JP2015035181A - Remote travel control system, remote travel control unit, and on-vehicle travel control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote travel control system capable of reducing a safety risk such as an accident due to a wrong operation when a vehicle is controlled to travel by remote control from a portable terminal, etc.SOLUTION: A remote travel control system includes: a remote travel control unit 2; one or more cameras 6, 7 for capturing the images of predetermined directions from a vehicle; and an on-vehicle travel control device 1 for receiving a control signal from the remote travel control unit 2 by multiple separated antennas 11, 12, detecting the direction of the remote travel control unit 2 from the vehicle on the basis of the intensity of received each radio wave, and controlling the travel of the vehicle on the basis of the received control signal. The remote travel control unit 2 determines whether one of the direction information of the remote travel control unit 2 from the vehicle and the imaging direction information of images captured by the cameras 6, 7 coincides with a direction indicated to travel in travel control or not, and prohibits the travel in the direction when it is determined that none of them coincides with the direction.

Description

  The present invention provides a remote travel controller that controls the travel of a vehicle, a camera that captures images from the vehicle, the strength of each radio wave received by a plurality of antennas, and the position of each antenna. The present invention relates to a remote travel control system, a remote travel controller, and an on-vehicle travel control device that include a vehicle-mounted travel control device that detects a direction from a vehicle and controls travel of the vehicle based on a received control signal.

When driving on extremely narrow roads, parking, etc., when driving a place where walls and obstacles pass, the user should get off the vehicle and visually check it, get on the vehicle and run the vehicle a little, and repeat It can be very time consuming.
Further, even when the user wants to move the vehicle slightly when the user is outside the vehicle, a series of operations of getting on, running, and getting off is necessary.
In such a case, by operating the vehicle at a low speed from the outside of the vehicle, a remote driving control system has been proposed that can be operated while directly checking the location of the wall and passing obstacles and can be moved slightly. ing.

  Patent Document 1 discloses a remote control device in which an operator instructs a moving direction on the basis of one direction of his / her direction without considering the directionality with respect to the vehicle. For example, if the operator wants to move the vehicle (virtual cube) to the right with reference to himself / herself, he / she should always press the button on the right, and if he / she wants to move the vehicle in his / her direction (front), the operator will always It is only necessary to press a button on the lower side of the remote control device, and the operator does not need to consider the relationship between the vehicle and his / her direction at all.

JP 2007-122580 A

  In the remote driving control system as described above, there is a method of remotely controlling the vehicle with a portable terminal or the like to control the driving from outside the vehicle. However, there is a problem that there is a safety concern such as an accident due to an operation error.

  The present invention has been made in view of the above-described circumstances, and has safety concerns such as an accident due to an operation error when remotely controlling a vehicle with a mobile terminal or the like to control traveling from the outside of the vehicle. An object is to provide a remote control system that can be reduced.

  The present invention also provides a remote travel control system that can reduce safety concerns such as accidents due to operational errors when remotely controlling a vehicle with a mobile terminal or the like to control travel from outside the vehicle. An object is to provide a travel controller.

  The present invention also provides an on-vehicle remote control system that can reduce safety concerns such as accidents due to operation errors when remotely controlling a vehicle with a mobile terminal or the like to control the vehicle from outside the vehicle. An object is to provide a travel control device.

  A remote driving control system according to a first aspect of the present invention is a remote driving controller that transmits a control signal for driving a vehicle in a direction that indicates a vehicle, one or a plurality of cameras that photograph a predetermined direction from the vehicle, and the remote driving The control signal from the controller is received by a plurality of spaced antennas, and the direction of the remote controller from the vehicle is detected and received based on the strength of each received radio wave and each position of the antenna. In a remote travel control system comprising an on-vehicle travel control device for controlling travel of the vehicle based on a control signal, the on-vehicle travel control device includes means for transmitting photographing direction information of an image photographed by the camera, and detection Means for transmitting direction information from the vehicle of the remote travel controller, wherein the remote travel controller is configured to receive the shooting direction information of the image; Either of the means for receiving the direction information from the vehicle of the travel controller and the received direction information from the vehicle of the remote travel controller and the shooting direction information of the image are instructed to travel by the travel control. It is characterized by having means for determining whether or not the direction matches, and means for prohibiting traveling in the direction when it is determined that none of the means match.

  In this remote travel control system, the remote travel controller transmits a control signal for traveling in the direction instructing the vehicle, and one or more cameras capture a predetermined direction from the vehicle. The in-vehicle travel control device receives the control signals from the remote travel controller via multiple antennas separated from each other, and detects the direction of the remote travel controller from the vehicle based on the received radio wave intensity and each antenna position. At the same time, the vehicle travel is controlled based on the received control signal. The in-vehicle travel control device transmits the shooting direction information of the image captured by the camera, and transmits the detected direction information from the vehicle of the remote travel controller. The remote travel controller receives the shooting direction information of the image taken by the camera, and receives the direction information from the vehicle of the remote travel controller. It is determined whether or not any of the received direction information from the vehicle of the remote travel controller and the shooting direction information of the image matches the direction instructed to travel by the travel control, and neither is determined to match. If you do, travel in that direction is prohibited. As a result, it is possible to prevent the vehicle from traveling in a direction that cannot be visually confirmed or confirmed by the camera image.

  A remote driving control system according to a second aspect of the present invention is a remote driving controller that transmits a control signal for driving a vehicle in a direction that indicates a vehicle, one or a plurality of cameras that photograph a predetermined direction from the vehicle, and the remote driving The control signal from the controller is received by a plurality of spaced antennas, and the direction of the remote controller from the vehicle is detected and received based on the strength of each received radio wave and each position of the antenna. In a remote travel control system comprising an on-vehicle travel control device that controls the travel of the vehicle based on a control signal, the on-vehicle travel control device includes the detected direction information from the vehicle of the remote travel controller, and the camera Means for determining whether or not any of the shooting direction information of the image taken by the camera coincides with the direction instructed to travel by the traveling control, and the means agrees. When it is determined the Most, characterized in that it has a means for inhibiting movement of the said direction.

  In this remote travel control system, the remote travel controller transmits a control signal for traveling in the direction instructing the vehicle, and one or more cameras capture a predetermined direction from the vehicle. The in-vehicle travel control device receives the control signals from the remote travel controller via multiple antennas separated from each other, and detects the direction of the remote travel controller from the vehicle based on the received radio wave intensity and each antenna position. At the same time, the vehicle travel is controlled based on the received control signal. Whether any of the direction information from the vehicle of the remote driving controller detected by the in-vehicle driving control device and the shooting direction information of the image taken by the camera matches the direction instructed to run by the driving control. Determine whether. If it is determined that none of them match, traveling in that direction is prohibited. As a result, it is possible to prevent the vehicle from traveling in a direction that cannot be visually confirmed or confirmed by the camera image.

  The remote cruise control system according to the third aspect of the present invention is characterized in that an upper limit of a distance traveled by the vehicle is determined for one travel control operation.

  In this remote travel control system, since the upper limit of the distance traveled by the vehicle is set for one travel control operation, it is possible to prevent the vehicle from running away.

  In the remote control system according to the fourth aspect of the invention, the remote control controller can release the function of the collision prevention device for preventing collision and rear-end collision by operation, and has released the function of the collision prevention device. In some cases, only the traveling control of the detected remote traveling controller in the direction from the vehicle is executed.

  In this remote cruise control system, the remote cruise controller can cancel the function of the collision prevention device for preventing collision and rear-end collision by operation. When the function of the collision prevention device is canceled, Only the traveling control of the traveling controller in the direction from the vehicle is executed. Thereby, when the function of the collision prevention device is canceled, the vehicle can be driven only in a direction that can be directly observed.

  A remote travel controller according to a fifth aspect of the present invention is a remote travel controller that transmits a control signal for causing a vehicle to travel in a direction that indicates a vehicle, and means for receiving photographing direction information obtained by photographing one or a plurality of images; Whether the means for receiving the direction information from the vehicle and the received direction information from the vehicle and the photographing direction information of the image coincide with the direction instructed to travel by traveling control. And a means for prohibiting traveling in the direction when it is determined that none of the means match.

  In this remote driving controller, a control signal for driving the vehicle in the direction instructing is transmitted. The photographing direction information obtained by photographing one or a plurality of images is received, and the direction information from the own vehicle is received. When it is determined whether any of the received direction information from the vehicle and the shooting direction information of the image coincides with the direction instructed to travel by the traveling control, and it is determined that neither of them coincides , Prohibit running in that direction. As a result, it is possible to prevent the vehicle from traveling in a direction that cannot be visually confirmed or confirmed by the camera image.

  A remote travel controller according to a sixth aspect of the invention is characterized in that an upper limit of a distance traveled by the vehicle is determined based on a single travel control operation.

  In this remote travel controller, since the upper limit of the distance traveled by the vehicle is determined based on a single travel control operation, the vehicle can be prevented from running away.

  The remote travel controller according to the seventh aspect of the invention can release the function of the collision prevention device for preventing collision and rear-end collision by operation, and when the function of the collision prevention device is released, It is characterized in that only the traveling control in the direction from the vehicle is executed.

  In this remote travel controller, the function of the collision prevention device that prevents collision and rear-end collision can be canceled by operation, and when the function of the collision prevention device is canceled, the vehicle travels in the direction from its own vehicle. Perform control only. Thereby, when the function of the collision prevention device is canceled, the vehicle can be driven only in a direction that can be directly observed.

  An in-vehicle travel control device according to an eighth aspect of the present invention receives a control signal by a plurality of spaced antennas, and based on the received radio wave intensity and each position of the antenna, the direction from the vehicle that is the source of the control signal And a means for transmitting shooting direction information of an image taken by one or more cameras that take a predetermined direction from the vehicle in an in-vehicle running control device that controls the running of the vehicle based on the received control signal And means for transmitting the detected direction information from the originating vehicle.

  In this in-vehicle travel control device, a control signal is received by a plurality of spaced antennas, and the direction from the vehicle that is the source of the control signal is detected and received based on the strength of each received radio wave and each position of the antenna. Based on the control signal, the running of the vehicle is controlled. The photographing direction information of the image photographed by one or a plurality of cameras photographing a predetermined direction from the vehicle is transmitted, and the direction information from the detected transmission source vehicle is transmitted.

  A vehicle-mounted travel control device according to a ninth aspect of the present invention receives a control signal by a plurality of spaced antennas, and based on the strength of each received radio wave and each position of the antenna, the direction from the vehicle from which the control signal is transmitted In the in-vehicle travel control device that controls the travel of the vehicle based on the received control signal, the detected direction information from the transmission source vehicle and one or a plurality of images of a predetermined direction from the vehicle When it is determined that any of the shooting direction information of the image captured by the camera matches the direction instructed to travel by the traveling control, and when the means does not match, And means for prohibiting traveling in the direction.

  In this in-vehicle travel control device, a control signal is received by a plurality of spaced antennas, and the direction from the vehicle that is the source of the control signal is detected and received based on the strength of each received radio wave and each position of the antenna. Based on the control signal, the running of the vehicle is controlled. Either the detected direction information from the transmission source vehicle or the shooting direction information of the image captured by one or more cameras that capture a predetermined direction from the vehicle coincides with the direction instructed to travel by travel control. It is determined whether or not. If it is determined that none of them match, traveling in that direction is prohibited. As a result, it is possible to prevent the vehicle from traveling in a direction that cannot be visually confirmed or confirmed by the camera image.

  According to the remote driving control system according to the present invention, when the vehicle is remotely controlled with a mobile terminal or the like to control the driving from outside the vehicle, the remote safety can be reduced, such as an accident due to an operation error. A travel control system can be realized.

  According to the remote travel controller of the present invention, when a vehicle is remotely operated with a mobile terminal or the like and travel control is performed from the outside of the vehicle, it is possible to reduce safety concerns such as an accident due to an operation error. A travel control system can be realized.

  According to the in-vehicle travel control device according to the present invention, when a vehicle is remotely operated with a mobile terminal or the like and travel control is performed from the outside of the vehicle, a remote capable of reducing safety concerns such as an accident due to an operation error. A travel control system can be realized.

It is a block diagram which shows the principal part structure of embodiment of the remote travel control system which concerns on this invention, a remote travel controller, and a vehicle-mounted travel control apparatus. It is explanatory drawing which shows the example of the image which the front camera and the back camera image | photographed. It is explanatory drawing which shows the example which synthesize | combined the image which the some camera provided in the circumference | surroundings of the vehicle image | photographed with the bird's-eye view, and made it the all surrounding image. It is a flowchart which shows operation | movement of the remote control system which concerns on this invention. It is a flowchart which shows operation | movement of the remote control system which concerns on this invention. It is a flowchart which shows operation | movement of the remote control system which concerns on this invention.

Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments thereof.
(Embodiment)
FIG. 1 is a block diagram showing a main configuration of an embodiment of a remote travel control system, a remote travel controller, and an in-vehicle travel control device according to the present invention.
This remote travel control system includes an in-vehicle travel control device 1 provided in a vehicle, a remote travel controller 2 configured by a dedicated terminal or a portable terminal in which an application program is installed, for example, the ground in front of the vehicle. And a rear camera 6 for photographing the rear of the vehicle together with the ground.

FIG. 2 is an explanatory diagram illustrating an example of an image (video) taken by the front camera 7 and the rear camera 6. The image 31 captured by the front camera 7 and the image 32 captured by the rear camera 6 preferably each include a part of the vehicle body 30 so that the relationship between the vehicle body 30 and the surroundings can be understood.
FIG. 3 is an explanatory diagram illustrating an example in which images taken by a plurality of cameras provided around the vehicle are combined into an overhead view to form an all-around image. The relationship between the entire vehicle body 30 and the surroundings is easy to understand, and can be used instead of the front camera 7 and the rear camera 6.

In the in-vehicle travel control device 1, a CPU (Central Processing Unit) 3, a memory 4, and an input / output unit 9 are connected to a bus 13. Connected to the input / output unit 9 are a vehicle drive unit 5 including a brake, a front camera 7, a rear camera 6, a travel distance sensor 8 that detects a distance traveled by the vehicle in cm or mm, and a transmission / reception 10.
The transmission / reception 10 is connected to two antennas 11 and 12 that are provided separately at the front and rear of the vehicle. In this case, it can be detected that the source of the received radio wave is located in front of or behind the vehicle. However, if three or more antennas are provided apart from each other, the source of the received radio wave is located all around the vehicle. It is possible to detect where it is located.

  In the remote control 2 configured by a dedicated terminal or a portable terminal, the CPU 14, the memory 15, and the input / output unit 19 are connected to the bus 21. The input / output unit 19 is photographed by the transmission / reception unit 18 to which the antenna 20 is connected, the operation unit 16 having a plurality of operation buttons and setting buttons, and the front camera 7 and the rear camera 6 transmitted from the in-vehicle travel control device 1. A display unit 17 for displaying each image is connected. The display unit 17 includes a liquid crystal screen, an organic EL (Electro Luminescence) screen, and the like.

The operation of the remote control system having such a configuration will be described below with reference to the flowcharts shown in FIGS.
First, when the remote travel controller 2 receives a travel control start operation from the operation unit 16 (S1), the remote travel controller 2 transmits a travel control start request from the transmission / reception unit 18 (S3).
When the in-vehicle travel control device 1 receives the travel control start request via the antennas 11 and 12 (S51), the in-vehicle travel control device 1 determines whether or not an image (video) is received from the front camera 7 (S53) and receives it. Then, transmission of the received image from the front camera 7 is started (S55).

If the vehicle running control device 1 has not received an image from the front camera 7 (S53), it determines whether or not an image (video) is received from the rear camera 6 (S57) and has received it. Then, transmission of the received image from the rear camera 6 is started (S59).
If the vehicle-mounted traveling control device 1 has not received an image (video) from the rear camera 6 (S57), the antenna 11 provided at the front of the vehicle when the traveling control start request is received (S51), The radio wave intensity received by the antenna 12 provided at the rear of the vehicle is compared (S61).

The in-vehicle travel control device 1 compares the strengths of the radio waves received by the antennas 11 and 12 (S61), and determines that the radio waves of the camera 6 at the rear of the vehicle are stronger (S63), the operator Is determined (S65), and when it is determined that the radio wave of the camera 7 at the front of the vehicle is stronger (S63), it is determined that the operator is positioned in front of the vehicle (S69).
The in-vehicle travel control device 1 transmits the determined operator position information from the transmission / reception unit 10 (S67).

  The remote travel controller 2 transmits a travel control start request (S3), and then displays a remote travel control screen (S5). If a captured image (video) of the front camera 7 is received in this state (S7). Then, the display unit 17 starts displaying the received photographed image of the front camera 7 (S9). If no image is received (S7), no image is displayed. If a captured image (video) of the rear camera 6 is received (S11), display of the received captured image of the rear camera 6 is started on the display unit 17 (S13). If no image is received (S11), no image is displayed.

The remote travel controller 2 waits until the travel direction, travel speed, and maximum travel distance are set when the operation unit 16 is continuously pressed (S15), and the travel direction, travel speed, and maximum distance are set. Is set, the system waits until position information of the operator is received from the in-vehicle travel control device 1 (S17).
Here, the traveling speed is, for example, 1 km / h, 3 km / h, 5 km / h, and the maximum distance is, for example, 5 cm, 50 cm, 500 cm.
When the remote travel controller 2 receives the position information of the operator (S17), the remote travel controller 2 determines whether or not the set travel direction (S15) matches the direction of the received position information (S17) of the operator (S17). S19) If not coincident, it is determined whether or not a photographed image (video) of the front camera 7 or the rear camera 6 in the traveling direction is received (S21).

If the remote travel controller 2 has not received a photographed image (video) of the front camera 7 or the rear camera 6 in the traveling direction (S21), the remote travel control disabled error display is performed on the display unit 17 (S23), Next, the operation unit 16 waits until the travel direction, travel speed, and maximum distance are set (S15).
If the set traveling direction (S15) matches the direction of the received operator position information (S17) (S19), the remote travel controller 2 determines whether or not there is a travel control execution input (button operation). If there is no execution input, the operation unit 16 waits until the travel direction, travel speed, and maximum distance are set (S15).

If the remote travel controller 2 has received a captured image (video) of the front camera 7 or the rear camera 6 in the travel direction (S21), it is determined whether or not the function of the collision prevention device (not shown) of the vehicle is released. If it is determined (S33) and it is canceled, an error display indicating that remote control is not possible is displayed on the display unit 17 (S23).
It should be noted that the determination of whether or not a captured image of the camera in the traveling direction has been received (whether or not the traveling direction and the capturing direction of the camera match) (S21) includes at least information indicating the direction of capturing. The information may be included in the image. Moreover, about a coincidence determination with a running direction (S19, S21), a substantially direction should just correspond.

If the function of the collision prevention device is not released (S33), the remote travel controller 2 determines whether or not there is an execution input for travel control (S25). Wait until the direction, travel speed, and maximum distance are set (S15).
If there is an execution input for travel control (S25), the remote travel controller 2 transmits a travel control request including the travel direction, travel speed, and maximum distance from the transceiver 18 (S27).
The in-vehicle travel control device 1 transmits the position information of the operator from the transmission / reception unit 10 (S67), and then receives a travel control request at the transmission / reception unit 10 (S71), the set travel direction, travel speed, and maximum Based on the distance (S15), traveling control is started using the vehicle drive unit 5 (S73).

Next, the in-vehicle travel control device 1 detects the distance traveled by the vehicle by travel control using the travel distance sensor 8 (S75), and transmits the detected travel distance from the transceiver 10 (S77).
After transmitting the travel control request (S27), the remote travel controller 2 receives the travel distance by the transceiver 18 (S29), and until the received travel distance reaches the set maximum distance (S15). It is determined whether it has reached (S31).
When the received travel distance has reached the set maximum distance (S31), the remote travel controller 2 stands by until the travel direction, travel speed, and maximum distance are set by the operation unit 16 (S15). ).

If the on-vehicle travel control device 1 transmits the travel distance detected by the travel distance sensor 8 from the transmission / reception unit 10 (S77), the collision prevention sensor of the collision prevention device may detect the approach of the collision object ( S79), the collision prevention information is transmitted from the transmitting / receiving unit 10 (S81).
If the received travel distance has not reached the set maximum distance (S31), the remote travel controller 2 determines whether or not the collision prevention information has been received (S35), and receives the collision prevention information. If so, the received collision prevention information is displayed on the display unit 17 (S37).

  Next, the remote controller 2 waits until an input operation for determining whether or not to continue the function of the collision prevention device is performed at the operation unit 16 (S39), and if the operation for releasing the function of the collision prevention device is performed. (S41) After the request for canceling the function of the collision preventing apparatus is transmitted from the transmission / reception unit 18 (S43), it is determined whether or not there is an execution input for travel control (S25). If the operation for canceling the function of the collision prevention device is not performed (S41), it is determined whether or not there is an execution input for traveling control (S25).

  When the transmission / reception unit 10 receives a request for canceling the function of the collision prevention device (S83), the in-vehicle travel control device 1 cancels the function of the collision prevention device (S85), and then the strength of the radio waves received by the antennas 11 and 12, respectively. Are compared (S61). When the request for canceling the function of the collision prevention device is not received (S83), and when the collision prevention sensor of the collision prevention device does not detect the approach of the collision object (S79), the strength of the radio waves received by the antennas 11 and 12, respectively. Are compared (S61).

In the present embodiment, the remote travel controller 2 determines whether or not the set travel direction matches the direction of the position information of the operator (S19). It is also possible to configure the controller 1 to execute.
Further, in the present embodiment, traveling in the front-rear direction of the vehicle is handled, but traveling in the lateral direction (width adjustment) of the vehicle can be similarly handled.

DESCRIPTION OF SYMBOLS 1 In-vehicle traveling control apparatus 2 Remote traveling controller 3,14 CPU
4,15 Memory 5 Vehicle drive unit 6 Rear camera 7 Front camera 8 Travel distance sensor 9, 19 Input / output unit 10, 18 Transmission / reception unit 11, 12, 20 Antenna 13, 21 Bus 16 Operation unit 17 Display unit (display means)
30 body

Claims (9)

A remote driving controller that transmits a control signal for driving the vehicle in the direction instructed, one or more cameras that capture a predetermined direction from the vehicle, and a plurality of remote control signals from the remote driving controller Based on the intensity of each radio wave received by the antenna and each position of the antenna, the direction of the remote travel controller from the vehicle is detected, and the travel of the vehicle is controlled based on the received control signal. In a remote travel control system comprising an in-vehicle travel control device,
The on-vehicle travel control device includes means for transmitting shooting direction information of an image captured by the camera, and means for transmitting detected direction information from the vehicle of the remote travel controller, wherein the remote travel controller Means for receiving the photographing direction information of the image, means for receiving the direction information from the vehicle of the remote controller, and the received direction information from the vehicle of the remote controller and the photographing direction of the image The means for judging whether or not any of the information matches the direction instructed to run by the traveling control, and prohibiting traveling in the direction when it is judged that none of the means matches. And a remote control system. A remote driving controller that transmits a control signal for driving the vehicle in the direction instructed, one or more cameras that capture a predetermined direction from the vehicle, and a plurality of remote control signals from the remote driving controller Based on the intensity of each radio wave received by the antenna and each position of the antenna, the direction of the remote travel controller from the vehicle is detected, and the travel of the vehicle is controlled based on the received control signal. In a remote travel control system comprising an in-vehicle travel control device,
The on-vehicle travel control device is configured so that either the detected direction information from the vehicle of the remote travel controller or the image capturing direction information of the image captured by the camera matches the direction instructed to travel by the travel control. A remote travel control system comprising: means for determining whether or not to perform, and means for prohibiting traveling in the direction when it is determined that none of the means match.   The remote travel control system according to claim 1 or 2, wherein an upper limit of a distance traveled by the vehicle is set for one travel control operation.   The remote travel controller can release the function of the collision prevention device for preventing collision and rear-end collision by operation, and when the function of the collision prevention device is released, The remote travel control system according to any one of claims 1 to 3, wherein the remote travel control system is configured to execute only travel control in a direction from the vehicle. In a remote driving controller that transmits a control signal for driving the vehicle in the direction instructed,
Any one of means for receiving photographing direction information for photographing one or a plurality of images, means for receiving direction information from the own vehicle, and direction information from the received vehicle and the photographing direction information of the image Means for determining whether or not the direction instructed to travel by traveling control coincides with, and means for prohibiting traveling in the direction when it is determined that none of the means coincides. A remote travel controller comprising:   6. The remote travel controller according to claim 5, wherein an upper limit of a distance traveled by the vehicle is determined based on a single travel control operation.   The function of the collision prevention device that prevents the collision and rear-end collision can be canceled by operation, and when the function of the collision prevention device is canceled, only the traveling control in the direction from the vehicle is executed. The remote driving controller according to claim 5 or 6, which is configured as described above. The control signal is received by a plurality of spaced antennas, and the direction from the vehicle that is the source of the control signal is detected based on the strength of each received radio wave and each position of the antenna, and based on the received control signal In the in-vehicle travel control device for controlling the travel of the vehicle,
It comprises means for transmitting photographing direction information of an image photographed by one or a plurality of cameras for photographing a predetermined direction from the vehicle, and means for transmitting direction information from the detected vehicle of the transmission source. In-vehicle travel control device. The control signal is received by a plurality of spaced antennas, and the direction from the vehicle that is the source of the control signal is detected based on the strength of each received radio wave and each position of the antenna, and based on the received control signal In the in-vehicle travel control device for controlling the travel of the vehicle,
Either of the detected direction information from the transmission source vehicle and imaging direction information of an image captured by one or more cameras that capture a predetermined direction from the vehicle is instructed to travel by traveling control. An in-vehicle travel control device comprising: means for determining whether or not they match; and means for prohibiting travel in the direction when it is determined that none of the means match.

Images