based on the received operation signal, and an image captured by the imaging unit based on the received operation signal And a transmission image determining unit that determines at least a part of the image.
The method described in. 5. The method according to claim 4, wherein the photographing unit includes a camera having a visible light sensor and a camera having an infrared light sensor. 6. The method according to claim 1, wherein the step of accepting an application for the service includes the step of confirming with the applicant for the service whether or not a passenger of the mobile body is present. 7. The method further comprises the step of, when the passenger is present in the moving body, confirming that the riding of the passenger on the moving body has been completed before remotely controlling the moving body. 7. The method of claim 6 including. 8. The method according to claim 1, wherein the mobile unit includes a display unit for displaying a message or a voice generating unit for generating a warning sound when the mobile unit is remotely operated by the service center. 9. The method of claim 1, wherein the service center provides the service 24 hours a day. 10. The method of claim 1, wherein the step of remote controlling further comprises the step of receiving from the mobile body a characteristic related to the motion of the mobile body.