JP2008033438A - Remote vehicle operation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote vehicle operation system that provides both security and user convenience appropriately during remote operation. <P>SOLUTION: In the remote vehicle operation system for moving a vehicle by a remote operation using a mobile terminal, the degree of strictness of authentication required of a user during the execution of a first remote vehicle moving operation for transitioning a vehicle for remote operation from a first state to a second state is different from the degree of strictness of authentication required of the user during the execution of a second remote vehicle moving operation for transitioning the vehicle from the second state to the first state. The first state is, e.g., a parked state in which the vehicle is parked in a predetermined parking space, and the second state is, e.g., a retrieved state in which the vehicle is parked outside of the predetermined parking space, in which case the degree of strictness of authentication required of the user during the execution of the first remote vehicle moving operation is higher than the degree of strictness of authentication required of the user during the execution of the second remote vehicle moving operation. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention generally relates to a vehicle remote control system that moves a vehicle by remote control using a mobile terminal, and more particularly to a vehicle remote control system that appropriately achieves both security and user convenience during remote control.

  2. Description of the Related Art Conventionally, a vehicle remote operation system that moves a vehicle by remote operation using a portable terminal is known (see, for example, Patent Document 1).

Patent Document 1 discloses an apparatus and method for performing personal authentication when operating a vehicle by remote control.
JP 2002-197566 A

  However, in the conventional device as described in Patent Document 1, when the vehicle is moved by remote operation, the same level of personal authentication is performed uniformly.

  From the viewpoint of improving security, the strictness of personal authentication required for remote operation execution is better, but on the other hand, from the viewpoint of improving user convenience, personal authentication is better enough to be completed quickly. I can say.

  In other words, if the strictness of personal authentication required at the time of remote operation execution is made stricter (for example, multiple types of authentication must be passed), the emphasis is on improving security. There is a risk of annoying the impression.

  On the other hand, if the user authentication is less important and the strictness of personal authentication required at the time of remote operation execution (for example, it is sufficient to pass one type of authentication), the remote operation target vehicle is placed. Depending on the situation and condition, security may not be sufficient.

  The present invention has been made to solve such problems, and it is a main object of the present invention to provide a vehicle remote control system that appropriately balances security and user convenience during remote control.

  One aspect of the present invention for achieving the above object is a vehicle remote control system for moving a vehicle by remote control using a portable terminal, wherein the remote control target vehicle is changed from a first state to a second state. The degree of strictness of authentication required by the user when executing the first remote vehicle moving operation to be transferred, and the second remote to move the remote operation target vehicle from the second state to the first state This is a vehicle remote control system in which the degree of strictness of authentication required for a user when performing a vehicle moving operation is different.

  According to the above aspect, when the vehicle is moved by remote operation, the degree of strictness of authentication required for the remote operator is changed from what state the vehicle is to what state with the movement. Focusing on whether or not to make a transition, in order to change the degree of strictness of personal authentication required for remote operation execution according to the state transition, appropriate security and user convenience according to the vehicle state transition Can be compatible.

  In the above aspect, the first state is, for example, a storage state where the vehicle is stopped in a predetermined parking space, and the second state is, for example, the vehicle is stopped outside the predetermined parking space. Based on the insight that the probability of theft and other dangers will be relatively higher when leaving the vehicle than when entering the predetermined parking space. The degree of strictness of authentication required for the user when executing the remote vehicle moving operation is made stricter than the degree of strictness of authentication required for the user when executing the second remote vehicle moving operation. .

  Here, for example, 1) The number of types of authentication (for example, biometric authentication) required by the user when executing the first remote vehicle moving operation is the number of types of authentication required by the user when the second remote vehicle moving operation is executed. The degree of strictness of authentication may be tightened by increasing the number of types of authentication (for example, biometric authentication) required for the above, or 2) when the first remote vehicle moving operation is performed The authentication required by the user is made up of authentication (for example, biometric authentication) performed on the portable terminal and authentication (for example, biometric authentication) performed on the remote operation target vehicle, and the second remote vehicle moving operation is performed. The authentication required by the user at the time of execution consists of either one of the authentication performed in the portable terminal or the authentication performed in the remote operation target vehicle. It may be severely the extent of the.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle remote operation system which can make security at the time of remote operation and user convenience compatible appropriately can be provided.

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

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

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

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

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

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

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

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

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

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

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

  The in-vehicle device 101 further includes a steering control unit 204. The steering control unit 204 is capable of changing the traveling direction of the vehicle by turning the steering wheel independently of the steering operation input to the steering handle by the vehicle driver. The steering control unit 204 is an ECU for electric power steering (EPS), for example, and specifically controls energization of an electric motor (motor) having a worm gear attached to an output shaft, for example. In this case, the worm gear is fixedly attached to the column shaft (steering shaft) and meshed with a wheel gear that rotates integrally around the column shaft. Further, the column shaft is connected to a rack shaft (rack bar) through a so-called rack and pinion type steering gear. With such a configuration, by energizing the motor, the column shaft can be arbitrarily rotated to generate a desired steering torque.

  The in-vehicle device 101 further includes a driving force control unit 205 that controls the magnitude of the driving force generated in the host vehicle independently of the accelerator pedal operation by the driver. The driving force control unit 205 a) in an engine vehicle using an engine (internal combustion engine) as a driving source, controls the throttle valve opening to adjust the engine output, and b) mounts two power sources, In a hybrid vehicle in which one of them is an electric motor and an electric vehicle using an electric motor as a power source, the magnitude of the driving force of the own vehicle is controlled by controlling the output torque of the electric motor.

  The in-vehicle device 101 further includes a braking force control unit 206 that controls the magnitude of the braking force generated in the host vehicle independently of the brake pedal operation by the driver, for example, by controlling the brake hydraulic pressure.

  The in-vehicle device 101 further includes a lamp control unit 207 that performs on / off control of lamps mounted on the host vehicle. Here, the lights include, for example, a headlight, a hazard lamp, a small lamp, a brake lamp, a blinker, and the like.

  The in-vehicle device 101 further includes an alarm output unit 208 that informs the user who is the remote operation requester that the remote operation is requested but the execution is rejected because the requirements necessary for the operation execution are not satisfied. . This is mainly an alarm aimed at communicating to the user that the reason why the remote control is not executed but the reason why it is not executed is not a failure of the device or the like, but because the predetermined requirement is not satisfied It is. The conditions required for the remote operation execution in this embodiment will be described in detail later.

  In the present embodiment, the alarm output unit 208 outputs an alarm by, for example, A) lighting or blinking an alarm indicator dedicated to the outside of the vehicle or existing lights (such as a hazard lamp). Or B) may be configured to output an alarm by providing it from a speaker installed outside the vehicle as audio information that conveys the alarm content, or C) any of these An alarm may be output by a combination.

  The in-vehicle device 101 further includes a main control unit 209 that comprehensively controls each component of the in-vehicle device 101. The main control unit 209 is, for example, an ECU (Electronic Control Unit).

  Further, in this embodiment, the main control unit 209 is configured to be input with on / off information of the ignition switch (IG).

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

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

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

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

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

  The portable terminal 102 further includes a user authentication unit 303 that personally authenticates whether or not the user is a regular user. Whether the user authentication unit 303 is a legitimate user by biometric authentication (biometrics authentication) that performs identity verification based on physical characteristics such as fingerprints, irises behind the eyeballs, glow, veins, face, or voiceprint, for example. Authenticate whether or not. Since the basic principle of each authentication method is known to those skilled in the art, a detailed description thereof is omitted here.

  When the vehicle V is configured to move only while the user presses a predetermined button of the mobile terminal 102 during remote operation, if a detection unit for fingerprint authentication is provided on the button, While the button is pressed, it is always possible to perform user authentication by fingerprint authentication, which is preferable from the viewpoint of improving security.

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

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

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

  When the remote operation request is received (“YES” in S11), the main control unit 210 of the in-vehicle device 101 then moves the remote operation target vehicle from the inside of the predetermined parking space frame to the outside thereof. It is determined whether or not it is an exit operation to be performed (S12).

  This is the state where the vehicle is moved from the state parked (entered) within the predetermined parking space frame to the state exited, and is parked (entered) within the predetermined parking space frame from the state of exit. Based on the insight that there will be higher security and safety risks such as vehicle theft and contact with surrounding objects than when moving to a user, the level of user authentication required to perform remote operation in the case of leaving ( That is, the determination is made to increase the degree of strictness required to complete the authentication.

  The determination as to whether or not the operation is remote operation may be performed based on, for example, a) information selected and input in advance by the user at the time of remote operation request, or b) Equipped with a device that detects the current position of the host vehicle V, such as GPS (Global Positioning System), and when the vehicle position before the start of movement is within a predetermined parking space frame, Or c) When the vehicle V requests a remote operation using a peripheral monitoring camera installed in a parking lot where there is a vehicle V or a parking space where parking (parking) is parked. It may be determined that the vehicle is leaving when the vehicle is parked within a predetermined parking space frame, or d) the vehicle-mounted device 101 is an engine of the vehicle V. It is also possible to record a vehicle start history, a travel history, and a door opening / closing history, and based on these histories, it may be determined whether or not the vehicle is parked at the time of remote operation request, or e) a) above It is good also as what is determined by arbitrary combinations of 2 or more of -d).

  When it is determined that the remote operation requested by the user is a shipment (“YES” in S12), the main control unit 209 is in a situation where importance should be placed on improving security, and it is necessary to increase the authentication level. And instructing the user authentication unit 303 of the mobile terminal 102 to increase the authentication level during user authentication through the communication unit 201 (S13).

  On the other hand, when it is determined that the remote operation requested by the user is not a shipment (“NO” in S12), the main control unit 209 is in a situation where emphasis is placed on improving user convenience, and the authentication level is Since it is determined that there is no need to increase, no special instruction is transmitted to the portable terminal 102 (S13 is skipped).

  Here, the authentication level is the degree of strictness required to complete (pass) the authentication. For example, if all of the multiple types of authentication are not passed, the authentication is not completed. Therefore, it can be said that the authentication level can be stricter than the case where the authentication is completed if only one type of authentication is passed. In other words, the authentication level or the degree of strictness of authentication can be compared according to the number of types of authentication required.

  In the present embodiment, as an example, in the default authentication (that is, authentication required when the vehicle is not issued), any one of the fingerprint, the iris in the back of the eyeball, the glow, the vein, the face, or the voiceprint It is assumed that it is necessary to pass biometric authentication using features, and for authentication when the authentication level is raised (that is, authentication required when leaving the store), fingerprints, irises behind the eyeball, and glow Assume that both biometric authentication using any two physical features of veins, faces, or voiceprints must be passed.

  After the authentication level is raised according to necessity in this way, the user authentication unit 303 of the mobile terminal 102 determines whether the operator is a regular user based on the authentication level at that time ( S14).

  When it is determined that the user is not an authorized user (“NO” in S14), the main control unit 210 of the in-vehicle device 101 informs the user that the alarm output unit 209 has failed in user authentication. An alarm for transmission is output (S15).

  On the other hand, when it is determined that the user is an authorized user (“YES” in S14), the main control unit 209 authenticates the operator of the mobile terminal 102 as the remote operation request source as an authorized user of the remote operation target vehicle V. After confirming that the steering control unit 204, the driving force control unit 205, and the braking force control unit 206 are in a state where they can operate normally, for example, 1) horn (horn) or 2) A predetermined voice message or buzzer sound is output to the outside of the vehicle, or 3) the portable terminal 102 is equipped with a voice output function, and the predetermined voice message or buzzer sound is transmitted from the portable terminal 102 by remote operation from the in-vehicle device 101. Or 4) blinking the hazard lamp, or 5) the mobile terminal 102 is equipped with a vibration function, and is remotely operated from the in-vehicle device 101. Or vibrate 02, or 6) the mobile terminal 102 is equipped with a display, and a predetermined text message is displayed on the mobile terminal 102 by remote control from the in-vehicle device 101, or 7) the headlight is predetermined Blink in a pattern (for example, the left and right headlights blink at the same time at short intervals), or 8) Any combination of two or more of the above 1) to 7) (simply 2 systems) In addition to using the above at the same time, for example, it is possible to change according to the surrounding environment, such as horning during the day and blinking the headlight at night, etc.) It is signaled to start execution of (warehousing) / shipping (S16).

  When alerting the user that the vehicle starts to move in this way, the main control unit 209 of the in-vehicle device 101 instructs the braking force control unit 206 to release the electric parking brake and turn on the brake. It is in a standby state where it can start moving at any time.

  Next, the main control unit 209 checks whether or not the engine is operating (S17). If the engine is not operating ("NO" in S17), it is operated (S18). For example, when a vehicle is to be parked in a narrow parking space where there is not enough space to get off, the user drives the vehicle close to the parking space, stops it, gets off without stopping the engine, and then remotely operates When parking (entry) is instructed by S, the engine is still operating (“YES” in S17), and S18 is skipped.

  These steps S17 to S18 are not necessary for a vehicle whose power source is other than the engine. However, in the case of a hybrid vehicle in which one of the power sources is an engine, a) when the remaining battery capacity is below a certain level, or b) when leaving the vehicle, it is necessary to warm the engine and / or catalyst with warm air. Or c) when it is desired to notify a third party around the remotely operated vehicle that the vehicle starts to move, the engine may be started. On the other hand, d) When it is determined from the clock or user settings that it is nighttime, or e) When it is determined from the GPS or the like that the area is provided with the idling stop ordinance, or f) Remote operation target It is preferable not to start the engine when it is found from a clearance sonar, radar, tire interference sensor, camera, or the like that a third party is located near the traveling direction of the vehicle or the muffler.

  Next, the main control unit 209 of the in-vehicle device 101 determines whether or not the requested remote operation is a leaving operation in the follow-up mode (S19).

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

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

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

  When the requested remote operation is not the exit in the follow-up mode (“NO” in S19), the remote operator is requested to set the target parking (entry) / exit position (S20). The target parking position is set through the user input unit 302 while the user looks at the display screen, for example.

  In the case of delivery in the follow-up mode (“YES” in S19), there is no need to set the target position and S20 is skipped.

  Next, the main control unit 209 of the in-vehicle device 101 determines the travel distance of the host vehicle based on the travel distance of the host vehicle based on the vehicle speed detected by the vehicle speed detection unit 202 and the steering wheel steering angle detected by the steering angle detection unit 203. While monitoring, the steering control unit 204, the driving force control unit 205, and the braking force control unit 206 are instructed to follow the movement of the mobile terminal 102 if the follow mode is set. The host vehicle is caused to travel so as to reach the target position (S21).

  In either case of parking (entrance) / exit, in order to ensure safety, the main control unit 209 monitors the vehicle speed detected by the vehicle speed detection unit 202 while the vehicle is moving, and the driving force control unit 205 and braking force are monitored. The control unit 206 is instructed to slow down the host vehicle V.

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

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

  In addition, the surrounding environment of the vehicle V is relatively dark, such as when the vehicle is moved by the remote operation at night or in the rain, regardless of whether the vehicle is parked (entering) or out of the vehicle and in the follow-up mode. When it is performed below, the main control unit is lit so that the feet of the user who is the remote operator P, the predicted traveling direction region of the vehicle V predicted from the current or past movement history, and the like are illuminated during the vehicle movement. 209 is preferably configured to instruct the lights control unit 207 to turn on the headlight of the vehicle V. In that case, for example, the determination of whether or not the headlight needs to be turned on may be determined by using a light amount sensor to determine that the headlight needs to be turned on when the amount of light outside the vehicle is below a predetermined level. Or, b) more simply, the predetermined time zone may be determined in advance as nighttime when the headlight needs to be turned on, and may be determined according to the time indicated by the in-vehicle clock, or c) using a rain sensor, When the rainfall is above a predetermined level, it may be determined that the headlight needs to be turned on.

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

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

  In this way, the in-vehicle device 101 monitors the stop timing while moving the remotely operated vehicle V (S22). When the target stop position is set, the time when the target position is reached is the timing of stopping, that is, the automatic travel stop.

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

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

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

  The automatic traveling of the vehicle V is continued until one of such stop timings arrives ("NO" in S22 and the process returns to S21).

  On the other hand, when one of the stop timings is reached and the vehicle V stops (“YES” in S22), the main control unit 209 of the in-vehicle device 101 causes the braking force control unit 206 to apply an electric power brake and, for example, 1 2) A predetermined voice message or buzzer sound is output to the outside of the vehicle, or 3) The mobile terminal 102 is equipped with a voice output function, and is remote from the in-vehicle device 101. A predetermined voice message or buzzer sound is output from the mobile terminal 102 by operation, or 4) the hazard lamp blinks, or 5) the mobile terminal 102 is equipped with a vibration function and is remotely operated from the in-vehicle device 101. Or 6) The mobile terminal 102 is equipped with a display and is remotely connected to the in-vehicle device 101. 7) Flashing the headlights in a predetermined pattern (for example, flashing the left and right headlights at the same time at short intervals, etc.) 8) Arbitrary combinations of two or more of the above 1) to 7) (not only using two or more systems at the same time, but also, for example, horn blowing during the day, headlight blinking at night, etc. The remote operator is signaled that the vehicle has stopped (S23).

  Next, the main control unit 209 of the in-vehicle device 101 determines whether or not the current remote operation is parking (entrance) (or whether or not it is not exited) (S24).

  When it is determined that the vehicle is parked (warehousing) (“YES” in S24), it is determined that the possibility that the user gets on the vehicle V and starts running immediately after stopping is extremely low, and the engine is automatically activated. It is turned off (S25). However, at that time, for example, when music content is being downloaded in communication with the center, or when the remaining battery capacity in the hybrid vehicle is below a certain level, the download waits or the battery charging is completed. The engine may be turned off later.

  On the other hand, if it is determined that the vehicle is leaving (“NO” in S24), it is determined that the user is likely to get on the vehicle V as it is after stopping and start running, and the engine is not turned off (S25). Skip).

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

  Thus, according to the present embodiment, when a vehicle is moved by remote operation, a request is made to the remote operator during remote operation according to the state transition state from the vehicle state before movement to the vehicle state after movement. The degree of strictness of user authentication is different, and user authentication is more stringent when leaving the vehicle from the warehousing state than when leaving the warehousing state. Therefore, user convenience is more important at the time of warehousing than at the time of warehousing, and security and user convenience can be appropriately balanced according to vehicle conditions.

  In the above embodiment, as an example, a user authentication unit for user authentication is provided in a mobile terminal used by a remote operator for remote operation of a vehicle. However, the user authentication unit may be provided on A) the remote operation target vehicle, or B) may be provided on both the remote operation portable terminal and the remote operation target vehicle.

  In the case of A), there are a plurality of user authentication units provided on the vehicle side in the same manner as the user authentication unit 303 on the mobile terminal 102 side in the above-described embodiment in order to change the authentication level between the case of entering and the case of leaving. It is necessary to be compatible with at least two types of authentication methods.

  In the case of B), in order to change the authentication level between the case of entering and the case of leaving, B1) the user authentication units on both the mobile terminal side and the vehicle side each support a plurality of types (at least two types) of authentication methods. And the user may pass the authentication using the user authentication unit on any one side, or B2) Each user authentication unit on the mobile terminal side and the vehicle side It is assumed that only one type of authentication expression is supported, and in the case of warehousing where the default authentication level is used, the user may pass authentication using the user authentication unit on any one side. In the case of delivery with a stricter authentication level, the user authentication units on both the mobile terminal side and the vehicle side must pass authentication.

  Further, in the above embodiment, when it is determined that the remote operation request is a vehicle exit and the authentication level is increased, from the viewpoint of further improving the safety, in addition, 1) If the follow mode, the mobile terminal is Reduce the distance range and angle range from the remotely operated vehicle where the remote operator to be held should be located, or 2) extend the distance range of obstacle detection while moving the vehicle, widen the angle range, and / or Measures such as increasing accuracy, 3) lowering the upper limit speed while the vehicle is moving, or 4) any combination of the above 1) to 3) may be taken.

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

  Furthermore, in the above embodiment, as an example, user authentication is performed by biometric authentication using physical features such as fingerprints, irises behind the eyeballs, glows, veins, faces, or voiceprints. Is not limited to such an embodiment. For example, instead of or in addition to biometric authentication, a user authentication unit that performs user authentication using a user ID or a password may be provided on the mobile terminal side and / or the vehicle side. In this way, instead of or in addition to biometric authentication, a specific example in the case where the authentication level required at the time of delivery is made stricter than the authentication level required at the time of entry using user authentication based on a user ID or password is as follows. 6 patterns are shown.

  The first pattern assumes that the person holding the mobile terminal is a regular user of the vehicle, and at the time of warehousing, if the mobile terminal is held by a remote operator, remote operation is allowed, At the time of delivery, the mobile terminal side or the vehicle side requires user authentication with a user ID or password.

  The second pattern is that user authentication by login user ID or password is required at the mobile terminal at the time of warehousing, and user authentication by user ID or password for remote operation at the mobile terminal side or the vehicle side at the time of warehousing. It is a configuration that is required.

  The third pattern assumes that user authentication by one user ID or password is required on the mobile terminal side or vehicle side at the time of warehousing, and a plurality of (for example, two) on the mobile terminal side or the vehicle side at the time of warehousing. ) It is assumed that user authentication using a user ID or password is required.

  In the fourth pattern, user authentication by a user ID or password is requested on the mobile terminal side or vehicle side when entering the vehicle, and user authentication by biometric authentication is requested on the mobile terminal side or vehicle side when leaving the store. It is the composition of.

  The fifth pattern is that user authentication by biometric authentication is required on the mobile terminal side or vehicle side at the time of warehousing, and user authentication by the user ID or password on the mobile terminal side or vehicle side and the mobile terminal side or at the time of warehousing. The configuration is such that both user authentication by biometric authentication on the vehicle side is required.

  As for the sixth pattern, at the time of warehousing, only any one of user authentication by user ID or password on the mobile terminal side or vehicle side or user authentication by biometric authentication on the mobile terminal side or vehicle side is required, It is a configuration in which user authentication by biometric authentication is required on the mobile terminal side or the vehicle side when leaving.

  The fourth pattern is based on the premise that user authentication by biometric authentication will be relatively stricter than user authentication by user ID or password. In the sixth pattern, the user is given the freedom to select an arbitrary authentication method at the time of warehousing, so that the authentication level required is higher than that at the time of warehousing when the authentication method is limited to biometric authentication. Is based on the idea that is relatively relaxed.

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

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

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Vehicle remote control system 101 In-vehicle apparatus 102 Portable terminal 201 Communication part 202 Vehicle speed detection part 203 Steering angle detection part 204 Steering control part 205 Driving force control part 206 Braking force control part 207 Lights control part 208 Alarm output part 209 Main control part 301 Communication Unit 302 User Input Unit 303 User Authentication Unit

Claims (5)

A vehicle remote control system for moving a vehicle by remote control using a mobile terminal,
The degree of strictness of authentication required by the user when executing the first remote vehicle moving operation for shifting the remote operation target vehicle from the first state to the second state, A vehicle remote control system, characterized in that the degree of strictness of authentication required for a user when executing a second remote vehicle movement operation for shifting from the state to the first state is different. The vehicle remote control system according to claim 1,
The first state is a warehousing state,
The second state is a shipping state,
The degree of strictness of authentication required for the user when executing the first remote vehicle movement operation, and the degree of strictness of authentication required for the user when executing the second remote vehicle movement operation A vehicle remote control system characterized by being more strict. The vehicle remote control system according to claim 2,
The number of types of authentication required for the user when executing the first remote vehicle moving operation is greater than the number of types of authentication required for the user when executing the second remote vehicle moving operation. By performing the first remote vehicle movement operation, the degree of authentication required by the user when executing the second remote vehicle movement operation, the strict authentication required by the user when executing the second remote vehicle movement operation. A vehicle remote control system characterized by being made stricter than the size of the vehicle. The vehicle remote control system according to claim 2,
Authentication required by the user when performing the first remote vehicle movement operation consists of authentication performed in the mobile terminal and authentication performed in the remote operation target vehicle,
The authentication required of the user when executing the second remote vehicle moving operation is composed of either one of authentication performed in the mobile terminal or authentication performed in the remote operation target vehicle. Vehicle remote control system. The vehicle remote control system according to any one of claims 1 to 4,
The authentication required of the user when executing the first remote vehicle moving operation or the authentication required of the user when executing the second remote vehicle moving operation is biometric authentication. Vehicle remote control system.

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