JP5817333B2 - Remote control device for vehicle - Google Patents

Description

  The present invention relates to a vehicle remote control device for automatically driving a vehicle by remote control.

  For example, Patent Document 1 and Patent Document 2 disclose techniques for automatically driving a vehicle. The remote control device described in Patent Literature 1 determines whether or not the relationship between the vehicle and the device satisfies a condition that allows the operator to confirm safety, and if it is determined that the condition is not satisfied, Prohibit remote operation. Further, the vehicle remote control system described in Patent Document 2 determines the degree of attention of the remote operator when the vehicle is moved by remote operation, and the remote control system is remote when the degree of attention is less than a predetermined level. Stops vehicle movement due to operation.

JP 2007-265288 A JP 2008-27390 A

  In the technique described in Patent Document 1, a camera is provided on the remote controller, and a code mark is attached to the side surface of the vehicle. Remote control is permitted when the code mark is recognized in the image obtained by the camera. However, in this technique, an operator who has a remote control needs to move to a position where a code mark can be photographed with a camera as the vehicle moves. This is troublesome for the operator.

  Further, in the technique described in Patent Document 2, a remote operator is photographed with a camera and the direction of the line of sight of the remote operator is monitored, and the line of sight is neither a vehicle, a vehicle surroundings, nor a destination area. If it is determined that the user is watching the camera, or if it is determined that the user is not watching them all, the remote operation is immediately stopped. Therefore, in the technique described in Patent Document 2, even if the remote operator is at a position where the safety of the vehicle can be ensured, the remote operation is interrupted if the position is not taken from the camera. For this reason, also in the technique described in Patent Document 2, as in the technique described in Patent Document 1, it is necessary for the remote operator to move within the visual field range of the camera. Although it is conceivable to install a camera so that the entire periphery of the vehicle can be photographed, this causes an increase in cost.

  In view of the above problems, an object of the present invention is to provide a remote control device that is not troublesome for an operator and that can safely control a vehicle remotely.

In order to achieve the above object, the remote control device according to the present invention is characterized by a receiving unit that receives a trigger signal and an intensity confirmation signal transmitted from a remote control possessed by a user, and the reception of the trigger signal. A vehicle control unit for automatically driving the vehicle; a radio wave intensity determination unit that determines whether or not a radio field intensity of the received signal for strength confirmation is equal to or less than a preset specified value; and a radio wave of the signal for strength confirmation strength, and a prohibition unit for prohibiting the automatic travel of the vehicle to the vehicle control unit when it is less than the specified value, and the surrounding information acquisition unit for acquiring ambient information indicating the situation in the vicinity of said vehicle, wherein said It lies in that the specified value Ru is changed according to the ambient information acquired by the surrounding information acquisition unit.

With such a feature configuration, it is automatically determined whether or not the user who performs the remote control of the vehicle is in the vicinity of the vehicle based on the radio field intensity of the strength confirmation signal, and automatically according to the determination result It is possible to allow driving or prohibit automatic driving. Therefore, it is not necessary for the user to move with the movement of the vehicle, so that the user is not bothered. In addition, if the distance between the user and the vehicle is significantly different or an obstacle is inserted between the user and the vehicle, automatic driving is automatically prohibited. Can be done.
In addition, since the prescribed value can be changed according to the situation around the vehicle, for example, when there are many objects around the vehicle, the prescribed value is set high, and there are few objects around the vehicle. In some cases, the specified value can be set low. Thus, it becomes possible to achieve both user convenience and safety by changing the prescribed value in accordance with the situation around the vehicle.

  In addition, when the automatic travel is prohibited by the prohibition unit, it is preferable that a release unit that cancels the automatic travel prohibition state by operating the remote controller is provided.

  With such a configuration, automatic travel is not performed unless the prohibition state is released, so that it is possible to prevent automatic travel by mistake. Therefore, it becomes possible to perform remote operation of the vehicle safely.

  In addition, it is preferable that the automatic traveling can be urgently stopped by a remote control operation by the user during the automatic traveling.

  With such a configuration, for example, when a person suddenly jumps in front of the vehicle, the automatic traveling of the vehicle can be stopped urgently by the user's intention. Therefore, safety around the vehicle can be ensured.

  Further, when an emergency stop is made by the remote control operation, it is preferable that the emergency stop state of the automatic traveling cannot be canceled by the operation of the remote control.

  In such a case, for example, in order to cancel the emergency stop state, the user himself / herself can approach the vehicle on which the vehicle remote control device is mounted to cancel the emergency stop state. With such a configuration, the user can confirm the safety around the vehicle, so safety can be ensured.

  In addition, it is preferable that the specified value is set to be larger than a lower limit value of the radio wave intensity at which the strength confirmation signal is in a sensed state.

  With such a configuration, it is possible to compare the magnitude relationship with the specified value at least in the sensation state of the intensity confirmation signal. For this reason, since the automatic running can be prohibited in the sensed state of the strength confirmation signal, the vehicle does not run away. Therefore, it is possible to safely perform automatic traveling of the vehicle.

  In addition, it is preferable that the surrounding information includes information indicating a size of a space where the vehicle exists.

  With such a configuration, when the space where the vehicle exists is wide, it is determined that the line of sight is good, and the operation is effective even if the distance between the vehicle and the user is some distance by setting the specified value low. can do. On the other hand, when the space in which the vehicle is present is narrow, it is determined that the line of sight is bad and the specified value is set high so that the operation is not effective unless the distance between the vehicle and the user is short. .

  For example, the surrounding information may be a sensor in which the surrounding information acquisition unit detects the size of a space where the vehicle exists.

  With such a configuration, the size of the space around the vehicle can be detected appropriately. Therefore, it is possible to appropriately change the specified value.

  In addition, it is preferable that the surrounding information acquisition unit acquires the surrounding information through communication with an object existing around the vehicle.

  With such a configuration, ambient information can be acquired by road-to-vehicle communication or vehicle-to-vehicle communication, so there is no need to provide a sensor or the like. Therefore, it can be realized at a low cost, and ambient information can be acquired in real time.

It is the figure which showed the vehicle provided with the remote control apparatus for vehicles. It is the block diagram which showed typically the structure of the remote control device for vehicles. It is a flowchart which shows the process of the remote control apparatus for vehicles. It is the time chart which showed an example of remote operation. It is the figure which showed the control form of the remote control device for vehicles. It is the figure which showed the control form of the remote control device for vehicles.

  Hereinafter, embodiments of the present invention will be described in detail. The vehicle remote control device 100 (hereinafter referred to as “remote control device 100”) according to the present invention is monitored by the user when the vehicle 1 as shown in FIG. 1 is automatically moved to a preset target position. It has a function that allows automatic driving only when possible. In the present embodiment, the remote control device 100 is provided in the vehicle 1 and is operated by a remote controller 3 possessed by a user outside the vehicle. According to the remote operation device 100, the operation by the remote controller 3 is only pressed when starting the automatic running, and the user does not need to operate the remote controller 3 until the movement to the target position is completed. The user may or may not be on the vehicle 1.

  FIG. 2 is a block diagram schematically showing the configuration of the remote control device 100. Hereinafter, the remote control device 100 according to the present invention will be described with reference to FIG. The remote control device 100 includes a receiving unit 10, a signal identification unit 11, an automatic travel command unit 12, a radio wave strength determination unit 13, a release unit 14, an emergency stop command unit 15, a vehicle control unit 16, a prohibition unit 17, and a return unit 18. Each functional unit is configured. When the function unit automatically runs the vehicle 1 with the CPU as a core member, the above-described function unit for performing various processes that allow automatic travel only in a state that can be monitored by the user is hardware or software, or both. Has been built.

  The receiving unit 10 receives a trigger signal and an intensity confirmation signal transmitted from the remote controller 3 possessed by the user. The trigger signal is a signal that is generated when the user presses an “automatic travel switch” provided on the remote controller 3 when starting the automatic travel of the vehicle 1. Such an “automatic travel switch” can be pressed only once. Therefore, the trigger signal may not be always transmitted from the remote controller 3. The strength confirmation signal is supplied from the remote control 3 separately from the trigger signal until the above-described “automatic travel switch” is pressed until the automatic travel of the vehicle 1 is completed, or until an “emergency stop switch” described later is pressed. This signal is a signal for confirming the radio field intensity from the remote controller 3 in the vehicle 1 as will be described later.

  The receiving unit 10 according to the present embodiment also receives a release signal and an emergency stop signal. Although the details will be described later, the release signal is a signal to be released when the remote control device 100 is in an automatic travel prohibition state. The release signal is a signal issued from the remote controller 3 when a “release switch” provided on the remote controller 3 is pressed by the user. The emergency stop signal is a signal issued from the remote controller 3 when an “emergency stop switch” provided on the remote controller 3 is pressed by the user. Thereby, the automatic traveling of the vehicle 1 is stopped urgently. These signals received by the receiving unit 10 are transmitted to a signal identifying unit 11 described later.

  The signal identification unit 11 identifies the signal received by the reception unit 10. In order to appropriately perform this identification, it is preferable that each signal is given an identifier capable of specifying each signal. Thereby, it becomes possible to identify a signal appropriately. The signal identification unit 11 identifies a signal transmitted from the reception unit 10 based on the identifier. The signal identification unit 11 transmits the trigger signal to the automatic travel command unit 12, transmits the strength confirmation signal to the radio wave strength determination unit 13, transmits the release signal to the release unit 14, and transmits the emergency stop signal to the emergency stop command unit 15 is transmitted.

  When the trigger signal is transmitted, the automatic travel command unit 12 commands the vehicle control unit 16 described later to perform the automatic travel of the vehicle 1. The vehicle control unit 16 causes the vehicle 1 to automatically travel with the reception of the trigger signal. Specifically, the vehicle control unit 16 controls the driving force control unit 21 that controls the driving force of the vehicle 1, the braking force control unit 22 that controls the braking force of the vehicle 1, and the steering angle of the steered wheels of the vehicle 1. Each of the steering control units 23 is controlled to automatically travel to a preset target parking position.

  The radio wave intensity determination unit 13 determines whether or not the radio wave intensity of the received intensity confirmation signal is equal to or less than a preset specified value. The strength confirmation signal is transmitted from the signal identification unit 11 described above. The predetermined value set in advance is a value greater than at least zero, and is stored in advance in the radio wave intensity determination unit 13. In the present embodiment, the specified value is set to be larger than the lower limit value of the radio wave intensity at which the intensity confirmation signal is in the sensation state. That is, it is a value that makes it possible to determine the radio wave intensity in a state where the signal for checking the intensity is received well. The radio wave intensity determination unit 13 transmits the determination result to the prohibition unit 17 described later.

  The prohibition unit 17 prohibits the vehicle control unit 16 from automatically driving the vehicle 1 when the radio wave intensity of the strength confirmation signal is equal to or less than a specified value. As described above, the radio wave intensity determination unit 13 transmits the determination result determined by the radio wave intensity determination unit 13 to determine whether or not the radio wave intensity of the signal for strength confirmation is equal to or less than a specified value. . Based on the determination result, the prohibition unit 17 causes the vehicle control unit 16 to prohibit automatic traveling of the vehicle 1 when the radio wave intensity of the strength confirmation signal is equal to or less than a specified value. Specifically, the prohibition unit 17 transmits a prohibition command to the vehicle control unit 16.

  When the prohibition command is transmitted from the prohibition unit 17, the vehicle control unit 16 controls the automatic travel to be interrupted when the automatic travel is being performed. As a result, automatic traveling is prohibited. On the other hand, even when automatic travel is not performed when a prohibition command is transmitted from the prohibition unit 17, the prohibition state is set.

  Here, in the present embodiment, when the automatic travel is prohibited by the prohibition unit 17, a release unit 14 that releases the automatic travel prohibition state by operating the remote controller 3 is provided. Such a prohibition state is released by a release command from the release unit 14. As described above, when a release signal is transmitted from the remote controller 3, the release signal is transmitted to the release unit 14 via the signal identification unit 11. The cancellation unit 14 issues a cancellation command to the vehicle control unit 16 based on the cancellation signal. The vehicle control unit 16 cancels the prohibited state in response to such a cancel command. When the prohibition state is canceled, the automatic traveling that has been interrupted may be automatically resumed, or the vehicle may be stopped on the spot until a new trigger signal is received.

  Moreover, in this embodiment, it is comprised so that automatic driving | operation can be stopped urgently by remote control operation by a user during automatic driving | running | working. Such an emergency stop is performed by an emergency stop command from the emergency stop command unit 15. As described above, when an emergency stop signal is transmitted from the remote controller 3, the emergency stop signal is transmitted to the emergency stop command unit 15 via the signal identification unit 11. The emergency stop command unit 15 issues an emergency stop command to the vehicle control unit 16 based on the emergency stop signal. In response to such an emergency stop command, the vehicle control unit 16 stops automatic travel and enters an emergency stop state. By setting it as such a structure, even if the vehicle 1 is carrying out automatic driving | running | working, a user can carry out emergency stop of the self-propelled driving | running | working according to the condition around the vehicle 1. FIG. Therefore, the safety around the vehicle 1 can be achieved.

  In the present embodiment, when an emergency stop is caused by such a remote control operation, the remote control 3 cannot be recovered from the emergency stop state of the automatic traveling by the operation of the remote control 3. Therefore, when the automatic traveling is stopped in an emergency, the automatic traveling cannot be performed by the operation of the remote controller 3 even if the safety around the vehicle 1 is confirmed by the user. By configuring in this way, in the case of an emergency stop state, it is possible to prevent the vehicle 1 from automatically running by pressing the “automatic travel switch” by mistake until the safety around the vehicle 1 is confirmed.

  In the present embodiment, such a return from the emergency stop state requires an operation by the return unit 18 provided in the remote operation device 100. The return unit 18 is preferably a “return switch” provided in the remote control device 100, for example. In such a case, even when the vehicle 1 is automatically driven by remote operation, it is necessary to approach the remote operation device 100 provided in the vehicle 1 once. It is possible to release the stopped state.

  Next, the process which concerns on the remote control apparatus 100 is demonstrated using the flowchart shown in FIG. 3, and the time chart shown in FIG. In FIG. 4, (i) shows a trigger signal, (ii) shows a release signal, and (iii) shows an emergency stop signal. These signals are transmitted from the remote controller 3. Also, (iv) shows a return signal. This signal is output when a “return switch” provided in the remote control device 100 is pressed. Such a “return switch” is preferably provided, for example, on the monitor 101 as a touch display provided in the vehicle 1. Further, (v) shows an intensity confirmation signal (solid line) and a specified value (dashed line), and (vi) shows the running state of the vehicle 1. Moreover, it demonstrates using the figure of the control form shown by FIG.5 and FIG.6 suitably.

  First, a signal is received by the receiving unit 10 (step # 01). The received signal is identified by the signal identifying unit 11, and the signal for signal strength is transmitted to the signal strength determination unit 13. The radio wave strength determining unit 13 determines whether or not the radio wave strength of the radio wave strength signal is equal to or less than a preset default value (step # 02). If the radio field intensity of the signal for radio field intensity is not less than the predetermined value (step # 03: No) and the trigger signal is received and there is an automatic travel command (step # 06: Yes), the vehicle control unit 16 automatically Traveling is performed (step # 07). Such an automatic running state is shown in FIG.

  Thereafter, when there is no emergency stop command (step # 08: No), the process returns to step # 01 and the processing is continued. During such automatic traveling, an obstacle (for example, another vehicle) may be inserted between the remote control 3 and the vehicle 1 as shown in (1) of FIG. If the distance between the remote control 3 and the vehicle 1 becomes longer as shown in (2) of FIG. 2 and the radio field intensity of the radio field intensity signal becomes less than the specified value (step # 03: Yes), The prohibited state is set (step # 04). This prohibited state is continued until a cancel command is issued (step # 05: No). Therefore, as shown in (3) of FIG. 5B, for example, even when a trigger signal is input during the prohibited state ($ 01), the vehicle 1 is not automatically driven. On the other hand, when a cancellation command is issued in response to the cancellation signal (step # 05: Yes), the prohibition state is canceled, and the process returns to step # 01 and continues. In such a case, if there is an automatic traveling command, an automatic traveling state is entered as shown in FIG.

  Further, as shown in FIG. 6 (1), when an emergency stop signal is input during the automatic traveling of the vehicle 1 regardless of whether or not the prohibited state is released (step # 08: Yes), the vehicle 1 Emergency stop is performed (step # 09). This emergency stop state is continued until a return command is issued (step # 10: No). Therefore, as shown in FIG. 6 (2), for example, during the emergency stop state, the vehicle 1 is not automatically driven even if a trigger signal is input ($ 02).

  As shown in FIG. 6 (3), after a return command is issued (step # 10: Yes), a trigger signal is input ($ 03), and the radio wave intensity of the radio wave strength signal is not less than the specified value (step # 03: No) If there is an automatic travel command (step # 06: Yes), automatic travel is performed (# 07). Even if the radio field intensity of the signal for radio field intensity is not less than or equal to the regulation (step # 03: No), if there is no automatic travel command (step # 06: No), automatic travel is not performed. The remote operation device 100 performs such processing and appropriately performs automatic traveling smoothly and safely.

  As described above, according to the remote control device 100, it is automatically determined whether or not the user who performs the remote control of the vehicle 1 is in the vicinity of the vehicle 1 based on the radio field intensity of the strength confirmation signal. Depending on the result, automatic driving can be allowed or automatic driving can be prohibited. Therefore, since it is not necessary for the user to move as the vehicle 1 moves, the user is not bothered. In addition, when the distance between the user and the vehicle 1 is significantly separated or an obstacle is inserted between the user and the vehicle 1, automatic driving is automatically prohibited. Remote control can be performed.

[Other Embodiments]
In the above-described embodiment, it has been described that it is preferable to press the “release switch” of the remote controller 3 and transmit the release signal to release the prohibition state of the automatic traveling of the vehicle 1. However, the scope of application of the present invention is not limited to this. Of course, it is also possible to adopt a configuration that does not require a release signal to cancel the prohibition state of automatic traveling. In such a case, for example, a configuration in which the prohibited state can be canceled by inputting a trigger signal anew is also possible.

  In the above-described embodiment, it has been described that the automatic traveling can be stopped in an emergency according to the operation of the remote controller 3 by the user during the automatic traveling. However, the scope of application of the present invention is not limited to this. Of course, it is possible to adopt a configuration in which automatic traveling cannot be stopped in an emergency.

  In the above-described embodiment, it has been described that when an emergency stop is performed by a remote control operation, it is not possible to return from an emergency stop state of automatic traveling by an operation of the remote control 3. However, the scope of application of the present invention is not limited to this. It is also possible to return from the emergency stop state by remote control operation.

  In the above embodiment, it has been described that the return unit 18 is provided in the remote operation device 100. However, the scope of application of the present invention is not limited to this. Of course, it is possible to provide the “return switch” in the remote controller 3 so that the return signal is propagated in the air and received by the receiving unit 10. In such a case, the return signal can be returned from the emergency stop state by identifying the return signal by the signal identification unit 11 and transmitting the return signal to the return unit 18.

  In the above embodiment, the trigger signal and the intensity confirmation signal have been described as separate bodies. However, the scope of application of the present invention is not limited to this. Of course, the trigger signal and the intensity confirmation signal may be configured as a common signal. In such a case, it is naturally possible to use it as an intensity confirmation signal by continuously transmitting the trigger signal.

  In the above-described embodiment, the specified value has been set in advance. However, the scope of application of the present invention is not limited to this. For example, it is possible to provide a configuration in which a surrounding information acquisition unit that acquires surrounding information indicating the surrounding conditions of the vehicle 1 is provided, and the specified value is changed according to the surrounding information acquired by the surrounding information acquisition unit. Such ambient information preferably includes information indicating the size of the space in which the vehicle 1 exists. In this case, the surrounding information acquisition unit can be configured using a sensor that detects the size of the space in which the vehicle exists, that is, a camera, a sonar, a radar, or the like. With such a configuration, when the space where the vehicle 1 exists is wide, it is determined that the line of sight is good, and the operation is effective even if the distance between the vehicle 1 and the user is some distance, while the vehicle 1 exists. By determining that the line of sight is poor when the space to be operated is narrow, it is possible to prevent the operation from being effective unless the distance between the vehicle 1 and the user is short. Therefore, it is possible to achieve both user convenience and safety by changing the prescribed value according to the situation around the vehicle. The surrounding information acquisition unit may be installed on the roadside or mounted on the vehicle 1. When mounted on the vehicle 1, a camera, sonar, radar, or the like that is already mounted on the vehicle 1 can be used for driving support.

  Alternatively, the surrounding information acquisition unit may be configured to acquire the surrounding information through communication with an object existing around the vehicle 1. In such a case, since it is not necessary to provide a sensor or the like, it can be realized at low cost, and ambient information can be acquired in real time.

  The present invention can be used in a remote control device that automatically drives a vehicle by remote control.

3: Remote control 10: Reception unit 13: Radio wave intensity determination unit 16: Vehicle control unit 17: Prohibition unit 100: Remote operation device (vehicle remote operation device)

Claims (8)

A receiving unit for receiving a trigger signal and an intensity confirmation signal transmitted from a remote control possessed by the user;
With the reception of the trigger signal, a vehicle control unit for automatically driving the vehicle,
A radio wave intensity determination unit that determines whether or not the radio wave intensity of the received strength confirmation signal is equal to or less than a preset specified value;
A prohibition unit that prohibits the vehicle control unit from automatically traveling when the radio field intensity of the strength confirmation signal is equal to or less than the specified value;
A surrounding information acquisition unit for acquiring surrounding information indicating a situation around the vehicle , and
The remote control apparatus for a vehicle in which the specified value Ru is changed according to the ambient information acquired by the surrounding information acquisition unit.   The remote control device for a vehicle according to claim 1, wherein when the automatic travel is prohibited by the prohibition unit, a release unit that cancels the automatic travel prohibition state by operating the remote controller is provided.   The vehicular remote control device according to claim 1, wherein during the automatic travel, the automatic travel can be urgently stopped by a remote control operation by the user.   The remote control device for a vehicle according to claim 3, wherein when the emergency stop is made by the remote control operation, it is impossible to return from the emergency stop state of the automatic traveling by the operation of the remote control.   The vehicular remote control device according to any one of claims 1 to 4, wherein the specified value is set to be larger than a lower limit value of a radio wave intensity at which the strength confirmation signal is in a sensed state. The remote control device for a vehicle according to any one of claims 1 to 5, wherein the surrounding information includes information indicating a size of a space in which the vehicle exists. The vehicle remote control device according to any one of claims 1 to 6, wherein the surrounding information acquisition unit is a sensor that detects a size of a space in which the vehicle exists. The remote control device for a vehicle according to any one of claims 1 to 6, wherein the surrounding information acquisition unit acquires the surrounding information through communication with an object existing around the vehicle.

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