JP2007265288A - Vehicle and remote operation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To allow for safer remote operation of a vehicle when an operator can view the vehicle. <P>SOLUTION: In a remote operation system, specific authentication processing is performed, and remote operation of a vehicle is enabled only when an operator is positioned to be able to indicate an appropriate remote operation. For example, a code mark provided on a side of the vehicle is imaged with a camera of a remote control device to generate an imaged image for authentication. Then, based on the imaged image for authentication, an ECU in the remote control device detects a relative position of the remote control device to the vehicle, a presence of an obstacle between the remote control device and the vehicle, and others, and judges whether the operator is positioned to be able to instruct an appropriate remote operation. When the operator is judged to be in a position to be able to instruct an appropriate remote operation, such as within a range to be able to fully view the vehicle to operate, remote operation of the vehicle in the remote operation system is enabled. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle and a remote control device, and relates to, for example, vehicle position movement control.

Various devices have been proposed for assisting driver operations when a vehicle is parked in a narrow space.
For example, Patent Document 1 also proposes a vehicle equipped with a remote operation system that moves the vehicle in an instruction direction by an operation from the outside of the vehicle.
JP 2002-120742 A

In such a remote control system, a remote control device (remote control device) for instructing the moving direction of the vehicle is used. For example, “forward”, “backward”, “right turn”, “ A direction button to which the moving direction of the vehicle such as “turn left” is assigned is provided.
Then, when the operator operates these direction buttons, an instruction signal (operation information) corresponding to the direction instruction is transmitted from the remote control device to the vehicle, and the moving direction of the vehicle can be instructed from the outside.

In such a vehicle remote control system, operation information (instruction signal) from a remote control device is received to move the vehicle.
For this reason, the operator of the remote control device can move the vehicle regardless of the distance to the vehicle if the vehicle can receive the operation information.
However, it is not preferable that the remote control device can be operated even when the distance between the remote control device and the vehicle is large, for example, 50 m or more.

In addition, even if the distance between the remote control device and the vehicle is within a predetermined range, it is not preferable that the operation in a state where the operator cannot visually check (confirm) the vehicle due to the presence of an obstacle such as a wall. .
As shown in FIG. 7, for example, when the communication medium from the remote control device is a radio wave, the operation information is received by passing around the obstacle, and in the case of optical communication such as infrared rays, The operation information is received by reflection of glass or the like, and a case where the operation can be performed in a state where the vehicle cannot be seen occurs.
For this reason, it cannot be confirmed whether the operator is surely viewing the vehicle.

Accordingly, a first object of the present invention is to enable remote operation of a vehicle based on an operation at an appropriate position.
A second object of the present invention is to enable remote operation of a vehicle in a state where an operator can visually observe the vehicle.

(1) The invention described in claim 1 is a remote operation device for instructing movement of a vehicle by a remote operation, wherein an input means for inputting operation information relating to the movement of the vehicle, and the input operation information A transmission means for transmitting to the vehicle, a determination means for determining whether or not a relationship between the vehicle and the device satisfies a condition for an operator to confirm safety, and a condition for the safety confirmation by the determination means. When it is determined that the condition is not satisfied, the remote control device is provided with prohibiting means for prohibiting remote operation of the vehicle to achieve the first object.
(2) In the invention described in claim 2, in the remote control device according to claim 1, the determination means determines whether or not the own device exists within a predetermined distance from the vehicle, The prohibiting means prohibits remote operation of the vehicle when the determining means determines that the vehicle does not exist within the predetermined distance range.
(3) According to a third aspect of the present invention, in the remote control device according to the second aspect of the present invention, the remote control device further includes an imaging unit that captures an image of a predetermined mark disposed on the vehicle, The first and second objects are achieved by determining whether or not the vehicle is within a predetermined distance from the vehicle based on the state of the mark.
(4) In the invention described in claim 4, in the remote control device according to claim 3, the mark imaged by the imaging unit is configured by a predetermined code, and the code is recognized from an image captured by the imaging unit. Recognizing means, wherein the determining means determines that the code is present within a predetermined distance from the vehicle when the code can be recognized by the recognizing means.
(5) In the invention described in claim 5, in the remote control device according to claim 3 or claim 4, the mark imaged by the imaging unit includes identification information for identifying the vehicle, and the determination unit includes: When the identification information recognized by the recognition means matches the identification information registered in advance, it is determined that the identification information exists within a predetermined distance from the vehicle.
(6) In the invention described in claim 6, in the remote control device according to claim 3, 4 or 5, the mark imaged by the imaging means is position information for identifying the arrangement position of the mark And display means for displaying a vehicle image in a direction corresponding to the position information recognized in the recognition determination.
(7) In the invention described in claim 7, in the remote control device according to any one of claims 1 to 6, the specified distance corresponding to one operation by the input means is set. Storage means for storing, calculation means for calculating a movement distance based on the number of operations by the input means and the stored designated distance, and the transmission means, the information of the calculated movement distance as operation information It is transmitted to a vehicle including.
(8) In the invention described in claim 8, receiving means for receiving operation information transmitted from the remote operation device, moving means for moving the own vehicle in accordance with the received operation information, the remote operation device and the own vehicle When the operator determines that the condition for confirming safety is satisfied, and the determination means determines that the condition for confirming safety is not satisfied, the moving means The vehicle is provided with movement prohibiting means for prohibiting movement to achieve the first object.
(9) In the invention described in claim 9, in the vehicle according to claim 8, the determination means determines whether or not the remote control device is within a predetermined distance from the host vehicle, The prohibiting unit prohibits movement by the moving unit when the determining unit determines that the remote control device does not exist within a predetermined distance range.
(10) According to the invention described in claim 10, in the vehicle according to claim 9, the vehicle further includes an imaging unit that images a predetermined mark disposed on the remote control device, and the determination unit includes the imaging unit in the captured image. Based on the state of the mark, the first and second objects are achieved by determining whether or not the remote control device is within a predetermined distance from the host vehicle.
(11) In the invention described in claim 11, in the vehicle according to claim 10, the mark imaged by the imaging unit is constituted by a predetermined code, and the recognition unit recognizes the code from the image captured by the imaging unit. The determination means determines that the remote control device is within a predetermined distance from the host vehicle when the recognition means can recognize the code.
(12) In the invention described in claim 12, in the vehicle according to claim 10 or 11, the mark imaged by the imaging unit includes identification information for identifying the remote control device, and the determination unit includes: When the identification information recognized by the recognition means matches the identification information registered in advance, it is determined that the remote control device exists within a predetermined distance from the host vehicle.

According to the present invention, when the relationship between the vehicle and the remote control device does not satisfy the conditions that allow the operator to confirm safety, the vehicle is configured not to move, so that remote control at an appropriate position is realized. Is done.
Further, according to the inventions of claims 3 to 6 and claims 10 to 12, since it is configured to determine whether or not the vehicle is within a predetermined distance range based on the captured image, the vehicle is It is more assured that the remote control is in a visible state.

Hereinafter, preferred embodiments of the vehicle and the remote control device of the present invention will be described in detail with reference to FIGS. 1 to 10.
(1) Outline of Embodiment In this embodiment, operation information regarding the moving direction is transmitted from a remote operation system including a remote operation device and a vehicle, that is, a remote operation device existing outside the vehicle. A remote operation system in which the vehicle that has received the vehicle moves in the direction indicated by the operation information will be described.

In the remote operation system according to the present embodiment, a specific authentication process is executed, and only when the operator is present at a position where an appropriate remote operation instruction can be given, the vehicle can be remotely operated (enabled). Take control.
For example, an authentication image (code mark) provided on the side surface of the vehicle is captured by a camera of a remote control device to generate an authentication captured image.
In addition, the captured image for authentication can be generated by capturing the authentication image displayed on the display of the remote control device with an image sensor (camera) provided in the vehicle.

Then, the ECU in the remote control device or the vehicle, based on the captured image for authentication, the distance (distance) between the remote control device and the vehicle, the relative position of the remote control device (operator) to the vehicle, and between the remote control device and the vehicle. The presence or absence of the obstacle is detected, and based on the detection result, it is determined whether or not it exists at a position where the operator can appropriately instruct remote operation.
Then, when it is determined that the operator exists within a position where the operator can appropriately instruct remote operation, for example, within a range where the operator can sufficiently see the vehicle to be operated, the vehicle in the remote operation system Enable remote control of.

According to the present embodiment, since the remote operation of the vehicle is effective only when the operator is present at a position where an appropriate remote operation instruction can be performed, the operational safety in the remote operation system is improved. Can be made.
Further, by determining whether the remote control (remote) operation is valid / invalid based on the captured image for authentication, the vehicle can be remotely operated by a signal affected by reflection or wraparound as shown in FIG. Occurrence of such inconveniences can be appropriately suppressed.

(2) Details of First Embodiment FIG. 1 shows a schematic configuration of a remote operation system using a vehicle and a remote operation device of the present embodiment.
In this remote operation system, an operator existing outside the vehicle body uses the remote control device 20 to move the vehicle 10 in a desired direction. The remote control device 20 functions as a remote control device.

The vehicle 10 in this embodiment includes four drive wheels. Each of these drive wheels is provided with a wheel motor that is driven independently, and the steering direction can be changed independently of each other. For example, it can move in a wide range of directions including parallel movement in the sideways or diagonal directions. It is possible.
As shown in FIG. 1, sensors 40 a to 40 d for detecting signals transmitted from the remote control device 20 are disposed on the front, rear, left and right side surfaces outside the vehicle body of the vehicle 10. Specifically, a sensor 40a is disposed on the left side surface of the vehicle body, a sensor 40b is disposed on the rear side surface, a sensor 40c is disposed on the right side surface, and a sensor 40d is disposed on the front side surface.

Further, code marks 50a to 50d are disposed on the front, rear, left and right side surfaces of the vehicle 10 outside the vehicle body. Specifically, a code mark 50a is disposed on the left side surface of the vehicle body, a code mark 50b is disposed on the rear side surface, a code mark 50c is disposed on the right side surface, and a code mark 50d is disposed on the front side surface.
The code marks 50a to 50d are obtained by encoding and displaying identification information (ID) of the vehicle 10, position information for specifying the arrangement positions (front, rear, left, right) of the code marks 50a to 50d.

In the present embodiment, the code marks 50a to 50d are constituted by a two-dimensional barcode as shown in FIG. 1, but a display method capable of optically reading simple barcodes, text codes, figures, symbols, and the like. May be used.
The two-dimensional barcode used in the present embodiment is a barcode system having information in the horizontal and vertical directions, that is, in the two-dimensional direction, and information that can be recorded by having information in the vertical and horizontal directions in this way. This is a code that dramatically increases the amount.

Further, in the present embodiment, the code marks 50a to 50d are provided by subjecting the vehicle body to printing (printing) with special ink that reacts only to IR (infrared) light.
Therefore, the code marks 50a to 50d can be provided on the vehicle 10 without deteriorating the appearance of the vehicle 10, that is, in a state where it is not conspicuous in a normal state.
When the code marks 50a to 50d are formed using such special ink that reacts to IR light, the code marks 50a to 50d are imaged using a camera having an infrared photographing function.

The code marks 50a to 50d may be marked on the vehicle body in a state that can be confirmed with the naked eye.
When the code marks 50a to 50d are formed using the normal printing (marking) method in this way, the code marks 50a to 50d can be imaged using a camera having a general imaging function using visible light. .

The remote control device 20 is a device for instructing the moving direction of the vehicle 10 and is operated by an operator.
As shown in FIG. 1, the remote controller 20 includes a transmission / reception unit 21, a display 23, and an operation device (input device) 25.
Further, although not shown, the remote controller 20 is provided with a camera 30 on the back side of the display 23 for imaging the code marks 50a to 50d.

Based on the operation screen selection signal transmitted from the vehicle 10 that has detected the position of the remote control device 20, the display 23 displays a vehicle image in a direction that matches the direction of the vehicle 10 that the operator is viewing. It has become.
For example, when a signal from the remote control device 20 is detected by the sensor 40a, the vehicle 10 recognizes that the operator (the remote control device 20) exists in the region A on the left side of the vehicle.
Then, an operation screen selection signal is transmitted to the remote control device 20 instructing to display a vehicle image facing left when viewed by the operator. The display 23 of the remote control device 20 that receives the operation screen selection signal transmits the operation screen selection signal. A vehicle image in the same direction (leftward) as the direction of the current vehicle is displayed.

On the other hand, when the operator moves to the area B, the display 23 displays a vehicle image facing upward (the vehicle front is on the transmission / reception unit 21 side).
Thus, since the vehicle image in the same direction as the viewed state is displayed on the display 23, the operator is prevented from thinking that the direction of the remote control device 20 itself matches the direction of the vehicle. That is, since it can be confirmed from the vehicle image that the moving direction is based on the position of the operator, it is further prevented that the operator is confused in the directionality.

The remote control device 20 can use a dedicated operation device including the transmission / reception unit 21, the display 23, the operation device 25, the camera 30, and the like. In this embodiment, the remote control device 20 has an imaging function such as a camera-equipped mobile phone. A portable terminal device is used.
Specifically, in addition to the communication function, dedicated application software (application software) that allows the mobile terminal device having the five major functions in the computer for input, storage, calculation, control, and output, and the image photographing function to perform remote operation control of the vehicle 10 ) Is used as the remote control device 20.

Note that dedicated application software for causing the mobile phone to function as the remote control device 20 can be acquired by downloading from a website or the like operated by the manufacturer of the vehicle 10.
In the dedicated application software, it is preferable that an operation signal is individually set for each vehicle type in order to prevent an erroneous operation of a vehicle other than the operation target vehicle 10.
In addition, authentication registration (registration of identification information of the vehicle 10 recognized from the code mark 50) of the vehicle 10 to be operated is previously registered in the remote control device 20, and the vehicle 10 is executed when remote control by the remote control device 20 is executed. The authentication process may be performed.
The remote controller 20 according to the present embodiment has a two-dimensional barcode recognition function, and recognizes the contents written in the code marks 50a to 50d imaged by the camera 30.

FIG. 2 shows a remote operation system configuration for the vehicle 10 of the present embodiment.
As shown in FIG. 2, the vehicle 10 includes sensors 40a to 40d, a serial communication signal processing unit 41, an ECU (electronic control unit) 42, a ROM (read only memory) 43, and a serial I / F 44. These are electrically connected via a bus 45.
In the remote operation system, the ECU 42 and the vehicle signal processing unit 46 are connected via a serial I / F 44.

Sensors 40 a to 40 d are detection devices that detect signals from remote control device 20 located outside vehicle 10. The sensors 40a to 40d are configured by a device having directivity, and are arranged so that the sensing direction faces the outside direction of the vehicle body.
The sensors 40a to 40d each receive a remote control signal (operation information) transmitted from the remote control device 20 and a remote control device 20 that receives various control signals processed on the vehicle 10 side (for example, the ECU 42). It has a transmitter to transmit to.

The serial communication signal processing unit 41 performs processing for converting the remote control signal received by the sensors 40a to 40d and the signal transmitted to the sensors 40a to 40d into signals of an appropriate format. That is, the serial communication signal processing unit 41 functions as a communication I / F (interface) between the vehicle 10 and the remote control device.
In the sensors 40a to 40d, in order to determine which of the sensors 40a to 40d the signal is received, the identification signal of the reception location is added to the received remote control signal.
The serial communication signal processing unit 41 receives a remote control signal to which a reception location identification signal is added.

The ECU 42 includes a computer system such as a CPU (Central Processing Unit) and an internal storage device such as a RAM.
The ECU 42 executes various programs stored in the ROM 43 and the external storage device, for example, a vehicle remote operation processing program in the present embodiment, thereby performing various corresponding processes.
The ECU 42 supplies a steering direction and a vehicle drive signal in accordance with the vehicle remote operation processing program.

  The ROM 43 stores various data such as a conversion table and vehicle ID data used in various processes in addition to various control programs such as a vehicle remote operation processing program and a security processing program.

The serial I / F 44 is an interface for connecting the ECU 42 and the vehicle signal processing unit 46.
The vehicle signal processing unit 46 controls the steering mechanism that independently controls the four wheels provided in the vehicle 10 and the driving force of the vehicle 10 in accordance with the steering direction supplied from the ECU 42 and the driving signal of the vehicle 10. This is supplied to an ECU for vehicle control that controls an internal mechanism such as a driving force mechanism.

FIG. 3 shows a system configuration of the remote control device 20 of the present embodiment.
As shown in FIG. 3, the remote control device 20 includes a transmission / reception unit 21, a serial communication signal processing unit 22, a display 23, a display controller 24, an operation device 25, an operation device signal processing unit 26, an ECU (electronic control unit) 27, A ROM 28, a camera 30, a camera I / F 31, and an image signal processing unit 32 are provided, and these are electrically connected via a bus 29.

The transmission / reception unit 21 is disposed at the upper end of the remote control device 20, and is processed by a receiver that receives (detects) signals transmitted from the sensors 40a to 40d of the vehicle 10 and the remote control device 20 side (for example, the ECU 27). A transmitter for transmitting remote control signals to the sensors 40a to 40d of the vehicle 10 is provided.
In addition, various methods, such as light and electromagnetic waves, can be employ | adopted for communication between the remote control apparatus 20 and the vehicle 10. FIG.

  The serial communication signal processing unit 22 performs a process of converting the signal received by the transmission / reception unit 21 and the signal transmitted to the sensors 40a to 40d into a signal of a predetermined format.

The display 23 is an output device that displays and outputs the processing result processed by the ECU 27, and includes various display means such as a liquid crystal display.
The display controller 24 controls display output on the display 23. For example, when the display 23 is constituted by a liquid crystal display, the voltage applied to the liquid crystal and the backlight are controlled.
On the display 23, based on the operation screen selection signals transmitted from the sensors 40 a to 40 d of the vehicle 10, a vehicle image in a direction that matches the direction of the vehicle 10 that the operator is looking at is displayed.

  The operation device 25 is an input device for inputting operation information relating to the movement of the vehicle, specifically a direction instruction command, to the remote control device 20, and in the present embodiment, is composed of a cross-shaped direction key 251 (see FIG. 5). However, it may be constituted by a joystick or four direction instruction buttons.

In addition to the operation device 25, the remote control device 20 includes input devices such as a power ON / OFF switch and a reset button.
The operation device signal processing unit 26 detects the operation state of the operation device 25 and supplies a corresponding signal to the ECU 27 via the bus 29.

The camera 30 is an imaging device for optically imaging the code marks 50a to 50d.
For example, the camera 30 includes an IR (infrared) LED and a device having a general imaging function using visible light and an infrared imaging function.
Note that the infrared photographing function can be turned on / off by attaching / detaching an IR cut filter provided in the camera 30.

The camera I / F 31 is an interface that controls the operation of the camera 30 based on various set conditions.
The image signal processing unit 32 converts the image data of the code marks 50a to 50d optically read (captured) by the camera 30 into text information.

The ECU 27 includes a computer system such as a CPU (Central Processing Unit) and an internal storage device such as a RAM.
The ECU 27 executes various programs stored in the ROM 28, for example, a direction instruction processing program and a vehicle body direction display processing program, thereby performing various corresponding processes.
The ECU 27 controls the serial communication signal processing unit 22 and the display controller 24 according to the direction instruction processing program and the vehicle body direction display processing program.

  The ROM 28 is an internal storage device of the remote control device 20, and is a dedicated application program (application software) that realizes remote operation control of the vehicle 10, such as a direction instruction processing program, a vehicle body direction display processing program, and a security processing program. In addition to the control program, various data such as vehicle image data used in various processes and vehicle identification information (vehicle ID) registered in advance are stored.

Next, the movement process of the vehicle 10 in the remote control system configured as described above will be described.
FIG. 4 is a flowchart showing the operation of the vehicle remote operation process.
When an application of the remote control device 20 (mobile phone with camera) that causes remote control of the vehicle 10 to be executed by the operator is activated, the remote control function is turned on.

When the remote control function of the remote control device 20 is turned on, a position detection signal having a specific frequency is transmitted from the transmission / reception unit 21 to the vehicle 10 (step 11).
In the present embodiment, the position detection signal is constantly transmitted while the remote control function of the remote control device 20 is in the on state. However, the position detection signal may be transmitted at predetermined time intervals.

  On the vehicle 10 side, the position detection signals transmitted from the remote control device 20 are detected by the sensors 40a to 40d, and a predetermined position detection process of the remote control device 20 is performed based on the detection results of the position detection signals (steps). 21).

That is, when the sensor 40a on the left side surface of the vehicle 10 receives the position detection signal, the ECU 42 of the vehicle 10 determines that the remote control device 20 is positioned in the left side direction of the vehicle 10, and the operation screen selection signal “left side”. Is transmitted from the sensor 40 a that has received the position detection signal to the remote control device 20.
The ECU 42 determines the position of the remote control device 20 from the identification number of the reception location (sensors 40a to 40d) added to the position detection signal received via the serial communication signal processing unit 41.

  Similarly, when the position detection signal is received by the sensor 40b, the ECU 42 receives the operation screen selection signal “rear” by the sensor 40c, and when the sensor 40c receives the operation screen selection signal “right” by the sensor 40d. In this case, an operation screen selection signal “front” is transmitted to the remote control device 20.

  When the position detection signals are detected by the plurality of sensors 40a to 40d, the ECU 42 of the vehicle 10 determines the sensor having the highest signal detection level as the corresponding reacted sensor 40a to 40d.

  When the operation screen selection signal is transmitted from the vehicle 10 by the position detection process (step 21) of the remote control device 20 from the transmitters of the sensors 40a to 40d, the remote control device 20 transmits the transmitted operation screen selection signal to the transmitter / receiver 21. Receive (step 12).

  Next, the ECU 27 of the remote control device 20 reads the vehicle image data corresponding to the type of the received operation screen selection signal (“left side”, “rear”, “right side”, “front”) from the ROM 28, and the associated vehicle schematic diagram (Vehicle image) is displayed on the display 23 (step 13).

FIG. 5 shows the relationship between the positions of the vehicle 10 and the remote control device 20 and the orientation of the displayed vehicle image.
When the position detection signal of the remote control device 20 responds to the sensor 40a of the vehicle 10, that is, when the remote control device 20 is located in the left direction of the vehicle 10 (area A in FIG. 5), the remote control device 20 The operation screen selection signal “left side” transmitted from the sensor 40a is received.
When the transmission / reception unit 21 receives the operation screen selection signal “left side”, as shown in FIG. A vehicle image is displayed in a direction that is the rear part of the vehicle body in the right direction and the front part of the vehicle body in the left direction.

That is, the vehicle image is displayed on the arrangement side (upper side) of the transmission / reception unit 21 in the display 23 so that the body part on the opposite side of the arrangement side of the sensor 40a that responds to the position detection signal faces.
As described above, the display 23 of the remote control device 20 displays a vehicle image that matches the actual direction in which the vehicle 10 is disposed as viewed from the operator.

  When the remote controller 20 is located behind the vehicle 10 (region B shown in FIG. 5), the remote controller 20 receives the operation screen selection signal “rear” transmitted from the sensor 40b of the vehicle 10, and As shown in FIG. 5, the vehicle image is displayed in the direction in which the front portion of the vehicle body is arranged upward as viewed from the operator on the display 23.

  Similarly, when the remote control device 20 is located on the right side (C region) of the vehicle 10 and when located on the front side (D region), the vehicle image is displayed on the display 23 as shown in FIG.

In this way, the display 23 of the remote control device 20 always displays a vehicle image in a direction that matches the direction of the vehicle viewed from the operator.
Thereby, the operator can easily understand that it is only necessary to indicate the moving direction of the vehicle based on the direction of the remote control device 20 or his / her own direction.

  In FIG. 4, the operator next images the code marks 50 a to 50 d provided on the side surface of the vehicle 10 using the camera provided on the mobile phone constituting the remote control device 20 (step 14).

At that time, a message for prompting the operator to image the code marks 50a to 50d is output by voice or image.
Further, the positions of the code marks 50a to 50d may be displayed on the display 23. That is, the positions corresponding to the arrangement positions of the code marks 50a to 50d on the vehicle image displayed on the display 23 are blinked.

  As described above, in this embodiment, a message for instructing (prompting) to image the code marks 50a to 50d corresponding to the sensors 40a to 40d that have received the position detection signals of the remote controller 20 is displayed.

Then, the ECU 27 of the remote control device 20 reads (takes in) the image data of the captured code marks 50a to 50d into the image signal processing unit 32 in the remote control device 20.
Subsequently, the ECU 27 determines whether or not the image data of the code marks 50a to 50d read into the image signal processing unit 32 is recognizable (step 15).
The determination as to whether or not the image data can be recognized is made based on the determination result as to whether or not the read image data of the code marks 50a to 50d can be converted into appropriate text data.

  For example, the ECU 27 of the remote control device 20 can read the code marks 50a to 50d over an entire area based on the image data read by the image signal processing unit 32 and convert the code marks into predetermined text data. In some cases, it is determined that the image data of the code marks 50a to 50d can be recognized.

  On the other hand, for example, when the size of the code mark 50 with respect to the image data read into the image signal processing unit 32 is extremely small, or because a part of the code mark 50 is not captured by an obstacle or the like, the predetermined text If the data cannot be converted to data, it is determined that the image data of the code marks 50a to 50d cannot be recognized.

  When the image data of the code mark 50 read into the image signal processing unit 32 is recognizable (step 15; Y), the ECU 27 of the remote control device 20 determines whether or not a predetermined remote operation permission condition is satisfied. Judgment is made (step 16).

The remote operation permission condition is a condition (safety confirmation enabling condition) where the operator can confirm safety. In this embodiment, the operator (remote control device 20) is in a range (area) where the vehicle 10 can be safely remotely operated. It is a condition for determining that it exists.
The conditions for permitting the remote operation, that is, the conditions for enabling the remote operation include, for example, that the operator (remote control device 20) exists within a predetermined distance (for example, a radius of 2 m) from the vehicle 10, It is preset that there is no obstacle between the operator (remote control device 20) and the vehicle 10 so as to block the operator's field of view.

  The physical distance between the remote control device 20 and the vehicle 10 is, for example, the size (vertical / horizontal length) of the code marks 50a to 50d imaged in step 14, the setting conditions of the camera 30 (lens conditions, zoom conditions, etc.) (Focal length setting condition).

In the present embodiment, a communication condition for determining that communication between the remote control device 20 and the vehicle 10 is in an appropriate state is provided as the remote operation permission condition.
This communication condition includes information on the arrangement position (“left side”, “right side”, “rear”, “front”) included in the code marks 50a to 50d recognized in steps 14 and 15, and the operation screen selection signal received in step 12. ("Left side", "Right side", "Rear side", "Front side") matches.
Thus, by providing the communication conditions, the position of the remote controller 20 can be detected more reliably by both the method using the position detection signal and the method using the code marks 50a to 50d.

  If the predetermined remote operation permission condition is satisfied (step 16; Y), the ECU 27 of the remote control device 20 sets, for example, a flag indicating that the remote operation condition is satisfied, and the remote control device 20 uses the remote control of the vehicle 10 ( Enable remote operation (step 17).

When the image data of the code marks 50a to 50d read into the image signal processing unit 32 is not recognizable (step 15; N), and when the predetermined remote operation permission condition is not satisfied (step 16; N), remote control operation Does not become effective, and remote operation is prohibited (prohibiting means).
Then, the remote controller 20 continues to repeat a series of processes from step 11.

When the remote operation by the remote control device 20 is enabled, the operator presses the direction key 251 (see FIG. 5) in the direction in which the vehicle 10 is to be moved.
For example, when it is desired to move the vehicle 10 in the right direction as viewed from the operator, the right direction (→) key is pressed, and when it is desired to move the vehicle 10 in the left direction, the left direction (←) key is pressed. Similarly, when it is desired to move the vehicle toward the front as viewed from the operator, the down (↓) key is pressed, and when it is desired to move in the back direction, the up (↑) key is pressed.

In the remote control device 20 according to the present embodiment, not only the direction of movement by the direction key 251 but also the movement distance of the vehicle 10 can be instructed by the input with the numeric keypad.
For example, when it is desired to move the vehicle 10 to the right by 30 cm as viewed from the operator, the operator may input a numerical value “30” and then press the right (→) key of the direction key 251.

Further, as another method of instructing the movement distance of the vehicle 10, for example, a movement distance (reference distance αcm) corresponding to one pressing (one click) operation of the operation device 25 is set in advance, and the operation device 25 by the operator is set. The distance obtained by adding the reference distance αcm according to the number of times of pressing, that is, the distance obtained by multiplying the reference distance αcm by the number of times of pressing may be designated as the movement distance.
For example, when the operator clicks the right direction (→) key of the direction key 251 twice (presses twice) in a state where the reference distance 15 cm is set as a movement distance corresponding to one click operation in advance, the operator It can be instructed to move the vehicle 10 to the right by double 15 cm (15 cm × 2), that is, 30 cm.

Note that the reference distance αcm assigned to the one-click operation can be arbitrarily set, for example, 10 cm, 15 cm, 20 cm, 25 cm,.
In this manner, the movement unit of the vehicle 10 corresponding to one click (pressed once) of the operation device 25 is set, and the movement distance (movement amount) of the vehicle 10 corresponding to the number of clicks (press count) of the operation device 25 is set. By enabling the instruction, an appropriate movement of the vehicle 10 can be easily instructed.

When the direction key 251 (the operation device 25) is pressed, the operation device signal processing unit 26 displays a signal corresponding to the pressed key and a signal corresponding to the movement distance instruction information, that is, the movement direction and the movement distance. An operation signal (operation information) to be instructed is generated.
And ECU27 transmits the produced | generated operation signal to the sensors 40a-d of the vehicle 10 from the transmission / reception part 21 (step 18).

After transmitting the operation signal, the ECU 27 determines whether or not the power-off process has been performed, that is, whether or not the power switch of the remote controller 20 has been turned off (step 19).
When the power OFF process is performed (step 19; Y), the remote control device 20 ends the process.
If the power OFF process is not performed (step 19; N), the ECU 27 continues to repeat the series of processes from step 11.

On the other hand, when an operation signal (movement direction, movement distance) is transmitted from the remote control device 20, the vehicle 10 receives the operation signal via the sensors 40a to 40d (step 22).
Next, according to the vehicle remote operation processing program, the ECU 42 of the vehicle 10 determines the steering direction of the wheel based on the position of the remote control device 20 detected in step 21 and the information of the operation signal instructing the moving direction acquired in step 22. Determine (step 23).
Here, from the positional relationship between the vehicle 10 and the remote control device 20, the moving direction of the vehicle desired by the operator indicated by the received operation signal, that is, the steering direction of the wheel is determined (set).

The setting of the steering direction is performed using a conversion table stored in the ROM 43, for example.
FIG. 6 shows an example of the conversion table.
By referring to such a conversion table, the instructed moving direction of the vehicle 10, that is, the steering direction of the wheel, can be uniquely determined from the position of the remote controller 20 and the direction indicated by the operation signal.
For example, when the remote control device 20 is located in the left direction of the vehicle 10 (region A shown in FIG. 5) and the operation signal indicates “right direction”, the steering direction is the direction that causes the vehicle 10 to “retreat”. To be determined.

Next, the ECU 42 performs steering control of the wheels of the actual vehicle 10 that are suitable for (corresponding to) the determined steering direction of the vehicle 10 (step 24).
In this wheel steering control, a steering signal indicating the determined steering direction of the vehicle 10 is output from the ECU 42 to the vehicle signal processing unit 46 via the serial I / F 44, and the four wheels are controlled from the vehicle signal processing unit 46. This is executed by transmitting a control signal to the steering mechanism.

  Subsequently, when the wheel steering control is completed, the ECU 42 outputs a driving force suitable for (corresponding to) the driving force necessary for the speed (for example, 5 km / h or less) for safely moving the vehicle. The driving force is controlled to move the vehicle 10 by the travel distance (step 25).

That is, the ECU 42 outputs a driving force signal corresponding to the driving force necessary for the movement of the vehicle 10 and the moving distance of the vehicle 10 to the vehicle signal processing unit 46 via the serial I / F 44, and from the vehicle signal processing unit 46. This is executed by supplying a control signal to the vehicle control ECU that controls the driving force of the vehicle 10.
Based on the supplied control signal, the vehicle control ECU supplies a current corresponding to the driving force to each wheel motor of the drive wheels, and the vehicle is moved by a designated predetermined distance.

When driving of the wheel 10 is completed, that is, when the movement of the vehicle 10 is completed by a distance corresponding to the movement distance instructed by the operation signal, the ECU 42 of the vehicle 10 determines whether or not the power supply of the remote control device 20 is in an OFF state. (Step 26).
The power-on state (ON / OFF state) of the remote control device 20 is determined based on whether or not a position detection signal transmitted from the remote control device 20 is detected.

  In other words, when the position detection signal transmitted from the remote control device 20 is received by the sensors 40a to 40d, the ECU 42 determines that the remote control device 20 is in the ON state and has received the position detection signal. If not, it is determined that the remote control device 20 is in the OFF state.

When it is determined that the power source of the remote control device 20 is in the ON state (step 26; N), the ECU 42 repeats a series of processes from step 21.
On the other hand, when it is determined that the power supply of the remote control device 20 is in the OFF state (step 26; Y), the ECU 42 ends the process.

  In the present embodiment, the imaging process of the code marks 50 a to 50 d, that is, the process of enabling the remote control (remote) operation of the vehicle 10 by the remote control device 20 (authentication process) is the relative position between the operator and the vehicle 10. When the relationship is changed, for example, when the position of the operator moves from the left direction of the vehicle 10 (region A shown in FIG. 5) to the rear of the vehicle 10 (region B shown in FIG. 5). It is configured.

  As described above, the authentication process by imaging the code marks 50a to 50d may be performed every time the moving direction of the vehicle 10 is changed, or a timer time (for example, 30 seconds) is set, and the authentication process is performed once. Thereafter, the remote control (remote) operation of the vehicle 10 by the remote control device 20 may be validated within the set time of the timer.

In the present embodiment, whether the remote control (remote) operation of the vehicle 10 by the remote control device 20 is valid or invalid, that is, an unconditional stop instruction (stop operation) of the vehicle 10 is It is configured to be able to do.
That is, in the remote operation of the vehicle 10 by the remote control device 20 of the present embodiment, when the vehicle 10 is moved, the operation is enabled when the remote operation permission condition is satisfied, and the remote operation is prohibited when the vehicle 10 is not satisfied. The stop instruction during the operation and the movement of the vehicle can be performed unconditionally.

In the present embodiment, based on the captured images of the code marks 50a to 50d, for example, the distance (physical distance) between the operator (remote control device 20) and the vehicle 10 to be remotely operated is determined, and remote operation permission is allowed. The authentication process for enabling the remote control operation is performed when the condition is satisfied, but the authentication processing method for enabling the remote control operation is not limited to this.
For example, when the code marks 50a to 50d can be recognized from the image data read by the image signal processing unit 32, the distance (physical distance) between the operator (remote control device 20) and the vehicle 10 is sufficiently close, It may be determined that there are no obstacles between them, and remote control operation may be validated (remote operation is not prohibited).
In this case, by adjusting the size of the code marks 50a to 50d provided on the vehicle 10, the range of the distance (physical distance) between the operator (remote control device 20) and the vehicle 10 that enables the remote control operation is set ( Limited).

As described above, in the remote operation system including the vehicle and the remote control device 20 of the present embodiment, the distance between the remote control device 20 and the target vehicle 10 (as a remote operation permission condition for enabling the remote operation by the remote control device 20 ( When the operator (remote control device 20) does not exist in the vicinity of the vehicle 10, a remote control (remote) operation is prohibited.
Therefore, it is possible to always perform a remote operation at a position where visual confirmation is possible for the vehicle 10 and its surroundings.

Further, according to the present embodiment, the operation based on the remote operation permission condition for enabling the remote operation by the remote control device 20 is added to the determination based on the state of the captured images of the code marks 50a to 50d by the camera 30. The user determines that the code marks 50a to 50d are in a visible range, and that there is no obstacle between the operator (remote control device 20) and the vehicle 10 that affects the field of view. be able to.
According to the present embodiment, detection (detection) of the position of the operator (remote control device 20) is performed by two methods (two-step detection): a method using a position detection signal and a method of imaging the code marks 50a to 50d. Method).

In the present embodiment, when there is an obstacle that blocks the operator's view between the operator (remote control device 20) and the code marks 50a to 50d, that is, the operator visually checks the code marks 50a to 50d. If the remote control device 20 is in an incapable state, the remote control device 20 cannot capture images of appropriate code marks 50a to 50d.
Even if the code marks 50a to 50d reflected on the mirror are captured, the image is inverted with respect to the original image and cannot be appropriately decoded by the image signal processing unit 32. In this process, it is determined that the image cannot be recognized.
Therefore, by using the method of imaging the code marks 50a to 50d for detecting the position of the operator (remote control device 20), the operator can determine the situation for sufficiently ensuring safety. This can be properly detected (detected).

In addition, according to the remote operation system according to the present embodiment, the operation device 25 (direction key) depends on the positional relationship between the vehicle 10 and the operator (remote control device 20), that is, the part of the vehicle 10 that the operator faces. 251), the steering direction of the vehicle 10 instructed changes.
That is, in the remote operation system of the present embodiment, the steering direction of the vehicle 10 is not fixed to the operation device 25 unlike the remote control device used in the conventional remote operation system.

Then, the operator presses the operation device 25 (direction key 251) arranged (arranged) in the same direction as the direction in which the vehicle 10 is to be moved with reference to the user (remote control device 20) as a reference. The vehicle 10 can be moved in the direction.
Accordingly, the operator can easily instruct the desired moving direction of the vehicle 10 in accordance with the actual direction of the vehicle 10, so that the convenience when performing the remote operation of the vehicle 10 can be improved. Furthermore, erroneous operations can be suppressed.

Although one embodiment of the vehicle of the present invention has been described above, the present invention is not limited to the described embodiment, and various modifications can be made within the scope described in each claim.
For example, in the embodiment described above, a case has been described in which a mobile phone in which the display 23 and the operation device 25 are configured as independent devices is used as the remote control device 20, but the display 23 and the operation device 25 are provided with an input function and a display function. You may make it comprise using the touch panel and touch screen which are combined.
Thus, when the display 23 and the operation device 25 are integrated, the above-described vehicle image can be displayed superimposed on the operation device (direction key).

Further, in the remote operation system described above, the case has been described in which the validity / invalidity of the remote control (remote) operation is determined based on the captured images of the code marks 50a to 50d represented by two-dimensional barcodes.
However, the captured image to be referred to when determining whether the remote operation is valid / invalid is not limited to the code marks 50a to 50d represented by the two-dimensional barcode, and a display that can identify the vehicle 10 For example, any captured image such as a symbol mark or a body part having a specific shape may be used.

  In the described embodiment, the direction of the vehicle image displayed on the display 23 of the remote control device 20 is determined based on the operation screen selection signal (“left side”, “right side”, “rear”, “front”) received in step 12. However, the orientation of the vehicle image may be determined from the position information (“left side”, “right side”, “rear”, “front”) included in the code mark 50 recognized in steps 14 and 15.

In this case, transmission of the position detection signal and reception of the operation screen selection signal (steps 11 and 12) are unnecessary.
On the other hand, on the vehicle 10 side, step 21 becomes unnecessary, and instead, position recognition of the remote control device 20 is performed based on the operation signal received in step 22.
When transmission / reception based on the position detection signal (steps 11, 12, and 21) is omitted, the communication condition as the remote operation permission condition, that is, the communication between the remote control device 20 and the vehicle 10 is in an appropriate state. The determination as to whether or not is omitted.

(3) Details of Second Embodiment Next, a second embodiment of the remote operation system will be described.
In the remote operation system according to the first embodiment described above, based on the image captured by the remote control device 20 (mobile phone), the remote control device 20 determines whether the remote control (remote) operation is valid or invalid, that is, the remote control (remote). The case where operation is restricted (prohibited) has been described.
On the other hand, in 2nd Embodiment, based on the image imaged with the vehicle 10b, judgment of validity / invalidity of remote control (remote) operation on the vehicle 10b side, ie, control (prohibition) of remote operation, is performed.
In addition, the same code | symbol is attached | subjected to the site | part which overlaps with the remote control system mentioned above, and detailed description is abbreviate | omitted.

Also in the remote operation system in the second embodiment, the remote control device 20 is configured using a mobile phone in addition to the communication function, as in the above-described remote operation system.
In the second embodiment, the remote control device 20 stores in advance image data for identification (for authentication) that can identify (specify) the remote control device 20 in the ROM 28 of the remote control device 20. The display 23 can be displayed.
The identification (authentication) image data (authentication image) may be optically readable image data encoded and displayed, for example, identifier (ID) information of the remote control device 20.

In the present embodiment, a two-dimensional barcode is used as the authentication image, but a simple barcode, text code, figure, symbol, or the like may be used.
In the present embodiment, the remote control device 20 includes an authentication image, and the vehicle 10b side needs to include an authentication result (an identifier or the like of the remote control device 20) based on the authentication image.
Therefore, even if the authentication image is acquired from the vehicle and stored in the remote control device 20, the authentication image and / or the authentication result is acquired from the remote control device 20 and the authentication result is stored in the vehicle 10b. Also good.

FIG. 8 illustrates a schematic configuration of the remote control system according to the second embodiment.
As shown in FIG. 8, in the remote control system shown in the second embodiment, sensors 40a to 40d for detecting signals from the remote control device 20 are disposed on the front, rear, left and right side surfaces outside the vehicle body of the vehicle 10b. .
Further, on the vehicle body outside of the vehicle 10b, an image sensor 60a is disposed on the left side surface, an image sensor 60b is disposed on the rear side surface, an image sensor 60c is disposed on the right side surface, and an image sensor 60d is disposed on the front side surface.

FIG. 9 shows the configuration of the remote control system for the vehicle 10b in the second embodiment.
As shown in FIG. 9, the vehicle 10b includes sensors 40a to 40d, image sensors 60a to 60d, a serial communication signal processing unit 41, an ECU (electronic control unit) 42, a ROM (read only memory) 43, and a serial I. / F44, and these are electrically connected via a bus 45.
In the remote operation system, the ECU 42 and the vehicle signal processing unit 46 are connected via a serial I / F 44.

The image sensors 60a to 60d are imaging devices that capture (photograph) the surroundings of the vehicle 10b.
The image sensors 60a to 60d are configured by a digital video camera using an image sensor such as a CCD (charge coupled device) or a CMOS sensor. A wide-angle lens with a short focal length is used as a camera lens, and the camera lens is configured to support a wide range of photographing.
Image data captured by the image sensors 60a to 60d is stored (stored) in a format that allows digital image processing.
The image sensors 60a to 60d are arranged so that the imaging direction (lens direction) faces the outside direction of the vehicle body.

The serial communication signal processing unit 41 performs image processing for converting image data captured by the image sensors 60a to 60d into data of an appropriate format.
The image data picked up by the image sensors 60a to 60d is added with the identification data of the picked-up locations in order to determine which image sensor 60a to 60d is the image data picked up.
The serial communication signal processing unit 41 receives image data with identification data of the imaging location.

The ECU 42 includes a computer system such as a CPU (Central Processing Unit) and an internal storage device such as a RAM.
The ECU 42 executes various programs stored in the ROM 43 and the external storage device, for example, a vehicle remote operation processing program in the present embodiment, thereby performing various corresponding processes.
The ECU 42 is configured to control the vehicle signal processing unit 46 according to the vehicle remote operation processing program.

The ROM 43 is an internal storage device of the remote operation system. In addition to various control programs such as a vehicle remote operation processing program, a security processing program, an image analysis program, and a motion capture program, conversion tables and vehicle ID data used in various processes, Various data such as definition data indicating the correspondence between the operation pattern and the instruction direction are stored.
The serial I / F 44 is an interface for connecting the ECU 42 and the vehicle signal processing unit 46.
The vehicle signal processing unit 46 includes a steering mechanism that independently controls each of the four wheels provided in the vehicle 10b, a driving force mechanism that controls the driving force of the vehicle 10b, and the like. A process of converting into a predetermined vehicle signal for controlling the internal mechanism is performed.
Further, the vehicle 10b is provided with an operation switch for switching activation / deactivation of the remote operation system.

Next, the movement process of the vehicle 10b in 2nd Embodiment of the remote control system comprised in this way is demonstrated.
FIG. 10 is a flowchart showing the operation of the vehicle remote operation process.
When an application for executing the remote operation control of the vehicle 10 is started by the remote controller 20 by the operator, the remote control function is turned on.

When the remote control function of the remote control device 20 is turned on, a position detection signal having a specific frequency is transmitted from the transmission / reception unit 21 to the vehicle 10 (step 31).
The ECU 42 of the vehicle 10b receives the position detection signals transmitted from the remote control device 20 by the sensors 40a to 40d, and determines the position of the remote control device 20 by the identification signals added to the position detection signals by the sensors 40a to 40d. Detect (step 41).

Next, the operator operates the remote controller 20 to read image data for identification (for authentication) stored in advance in the ROM 28 of the remote controller 20 and display it on the display 23 (step 32).
The process of displaying the identification image (authentication image) on the display 23 is automatically performed when an application for executing the remote operation control of the vehicle 10b is started and the remote control function is turned on. You may do it.
The operator points the display 23 of the remote control device 20 on which the authentication image is displayed toward the vehicle 10b.

  Subsequently, the vehicle 10b uses the image sensors 60a to 60d to capture an identification image (authentication image) displayed on the display 23 of the remote control device 20 (step 42). Image data captured by the image sensors 60a to 60d is input to the ECU 42 of the vehicle 10b via the serial communication signal processing unit 41.

The ECU 42 of the vehicle 10b determines whether or not the read image data of the authentication image is recognizable (step 43).
The determination as to whether or not the image data can be recognized is based on the determination result as to whether or not the image data of the authentication image indicated by the read two-dimensional barcode can be converted into appropriate text data. Done.

For example, the ECU 42 of the vehicle 10b determines that the read authentication image is recognizable when it is captured in an appropriate size and can be converted into predetermined text data.
On the other hand, for example, when the read authentication image data is in a state where a part of the authentication image is missing due to the influence of an intervening obstacle or the like, it is converted into predetermined text data. If it cannot be determined, it is determined that the recognition is impossible.

  When the image data of the authentication image read into the ECU 42 of the vehicle 10b is recognizable (step 43; Y), the ECU 42 of the vehicle 10b determines whether a predetermined remote operation permission condition is satisfied. (Step 44).

When the predetermined remote operation permission condition is satisfied (step 44; Y), the ECU 42 of the vehicle 10b sets a flag indicating that the remote operation condition is satisfied, and the remote control (remote) operation of the vehicle 10b by the remote control device 20 is performed. Is enabled (step 45).
Then, an operation screen selection signal (“forward”, “reverse”, “right turn”, “left turn”) indicating that the remote control (remote) operation of the vehicle 10b by the remote control device 20 is effective and the display direction of the vehicle image is shown. ) Is transmitted to the remote control device 20.

  If the read image data of the authentication image is not recognizable (step 43; N), and if the predetermined remote operation permission condition is not satisfied (step 44; N), the vehicle 10b continues from step 41. Repeat a series of processes.

When the operation screen selection signal is transmitted from the vehicle 10b, the remote control device 20 receives the transmitted operation screen selection signal at the transmission / reception unit 21 (step 33).
Next, the ECU 27 of the remote control device 20 reads the vehicle image data corresponding to the type of the received operation screen selection signal (“left side”, “rear”, “right side”, “front”) from the ROM 28, and the associated vehicle schematic diagram (Vehicle image) is displayed on the display 23 (step 34).

  Thereafter, the processes in steps 35 and 36 on the remote controller 20 side and the processes in steps 46 to 50 on the vehicle 10 side are the same as steps 18 and 19 and steps 22 to 26 in the first embodiment.

  As described above, in the second embodiment, an authentication image is displayed on the display 23 of the remote control device 20 when determining whether remote operation is valid or invalid. For identification (authentication) As the image, an image printed in advance on a part of the remote controller 20 or an image with a dedicated mark attached may be used.

In the second embodiment, the remote operation is determined to be valid / invalid before receiving the operation signal (movement instruction signal) from the remote control device 20, but it is determined whether the remote operation is valid / invalid. The timing of performing is not limited to this.
For example, after receiving an operation signal (movement instruction signal) from the remote control device 20, an authentication image is taken, and the steering control of the vehicle 10b may be executed only when it is determined that the remote operation is valid. .

Further, instead of capturing an authentication image, code marks 50a to 50d similar to those in the first embodiment are provided on the vehicle 10b, images of the code marks 50a to 50d are captured by the remote control device 20, and captured image data. Is transmitted to the vehicle 10b together with the operation signal (movement instruction signal).
Then, based on the transmitted image data of the code marks 50a to 50d, it may be determined whether the remote operation is valid or invalid on the vehicle 10b side.

In the second embodiment described, the case where the four image sensors 60a to 60d are arranged on the front, rear, left and right of the vehicle body has been described. However, a fisheye lens capable of capturing a wider angle range, for example, a 180 degree range. Two image sensors may be arranged using a super-wide-angle lens such as.
In this case, the imaging range of the two image sensors images each area obtained by dividing the vehicle into two diagonal lines. Specifically, areas A and B in FIG. 5 are imaged by one image sensor, and areas C and D are imaged by another image sensor. Here, the reason why the line is divided into two on the diagonal line is that the operator rarely comes on the line.
In addition, it is also possible to use one image sensor using a fisheye lens that can image the entire periphery (360 degrees) of the vehicle. In this case, the image sensor may also be used as a security camera attached in the vehicle.
However, when a fisheye lens is used, since the image is distorted, an image for authentication is specified (recognized) after the captured fisheye image is converted into a real image.

In the first and second embodiments described above, the vehicle remote operation system including the four-wheel wheel motor that independently drives the four drive wheels has been described. However, the vehicle to be operated is limited to this. Is not to be done.
For example, the present invention can be applied to a vehicle in which the driving force of an engine or a motor is transmitted to two wheels or four wheels via a shaft, like a normal four-wheel vehicle.

In both of the embodiments described above, the four directions of forward, backward, right, and left have been described as the directions in which the vehicle is operated by the remote control device 20, but the moving direction of the vehicle is not limited to four directions, and all 360 degrees. A direction may be indicated.
In this case, the vehicle image corresponding to the position of the operator (according to the operation screen selection signal transmitted from the vehicle) is displayed on the display 23 of the remote control device 20, and the vehicle image is displayed from the touch panel arranged on the display 23. Any direction may be indicated.
In this case, the ECU 27 of the remote control device 20 transmits the coordinate data of the touched point to the vehicle, and the vehicle uses the coordinate data and the transmitted operation screen selection signal (or the position of the specified operator) of the vehicle. Specify the direction of movement.

Further, in both of the embodiments described above, the case where the vehicle is moved in the direction of radiation centering on the vehicle has been described. However, any point in the region (vehicle region) where the vehicle is projected on the ground is designated, The belief rotation in which the vehicle is rotated around the point may be configured to be remotely operable.
In this case, the remote control device 20 transmits the rotation center and the rotation direction to the vehicle 10 as operation information.
In addition, you may make it carry out the rotation movement centering on the outside of a vehicle area | region not only in a belief rotation.

It is explanatory drawing showing the outline | summary structure of the remote control system using the vehicle and remote control apparatus of this embodiment. It is explanatory drawing showing the remote control system structure about the vehicle of this embodiment. It is explanatory drawing showing the system configuration | structure about the remote control apparatus of this embodiment. It is a flowchart showing operation | movement of the vehicle remote control process. It is explanatory drawing showing the relationship between the position of a vehicle and a remote control device, and the direction of the vehicle image displayed. It is explanatory drawing showing an example of the conversion table. It is explanatory drawing which showed an example of the condition of the signal wave at the time of remote operation. It is a schematic block diagram of the remote control system shown in 2nd Embodiment. It is a remote operation system block diagram about the vehicle shown in 2nd Embodiment. It is a flowchart showing operation | movement of the vehicle remote control process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle 20 Remote control device 21 Transmission / reception part 22 Serial communication signal processing part 23 Display 24 Display controller 25 Operation device 26 Operation device signal processing part 27 ECU
28 ROM
29 Bus 30 Camera 31 Camera I / F
32 Image signal processing unit 40a to d Sensor 41 Serial communication signal processing unit 42 ECU
43 ROM
44 Serial I / F
45 Bus 46 Vehicle signal processor 50a-d Code mark 60a-d Image sensor 251 Direction key

Claims (12)

A remote control device for instructing movement of a vehicle by remote control,
Input means for inputting operation information relating to movement of the vehicle;
Transmitting means for transmitting the input operation information to the vehicle;
Judgment means for judging whether or not the relationship between the vehicle and the own apparatus satisfies a condition that allows the operator to confirm safety;
Prohibiting means for prohibiting remote operation of the vehicle when it is determined by the determining means that the conditions for safety confirmation are not satisfied,
A remote control device characterized by comprising:
The determining means determines whether or not the device exists within a predetermined distance from the vehicle;
The prohibiting means prohibits remote operation on the vehicle when the determining means determines that the vehicle does not exist within the predetermined distance range.
The remote control device according to claim 1.
Comprising imaging means for imaging a predetermined mark disposed on the vehicle;
The determination means determines whether or not the vehicle is within a predetermined distance from the vehicle based on the state of the mark in the captured image.
The remote control device according to claim 2.
The mark imaged by the imaging means is configured with a predetermined code,
Recognizing means for recognizing the code from an image captured by the imaging means;
The determination means determines that the code is present within a predetermined distance from the vehicle when the recognition means can recognize the code;
The remote control device according to claim 3.
The mark imaged by the imaging means includes identification information for identifying the vehicle,
The determination means determines that the identification information recognized by the recognition means is present within a predetermined distance from the vehicle when the identification information matches the previously registered identification information.
The remote control device according to claim 3 or 4, wherein the remote control device is a remote control device.
The mark imaged by the imaging means includes position information for identifying the arrangement position of the mark,
6. The remote control device according to claim 3, further comprising display means for displaying a vehicle image in a direction corresponding to the position information recognized by the recognition determination.
Storage means for storing a specified distance corresponding to one operation by the input means;
Based on the number of operations by the input means and the stored designated distance, a calculation means for calculating a movement distance,
The transmission means includes information on the calculated moving distance in operation information and transmits the operation information to the vehicle.
The remote control device according to any one of claims 1 to 6, wherein the remote control device is a remote control device.
Receiving means for receiving operation information transmitted from the remote control device;
Moving means for moving the vehicle according to the received operation information;
Judgment means for judging whether or not the relationship between the remote control device and the host vehicle satisfies a condition that allows the operator to confirm safety;
A movement prohibiting means for prohibiting movement by the moving means when the determining means determines that the condition for confirming safety is not satisfied;
A vehicle characterized by comprising:
The determination means determines whether or not the remote control device is within a predetermined distance from the host vehicle,
The prohibiting unit prohibits movement by the moving unit when the determining unit determines that the remote control device does not exist within a predetermined distance range;
The vehicle according to claim 8.
Comprising an imaging means for imaging a predetermined mark arranged in the remote control device;
The determination means determines whether or not the remote control device is within a predetermined distance from the host vehicle based on the state of the mark in the captured image.
The vehicle according to claim 9.
The mark imaged by the imaging means is configured with a predetermined code,
Recognizing means for recognizing the code from an image captured by the imaging means;
The determination means determines that the remote control device is within a predetermined distance from the host vehicle when the code can be recognized by the recognition means;
The vehicle according to claim 10.
The mark imaged by the imaging means includes identification information for identifying the remote control device,
The determination means determines that the remote control device is within a predetermined distance from the host vehicle when the identification information recognized by the recognition means matches the identification information registered in advance.
The vehicle according to claim 10 or 11, wherein the vehicle is a vehicle.

Images