JP2018077649A - Remote operation control device, vehicle control system, remote operation control method and remote operation control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote operation control device, a vehicle control system, a remote operation control method and a remote operation control program for enabling an appropriate remote operator to execute remote operation.SOLUTION: The remote operation control device comprises: a communication part for communicating with a vehicle that is subjected to remote controlled operation; a presentation part for presenting a state of the vehicle received by the communication part to a remote operator; a reception part for receiving a driving operation by the remote operator; and a remote operation control part for starting remote operation by which the vehicle to be subjected to the remote controlled operation travels based on the driving operation received by the reception part, when the driving operation received by the reception part satisfies a predetermined condition.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a remote operation control device, a vehicle control system, a remote operation control method, and a remote operation control program.

  In recent years, research has been conducted on automatic driving that automatically performs acceleration / deceleration and steering. In this connection, the vehicle is provided with a driving execution unit that executes automatic driving of the vehicle and a return determination unit that determines whether the driver has driving ability capable of returning from automatic driving to manual driving. Prior to starting the automatic driving travel of the vehicle by the execution unit, a technology is disclosed that prohibits the automatic driving travel when the return determination unit determines that the driving ability is not present in the driver (for example, patent document). 1).

Japanese Patent Laid-Open No. 2006-115356

  However, the technique disclosed in Patent Document 1 does not consider running the vehicle by remote driving when automatic driving is prohibited, and remote driving of the vehicle based on the operation of the remote operator. You may be able to start.

  The present invention has been made in consideration of such circumstances, and a remote operation control device, a vehicle control system, a remote operation control method, and a remote operation control capable of causing an appropriate remote operator to perform remote operation. One of the purposes is to provide a program.

  The invention according to claim 1 is a communication unit (310) that communicates with a vehicle that is to be remotely operated, a presentation unit (321) that presents a situation of the vehicle received by the communication unit to a remote operator, A receiving unit (324, 325) for receiving a driving operation by a remote operator, and the driving operation received by the receiving unit when the driving operation satisfies a predetermined condition, the remote operation is received based on the driving operation received by the receiving unit. A remote operation control device (300) comprising: a remote operation control unit (330) that starts remote operation in which the vehicle travels.

  The invention according to claim 2 is the remote operation control device according to claim 1, wherein the predetermined condition is a time at which a driving operation is received by the reception unit from a time at which the vehicle state is presented by the presentation unit. The time until is within a predetermined time.

  The invention according to claim 3 is the remote operation control device according to claim 1 or 2, wherein the predetermined condition is estimated based on the driving operation received by the receiving unit. Is above the standard.

  Invention of Claim 4 is the remote operation control apparatus of Claim 1 or 2, Comprising: The said predetermined condition is the arousal level of the said remote operator estimated based on the driving operation received by the said reception part Is above the standard.

  A fifth aspect of the present invention is the remote operation control device according to any one of the first to fourth aspects, wherein the presenting unit presents the status of the vehicle to each of a plurality of remote operators. The reception unit receives each driving operation of the plurality of remote operators, and the remote driving control unit determines that the driving operation received by the receiving unit among the plurality of remote operators satisfies the predetermined condition. Select one of the remote operators satisfied.

  A sixth aspect of the present invention is the remote operation control device according to any one of the first to fifth aspects, wherein the remote operation control unit is received by the communication unit by the presenting unit. Providing a trial period during which the receiving unit accepts a driving operation by the remote operator and does not transmit control information based on the driving operation of the remote operator to the vehicle. When the driving operation received by the receiving unit satisfies a predetermined condition, the remote driving is started.

  The invention according to claim 7 is the remote operation control device according to any one of claims 1 to 6, wherein the remote operation control unit designates a remote operator received by the communication unit. Based on the information, one of the plurality of remote operators is selected from among the remote operators whose driving operation satisfies a predetermined condition.

  The invention according to claim 8 is the remote operation control device according to any one of claims 1 to 7, wherein the remote operation control unit is based on information received by the communication unit, It is determined whether or not it is necessary to start the remote operation urgently, and if necessary, the remote operation is started based on the operation of a remote operator who has a history satisfying a predetermined condition in advance.

  Invention of Claim 9 is a remote operation control apparatus of any one of Claim 1-8, Comprising: The imaging part which images a remote operator is provided, The said remote operation control part is the said The communication unit causes the communication unit to transmit an image obtained by imaging the manner in which the remote operator performs a driving operation.

  The invention according to claim 10 is the remote operation control device (300) according to claim 1, the vehicle side communication unit (20) that communicates with the remote operation control device, and the acquisition unit that acquires the situation of the vehicle ( 10) and a remote operation control unit (160) that requests the remote operation control device to perform a remote operation using the vehicle side communication unit and causes the vehicle to travel based on the control information received from the remote operation control device. A vehicle control system (1), and a vehicle control system (1).

  According to the eleventh aspect of the present invention, the computer (310) communicates with a vehicle to be remotely operated, presents the received situation of the vehicle to the remote operator, and accepts and accepts a driving operation by the remote operator. This is a remote operation control method for starting a remote operation in which a vehicle that receives the remote operation travels based on the received operation when the operation satisfies a predetermined condition.

  The invention according to claim 12 causes the computer (310) to communicate with a vehicle to be remotely operated, causes the remote operator to present the received situation of the vehicle, and accepts a driving operation by the remote operator. This is a remote operation control program for starting a remote operation in which the vehicle that receives the remote operation travels based on the received operation when the predetermined operation satisfies a predetermined condition.

  According to the first, tenth, eleventh, and twelfth aspects of the present invention, a remote operator who performs a driving operation that does not satisfy the predetermined condition does not start the remote operation, and the appropriate remote operator performs the remote driving. Can be made.

  According to invention of Claim 2-4, a more appropriate remote operator can perform a remote driving | running.

  According to the fifth and sixth aspects of the present invention, it is possible to select one remote operator after having a plurality of remote operators perform simulation of the remote operation of the vehicle. Operation can be executed.

  According to the invention described in claim 7, based on the intention of the vehicle occupant, a more appropriate remote operator can start remote driving.

  According to the eighth aspect of the present invention, even in an emergency, an appropriate remote operator can start remote driving.

  According to the ninth aspect of the present invention, it is possible to suppress anxiety given to the vehicle occupant when performing remote driving.

1 is a conceptual diagram of a vehicle control system 1. FIG. It is a figure which shows the apparatus structure in the remote operation management equipment. It is a figure which shows an example of the content of the remote operator list 312. FIG. It is a figure which shows the structure of the remote control apparatus 320 typically. 2 is a diagram illustrating an example of a configuration mounted on a vehicle M. FIG. It is a figure which shows a mode that the relative position and attitude | position of the vehicle M with respect to the driving lane L1 are recognized by the own vehicle position recognition part 122. FIG. It is a figure which shows a mode that a target track is produced | generated based on a recommended lane. FIG. 11 is a sequence diagram showing a process flow in the vehicle M, the plurality of remote control devices 320, and the overall control device 310. It is a flowchart which shows an example of the flow of a process which selects a remote operator. It is a flowchart which shows an example of the flow of the request processing of remote operation. It is a figure which shows an example of the screen displayed during remote operation being performed. It is a figure which shows notionally a mode that remote operation is performed by the passenger | crew of a vehicle. It is a figure which shows an example of the structure mounted in the vehicle M which performs remote operation.

Hereinafter, embodiments of a remote operation control device, a vehicle control system, a remote operation control method, and a remote operation control program according to the present invention will be described with reference to the drawings.
<First Embodiment>
[System configuration]
FIG. 1 is a conceptual diagram of the vehicle control system 1. The vehicle control system 1 is realized by communicating a plurality of vehicles M-1 to M-n (n is an arbitrary natural number) and the remote operation management facility 300 via a network NW. Hereinafter, when the vehicles are not distinguished, they are referred to as vehicles M. The vehicle M is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell. Further, the vehicle M is a vehicle capable of executing automatic driving for automatically controlling at least one of acceleration / deceleration and steering. The network NW includes a base station, which is a wireless communication interface, a WAN (Wide Area Network), a LAN (Local Area Network), the Internet, a dedicated line, and the like.

  In the vehicle control system 1, a remote operation request is transmitted from the vehicle M to the remote operation management facility 300, or from one vehicle M to another vehicle M, and the remote operation of the vehicle M is executed accordingly.

[Remote operation management equipment 300]
Hereinafter, the out-of-vehicle equipment on the remote operation side will be described. FIG. 2 is a diagram showing a device configuration in the remote operation management facility 300. As shown in the figure, the remote operation management facility 300 includes an overall control device 310 that communicates with a vehicle M (remotely operated vehicle) via a network NW, and a plurality of remote operation devices 320-1, 320-2, 320-. 3, ... are provided. Hereinafter, when the remote control device is not distinguished, it is simply expressed as the remote control device 320.

  In each remote operation device 320, a remote operator is seated and waiting in preparation for a remote operation request. The overall control device 310 transmits information received from one vehicle M to each of the plurality of remote control devices 320, and causes a plurality of remote operators to perform a driving operation. The information received from the vehicle M is information representing a vehicle situation such as an image, sound, speed, angular velocity, and vehicle type acquired by a device such as a camera mounted on the vehicle M. Further, the overall control device 310 refers to the remote operator list 312 to select the remote operation device 320 operated by any one of the plurality of remote operators. The overall control device 310 generates control information based on the driving operation received by the selected remote operation device 320, and transmits the generated control information to the vehicle M.

  FIG. 3 is a diagram illustrating an example of the contents of the remote operator list 312. In the remote operator list 312, a remote operator ID, which is identification information of the remote operator of the remote operation device 320 receiving the information received from the vehicle M, is registered. In the remote operator list 312, in correspondence with the remote operator ID, the years of remote operation experience, the latest time lag of driving operation, the proficiency that comprehensively evaluated the years of experience and time lag, and the current remote operator's Information such as an awakening level indicating a state and a flag indicating whether or not a remote operation is being executed is stored. The latest time lag of the driving operation is the time from the time when the information is presented to the remote operator to the time when the driving operation is accepted. Specifically, the time lag is the time from the time when the appearance of the obstacle is displayed to the time when the steering angle change or the brake operation is accepted.

  The proficiency level is information representing the proficiency level of the remote driving estimated based on the driving operation received by the remote control device 320. The proficiency level may be estimated based on the years of experience since the actual remote operation. Moreover, although it is not selected as a remote operator, the accumulated time which simulated the remote operation of the vehicle M may be sufficient. The awakening level is information indicating the awakening level of the remote driving estimated based on the driving operation received by the remote control device 320. The degree of arousal may be information indicating the degree of arousal based on a time lag, but is not limited to this, and is information indicating the degree of arousal based on a biological state such as a remote operator's eyelid movement, line of sight, heartbeat, etc. There may be.

  The overall control device 310 generates control information for executing remote driving, and transmits the generated control information to the vehicle M when a predetermined condition is satisfied. For this purpose, the overall control apparatus 310 refers to the remote operator list 312 and selects and selects a remote operator that satisfies a predetermined condition from among a plurality of remote operators registered in the remote operator list 312. The control information generated by the remote operation device 320 operated by the remote operator is transmitted to the vehicle M.

The predetermined condition is at least one of the following.
(A) The most recent driving operation is appropriate. The latest driving operation includes at least one of a time lag, a steering angle, an accelerator operation amount, or a brake operation amount. That the most recent driving operation is appropriate is that the time lag is greater than or equal to the standard. That the time lag is equal to or greater than the reference means that the time lag is within a predetermined time, or, for example, when there are three remote operators, the time lag is shorter than that of one or more remote operators. In addition, the suitability of the latest driving operation may be that the rudder angle, the accelerator operation amount, or the brake operation amount is within a reference range for causing the vehicle M to travel safely. Furthermore, the most appropriate driving operation is that the time lag is greater than the reference and the steering angle, accelerator operation amount, or brake operation amount is within the reference range for driving the vehicle M safely. It's okay.
(B) The proficiency level of the remote operator is above the standard. The proficiency level increases as the years of experience of the vehicle M are greater than or equal to a predetermined number of years, or as the accumulated time of simulation increases. For example, when there are three remote operators, the proficiency level is equal to or higher than a reference level is higher than that of one or more remote operators.
(C) The awakening level of the remote operator is above the standard. This is because the higher the arousal level, the shorter the time lag. For example, when there are three remote operators, the degree of arousal is higher than that of one or more remote operators.

  The overall control device 310 may give points to the remote operator based on whether or not the predetermined conditions (A) to (C) are satisfied. The overall control device 310 increases the points each time the predetermined conditions (A) to (C) are satisfied, and decreases the points when the predetermined conditions (A) to (C) are not satisfied. The overall control device 310 can select the remote operator with the highest point.

  FIG. 4 is a diagram schematically showing the configuration of the remote control device 320. The remote operation device 320 includes, for example, a display unit 321, a speaker 322, a seat 323, a steering wheel 324, pedals 325 such as an accelerator pedal and a brake pedal, and a remote operation control unit 330.

  The display unit 321 displays an image captured by the camera of the vehicle M, the speed of the vehicle M, the engine speed, and the like. The display unit 321 may be an HMD (Head Mount Display). The speaker 322 emits a warning sound according to the approach of the obstacle recognized by the object recognition device 16 of the vehicle M to the vehicle M. A remote operator O is seated on the seat 323. The remote operator O performs a driving operation on driving operators such as the steering wheel 324 and the pedals 325. The operation amounts for these are detected by a sensor (not shown) and output to the remote operation control unit 330. The driving operation element may be a driving operation element of another aspect such as a joystick.

  The remote operation control unit 330 generates control information to be transmitted to the vehicle M based on the operation amount input from the driving operator. The remote operation control unit 330 transmits the generated control information to the overall control device 310. The overall control device 310 transmits the control information generated by the selected remote operation device 320 among the plurality of control information generated by the plurality of remote operation devices 320 to the vehicle M. The driving operator is provided with a reaction force output device for applying a reaction force to be generated depending on the operation amount. In order to accurately determine the reaction force, information such as speed and angular velocity is preferably supplied from the vehicle M to the remote control device 320.

  The control information transmitted to the vehicle M may be the operation amount itself with respect to the steering wheel 324 and the pedals 325, or is calculated based on the operation amount changed based on the vehicle speed and the turning angle of the vehicle M at that time. Or a control amount (for example, throttle opening, brake torque, output torque of the assist motor of the steering device 220, etc.) to be given to the travel driving force output device 200, the brake device 210, or the steering device 220.

[Vehicle configuration]
Next, a configuration mounted on the vehicle M will be described. FIG. 5 is a diagram illustrating an example of a configuration mounted on the vehicle M. The vehicle M includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a navigation device 50, and an MPU (Micro-Processing). Unit) 60, a vehicle sensor 70, a driving operator 80, a vehicle interior camera 90, an automatic driving control unit 100, a traveling driving force output device 200, a brake device 210, and a steering device 220 are mounted. . These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. Note that the configuration illustrated in FIG. 5 is merely an example, and a part of the configuration may be omitted, or another configuration may be added. 5 includes at least the camera 10, the communication device 20, the driving operator 80, the first control unit 120, the second control unit 140, and the remote operation control unit 160. It is an example.

  The camera 10 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). One or a plurality of cameras 10 are attached to any part of the vehicle M. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 10 periodically and repeatedly images the periphery of the vehicle M. The camera 10 may be a stereo camera.

  The radar device 12 radiates a radio wave such as a millimeter wave around the vehicle M and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and azimuth) of the object. One or a plurality of radar devices 12 are attached to any part of the vehicle M. The radar apparatus 12 may detect the position and speed of an object by FM-CW (Frequency Modulated Continuous Wave) method.

  The finder 14 is LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) that measures the scattered light with respect to the irradiation light and detects the distance to the target. One or a plurality of finders 14 are attached to any part of the vehicle M.

  The object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control unit 100.

  The communication device 20 uses, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to communicate with other vehicles existing around the vehicle M, or a wireless base station. It communicates with an external device such as the remote operation management facility 300 via the station.

  The HMI 30 presents various information to the passenger of the vehicle M and accepts an input operation by the passenger. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The first map information 54 is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Holding. The GNSS receiver specifies the position of the vehicle M based on the signal received from the GNSS satellite. The position of the vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 70. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above. For example, the route determination unit 53 determines a route from the position of the vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52. This is determined with reference to the map information 54. The first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link. The first map information 54 may include road curvature and POI (Point Of Interest) information. The route determined by the route determination unit 53 is output to the MPU 60. Further, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the route determined by the route determination unit 53. In addition, the navigation apparatus 50 may be implement | achieved by the function of terminal devices, such as a smart phone and a tablet terminal which a user holds, for example. Further, the navigation device 50 may acquire the route returned from the navigation server by transmitting the current position and the destination to the navigation server via the communication device 20.

  For example, the MPU 60 functions as the recommended lane determining unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 for each block. Determine the recommended lane. The recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel. The recommended lane determining unit 61 determines a recommended lane so that the vehicle M can travel on a reasonable route for proceeding to the branch destination when there is a branching point or a joining point in the route.

  The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane. The second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as expressway, toll road, national road, prefectural road, road lane number, width of each lane, road gradient, road position (longitude, latitude, height). Information including 3D coordinates), curvature of lane curves, lane merging and branch point positions, signs provided on roads, and the like. The second map information 62 may be updated at any time by accessing another device using the communication device 20.

  The vehicle sensor 70 includes a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around the vertical axis, a direction sensor that detects the direction of the vehicle M, and the like.

  The driving operation element 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, and other operation elements. A sensor that detects the amount of operation or the presence or absence of an operation is attached to the driving operator 80, and the detection result is the automatic driving control unit 100, or the traveling driving force output device 200, the brake device 210, and the steering device. 220 is output to one or both of 220.

  The vehicle interior camera 90 images the upper body around the face of the occupant seated in the driver's seat. A captured image of the vehicle interior camera 90 is output to the automatic driving control unit 100.

  The automatic operation control unit 100 includes, for example, a first control unit 120, a second control unit 140, and a remote operation control unit 160. The first control unit 120, the second control unit 140, and the remote operation control unit 160 are each realized by a processor (such as a CPU (Central Processing Unit)) executing a program (software). Further, some or all of the functional units of the first control unit 120, the second control unit 140, and the remote operation control unit 160 described below are LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit). Further, it may be realized by hardware such as an FPGA (Field-Programmable Gate Array) or may be realized by cooperation of software and hardware.

  The 1st control part 120 is provided with the external world recognition part 121, the own vehicle position recognition part 122, and the action plan production | generation part 123, for example.

  The external recognition unit 121 recognizes the positions of surrounding vehicles and the state such as speed and acceleration based on information input directly from the camera 10, the radar 12, and the finder 14 or via the object recognition device 16. To do. The position of the surrounding vehicle may be represented by a representative point such as the center of gravity or corner of the surrounding vehicle, or may be represented by an area expressed by the outline of the surrounding vehicle. The “state” of the surrounding vehicle may include acceleration and jerk of the surrounding vehicle, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed). In addition to the surrounding vehicles, the external environment recognition unit 121 may recognize the positions of guardrails, utility poles, parked vehicles, pedestrians, and other objects.

  The own vehicle position recognition unit 122 recognizes, for example, the lane (traveling lane) in which the vehicle M is traveling, and the relative position and posture of the vehicle M with respect to the traveling lane. The own vehicle position recognition unit 122, for example, a road around the vehicle M recognized from a pattern of road marking lines (for example, an array of solid lines and broken lines) obtained from the second map information 62 and an image captured by the camera 10. The travel lane is recognized by comparing the lane marking pattern. In this recognition, the position of the vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into consideration.

  And the own vehicle position recognition part 122 recognizes the position and attitude | position of the vehicle M with respect to a travel lane, for example. FIG. 6 is a diagram illustrating how the vehicle position recognition unit 122 recognizes the relative position and posture of the vehicle M with respect to the travel lane L1. The own vehicle position recognizing unit 122, for example, an angle θ formed with respect to a line connecting the deviation point OS of the reference point (for example, the center of gravity) of the vehicle M from the travel lane center CL and the travel lane center CL in the traveling direction of the vehicle M. Is recognized as the relative position and posture of the vehicle M with respect to the traveling lane L1. Instead of this, the vehicle position recognition unit 122 may recognize the position of the reference point of the vehicle M with respect to any side end portion of the vehicle lane L1 as the relative position of the vehicle M with respect to the traveling lane. . The relative position of the vehicle M recognized by the own vehicle position recognition unit 122 is provided to the recommended lane determination unit 61 and the action plan generation unit 123.

  The action plan generation unit 123 determines events to be sequentially executed in the automatic driving so that the recommended lane determination unit 61 determines the recommended lane and travels along the recommended lane, and can cope with the surrounding situation of the vehicle M. Events include, for example, a constant speed event that travels in the same lane at a constant speed, a follow-up event that follows the preceding vehicle, a lane change event, a merge event, a branch event, an emergency stop event, and automatic driving There are handover events to switch to manual operation. Further, during execution of these events, actions for avoidance may be planned based on the surrounding situation of the vehicle M (the presence of surrounding vehicles and pedestrians, lane narrowing due to road construction, etc.).

  The action plan generation unit 123 generates a target track on which the vehicle M will travel in the future. The target trajectory includes, for example, a velocity element. For example, the target trajectory is generated as a set of target points (orbit points) that should be set at a plurality of future reference times for each predetermined sampling time (for example, about 0 comma [sec]) and reach these reference times. The For this reason, when the space | interval of a track point is wide, it has shown running in the area between the track points at high speed.

  FIG. 7 is a diagram illustrating a state in which a target track is generated based on the recommended lane. As shown in the figure, the recommended lane is set so as to be convenient for traveling along the route to the destination. The action plan generation unit 123 activates a lane change event, a branch event, a merge event, or the like when a predetermined distance before the recommended lane switching point (may be determined according to the type of event) is reached. If it becomes necessary to avoid an obstacle during the execution of each event, an avoidance trajectory is generated as shown in the figure.

  For example, the action plan generation unit 123 generates a plurality of candidate target trajectories, and selects an optimal target trajectory at that time point based on safety and efficiency.

  The second control unit 140 includes a travel control unit 141. The traveling control unit 141 controls the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the vehicle M passes the target trajectory generated by the action plan generating unit 123 at a scheduled time. .

  The remote operation control unit 160 transmits a remote operation request using the communication device 20, and automatically controls at least one of acceleration / deceleration or steering of the vehicle M based on the control information received from the remote operation management facility 300. Perform remote operation.

  The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling of the vehicle to driving wheels. The travel driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above configuration according to information input from the automatic operation control unit 100 or information input from the driving operator 80.

  The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with information input from the automatic driving control unit 100 or information input from the driving operator 80 so that brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls the actuator according to information input from the travel control unit 141 and transmits the hydraulic pressure of the master cylinder to the cylinder. Good.

  The steering device 220 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor according to the information input from the automatic driving control unit 100 or the information input from the driving operator 80, and changes the direction of the steered wheels.

  Hereinafter, in the vehicle control system 1 described above, a process of selecting one of the plurality of remote operators and executing remote driving will be described. FIG. 8 is a sequence diagram showing the flow of processing in the vehicle M, the plurality of remote control devices 320, and the overall control device 310.

  In a situation where the remote operator of the vehicle M is not selected, the vehicle status information detected by the vehicle M is supplied to the remote control devices 320-1, 320-2, and 320-3 via the overall control device 310. Is done. Each of the remote operation devices 320-1, 320-2, and 320-3 presents the vehicle status to the corresponding remote operator and accepts a driving operation by the remote operator (step S10). Each of remote operation devices 320-1, 320-2, and 320-3 receives control information C-1, control information C-2, and control information in response to receiving a driving operation by the corresponding remote operator. C-3 is transmitted to the overall control device 310, respectively. The overall control device 310 selects one of the plurality of remote operators based on the control information C-1, the control information C-2, and the control information C-3 (step S12). That is, the overall control device 310 selects in advance a remote operator who has a history of driving operation satisfying a predetermined condition, and prepares for a case where remote driving is necessary.

  The remote operation management facility 300 repeats the process of receiving the vehicle situation from the vehicle M, the process of presenting the vehicle situation and receiving the driving operation, and the process of selecting a candidate based on the control information. Thus, the overall control device 310 tests whether or not a plurality of remote operators can remotely operate the vehicle M based on the control information. That is, the remote operation management equipment 300 receives a driving operation by the remote operator while presenting the situation of the vehicle M to the remote operator, and does not transmit control information based on the driving operation of the remote operator to the vehicle M. Is provided. The remote operation management equipment 300 starts the remote operation when the driving operation received during the trial period satisfies a predetermined condition.

  The overall control device 310 may select a remote operator by simultaneously transmitting vehicle status to a plurality of remote operation devices 320 and receiving control information from the plurality of remote operation devices 320 simultaneously. It is not limited. The overall control device 310 transmits a vehicle status to any one of the plurality of remote operation devices 320 and receives a control signal, and when the driving operation does not satisfy a predetermined condition, the overall control device 310 receives another remote operation device. The vehicle status may be transmitted to 320. As a result, the overall control device 310 can cause a plurality of remote operators to sequentially perform a driving operation, and can select a remote operator whose driving operation satisfies a predetermined condition.

  FIG. 9 is a flowchart illustrating an example of a process flow for selecting a remote operator. First, the overall control device 310 refers to the remote operator list 312 and acquires information on remote operators corresponding to the plurality of remote operation devices 320 (step S100). The overall control device 310 acquires control information from the plurality of remote operation devices 320 (step S102). The overall control device 310 determines whether there is a remote operator that satisfies a predetermined condition based on the information registered in the remote operator list 312 and a plurality of control information (step S104). If there is no remote operator that satisfies the predetermined condition, the overall control device 310 ends the processing of this flowchart without selecting the remote operator and without transmitting control information to the vehicle M. If there is a remote operator that satisfies the predetermined condition, the overall control device 310 selects a remote operator that satisfies the predetermined condition (step S106). Note that, when there are a plurality of remote operators that satisfy the predetermined condition, the overall control device 310 may select the remote operator having the highest proficiency level and arousal level. Further, the overall control device 310 may select a remote operator according to information specifying the remote operator received from the vehicle M.

  Returning to FIG. The remote operation control unit 160 of the vehicle M transmits a remote operation request (step S14). The remote operation request is transmitted in response to a button operation for requesting a remote operation by an occupant of the vehicle M. However, the remote operation request may be transmitted when it becomes difficult to perform automatic driving. When receiving the remote operation request, the overall control device 310 transmits a control command to the remote operation device 320-3 corresponding to the remote operator selected in advance. The remote operation device 320-3 transmits the control information C-3 to the vehicle M via the overall control device 310 in response to receiving the control command. Note that when the overall control device 310 receives the control information C-1, the control information C-2, and the control information C-3, the overall control device 310 receives the control information C-3 based on the remote operator selected in advance. It may be extracted and transmitted to the vehicle M. Thereby, the overall control device 310 determines whether or not it is necessary to start the remote operation urgently, and if necessary, performs the remote operation based on the driving operation of the remote operator who has a history satisfying the predetermined condition in advance. Let it begin.

  FIG. 10 is a flowchart illustrating an example of a flow of remote operation request processing. First, the automatic operation control unit 100 determines whether or not to switch to manual operation during execution of automatic operation (step S200) (step S202). The automatic operation control unit 100 continues the automatic operation when not switching to the manual operation. When switching to manual operation, the automatic operation control unit 100 causes the HMI 30 to output a handover request (step S204). The automatic driving control unit 100 determines whether or not an occupant's driving operation is detected in response to outputting the handover request (step S206). When the automatic operation control unit 100 detects the driving operation of the occupant, the automatic operation control unit 100 ends the automatic operation and switches to manual operation (step S208). When the automatic operation control unit 100 does not detect the driving operation of the occupant, the automatic operation control unit 100 transmits a remote operation request to the remote operation management facility 300 and receives control information from the remote operation management facility 300 to start remote operation ( Step S210, Step S16). The automatic operation control unit 100 continues the remote operation until the remote operation is terminated (step S212). The remote operation is terminated by the remote operator when the vehicle M is moved to a safe position by the remote operator, for example.

  The remote operation management facility 300 may transmit, to the vehicle M, an image obtained by imaging the manner in which the selected remote operator performs the driving operation when the vehicle M is remotely operated. The vehicle M receives the image of the remote operator using the communication device 20 and displays the image of the remote operator using the HMI 30. FIG. 11 is a diagram illustrating an example of a screen displayed while the remote operation is being executed. This screen includes the image of the remote operator and information on the remote operator and the remote operator. Thereby, the state of the remote operator can be presented to the occupant.

  In addition, the remote operation management facility 300 may transmit an image of the remote operator captured to the vehicle M during the trial period. The vehicle occupant can confirm the driving operation of the remote operator by checking the image, and can designate the remote operator. Based on the information specifying the remote operator received from the vehicle M, the remote operation management facility 300 can select one of the plurality of remote operators whose remote operation satisfies a predetermined condition. it can.

[Remote operation from the vehicle]
The remote operation of the vehicle may be performed not by the remote operation device 320 of the remote operation management facility 300 but by a vehicle occupant during automatic driving. FIG. 12 is a diagram conceptually illustrating a state in which a remote operation is performed by a vehicle occupant. In the figure, a vehicle M-1 is a vehicle that is executing the remote operation described above. Further, since the vehicle M-2 is performing the automatic driving, the driving operator is in a free state. The driving operator that is originally used for driving the vehicle is a remote-operating driving operator. It can be used as a vehicle. In this case, in the vehicle M-2, for example, an image received from the vehicle M-1 is displayed on a HUD (Head Up Display) or the like, and the remote operation is performed in an environment as if the vehicle M-1 is being driven. . Even in this case, the remote operation management facility 300 may be interposed between the vehicles M-1 and M-2. That is, the remote operation request may be first transmitted to the remote operation management facility 300 and transferred to the vehicle M during automatic driving by the remote operation management facility 300.

  FIG. 13 is a diagram illustrating an example of a configuration mounted on a vehicle M that performs remote operation. In the figure, components having the same functions as those described with reference to FIG. That is, the automatic driving control unit 100 mounted on the vehicle M that performs remote operation may have the same function as the automatic driving control unit 100 described above.

  In addition to the configuration shown in FIG. 5, HUD 40 and remote operation control unit 180 are mounted on vehicle M that performs remote operation. The remote operation control unit 180 displays an image taken by the camera 10 of the vehicle M performing the remote operation on the HUD, and based on the operation amount input from the driving operator 80 in a free state, Control information to be transmitted to the vehicle M performing the remote operation is generated. The remote operation control unit 180 determines whether or not the driving operation received by the driving operator 80 satisfies a predetermined condition, and transmits control information based on the driving operation to the communication device 20 when the predetermined condition is satisfied.

  As shown in FIG. 12, when there are a plurality of vehicles that are candidates for remote operation, such as vehicles M-2 and M-3, each of the vehicles M-2 and M-3 is connected via the network NW. Then, control information is transmitted to the overall control device 310. The overall control device 310 determines whether or not the driving operation based on the two pieces of control information satisfies a predetermined condition. The overall control device 310 selects the vehicle M-2 corresponding to the remote operator whose driving operation satisfies a predetermined condition. The overall control device 310 causes the vehicle M-1 to travel based on the control information received from the selected vehicle M-2. On the other hand, the overall control device 310 can cause a remote operator of the unselected vehicle M-3 to execute a simulation of remotely operating the vehicle M-1.

  In addition, although the vehicle M which performs a to-be-remote drive, and the vehicle M which performs a remote operation were demonstrated separately, the vehicle M may be comprised as what has both of these functions. That is, the vehicle M may be capable of performing a remote operation when it is necessary to perform a remote operation and performing a remote operation in response to a request from another vehicle during the automatic operation.

  According to the vehicle control system 1 described above, when the driving operation of the remote operator satisfies a predetermined condition, the remote operation in which the vehicle receiving the remote operation travels based on the driving operation is started. Remote operation is not started by a remote operator who performs an unsatisfied driving operation. Thereby, according to the vehicle control system 1, an appropriate remote operator can perform a remote driving | running.

  Further, according to the vehicle control system 1, when the time from the time when the vehicle status is presented to the time when the driving operation is accepted is within a predetermined time, the remote operation is started by the remote operator. The remote operator can execute remote operation. Furthermore, according to the vehicle control system 1, when the familiarity or arousal level of the remote operator is equal to or higher than the reference, the remote operation is started by the remote operator, so that a more appropriate remote operator can execute the remote operation. be able to.

  Furthermore, according to the vehicle control system 1, since any one of the plurality of remote operators whose driving operation satisfies the predetermined condition is selected, the remote control of the vehicle M is simulated to the plurality of remote operators. It is possible to select one remote operator after performing the above. Thereby, according to the vehicle control system 1, a more appropriate remote operator can perform a remote driving | running.

  Furthermore, according to the vehicle control system 1, based on the information specifying the remote operator received from the vehicle M, one of the remote operators satisfying a predetermined operation condition is selected from the plurality of remote operators. Therefore, based on the intention of the vehicle occupant, a more appropriate remote operator can start remote driving.

  Furthermore, according to the vehicle control system 1, it is determined whether or not it is necessary to urgently start the remote operation based on the information received from the vehicle M, and if necessary, the remote that has a history satisfying a predetermined condition in advance is determined. Since the remote operation is started based on the operation of the operator, the remote operation can be started by an appropriate remote operator even in an emergency.

  Furthermore, according to the vehicle control system 1, since an image obtained by imaging the manner in which the remote operator performs the driving operation can be presented to the occupant of the vehicle M, anxiety given to the vehicle occupant when performing the remote driving. Can be suppressed.

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, In the range which does not deviate from the summary of this invention, various deformation | transformation and substitution Can be added.

1. Vehicle control system 30 HMI
40 ... HUD
60 MPU
61 · Recommended lane determination unit 70 · Vehicle sensor 100 · Automatic operation control unit 120 · First control unit 140 · Second control unit 160 · Remote operation control unit 180 · Remote operation control unit 300 · Remote operation management equipment 310 · Overall Control device 312 Remote operator list 320 Remote control device 321 Display unit 322 Speaker 323 Seat 324 Steering wheel 325 Pedal 330 Remote control control unit

Claims (12)

A communication unit for communicating with a vehicle to be remotely operated;
A presenting unit for presenting a situation of the vehicle received by the communication unit to a remote operator;
A reception unit for receiving a driving operation by the remote operator;
When the driving operation received by the receiving unit satisfies a predetermined condition, a remote driving control unit for starting a remote driving in which the vehicle receiving the remote operation travels based on the driving operation received by the receiving unit;
A remote operation control device comprising: The predetermined condition is that the time from the time when the vehicle state is presented by the presentation unit to the time when the driving operation is received by the reception unit is within a predetermined time.
The remote operation control device according to claim 1. The predetermined condition includes that the proficiency level of the remote operator estimated based on the driving operation received by the receiving unit is equal to or higher than a reference.
The remote operation control device according to claim 1 or 2. The predetermined condition includes that the awakening level of the remote operator estimated based on the driving operation received by the receiving unit is equal to or higher than a reference.
The remote operation control device according to claim 1 or 2. The presenting unit presents the situation of the vehicle to each of a plurality of remote operators,
The reception unit receives each driving operation of the plurality of remote operators,
The remote operation control unit selects any one of the plurality of remote operators, the remote operation of which the driving operation received by the receiving unit satisfies the predetermined condition,
The remote operation control device according to any one of claims 1 to 4. The remote driving control unit receives a driving operation by the remote operator by the receiving unit while presenting the state of the vehicle received by the communication unit by the presenting unit to the remote operator, and the remote operation Providing a trial period in which control information based on the driver's driving operation is not transmitted to the vehicle, and starting the remote driving when the driving operation received by the receiving unit in the trial period satisfies a predetermined condition;
The remote operation control device according to any one of claims 1 to 5. The remote operation control unit selects any remote operator whose driving operation satisfies a predetermined condition from a plurality of remote operators based on the information specifying the remote operator received by the communication unit. ,
The remote operation control device according to any one of claims 1 to 6. The remote operation control unit determines whether it is necessary to urgently start the remote operation based on the information received by the communication unit, and if necessary, the remote operation with a history satisfying a predetermined condition in advance Remote operation based on the driving operation of the person,
The remote operation control device according to any one of claims 1 to 7. An imaging unit for imaging the remote operator;
The remote operation control unit causes the communication unit to transmit an image of the remote operator performing a driving operation to the communication unit;
The remote operation control device according to any one of claims 1 to 8. The remote operation control device according to claim 1;
Using the vehicle-side communication unit that communicates with the remote operation control device, the acquisition unit that acquires the status of the vehicle, and the vehicle side communication unit, the remote operation control device is requested to perform remote operation, and the remote operation control device A remote operation control unit that causes the vehicle to travel based on control information based on an operation of a remote operator received from the vehicle control device,
A vehicle control system comprising: Computer
Communicate with the vehicle to be remotely controlled,
Present the received vehicle status to the remote operator,
Accepting a driving operation by the remote operator,
When the received driving operation satisfies a predetermined condition, a remote driving in which the vehicle receiving the remote operation travels based on the received driving operation is started.
Remote operation control method. On the computer,
Communicate with the vehicle to be remotely operated,
Let the remote operator present the received vehicle status,
The driving operation by the remote operator is accepted,
When the received driving operation satisfies a predetermined condition, a remote driving in which the vehicle receiving the remote operation travels based on the received driving operation is started.
Remote operation control program.

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