JP6650386B2 - Remote driving control device, vehicle control system, remote driving control method, and remote driving control program - Google Patents

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.

  2. Description of the Related Art In recent years, research has been conducted on automatic driving that automatically performs acceleration / deceleration and steering. In connection with this, the vehicle includes an operation execution unit that executes automatic driving of the vehicle, and a return determination unit that determines whether the driver has a driving ability capable of returning from automatic operation to manual operation. Prior to the start of the automatic driving and traveling of the vehicle by the execution unit, a technology for prohibiting the automatic driving and traveling is disclosed when the return determination unit determines that the driver does not have the driving ability (for example, Patent Document 1).

JP-A-2006-115356

  However, the technology disclosed in Patent Literature 1 does not consider executing the vehicle by remote driving when automatic driving is prohibited, and performs remote driving of the vehicle based on an operation of a remote operator. May be able to start.

  The present invention has been made in view of such circumstances, and a remote driving control device, a vehicle control system, a remote driving control method, and a remote driving control that can allow an appropriate remote operator to execute remote driving. One of the purposes is to provide the program.

  The invention according to claim 1 includes a communication unit (310) that communicates with a vehicle to be remotely controlled, a presentation unit (321) that presents a status 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 receiving the remote operation based on the driving operation received by the receiving unit when the driving operation received by the receiving unit satisfies a predetermined condition. And a remote operation control unit (330) for starting remote operation of the vehicle.

  The invention according to claim 2 is the remote driving 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 status is presented by the presentation unit. Is within a predetermined time.

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

  The invention according to claim 4 is the remote driving control device according to claim 1 or 2, wherein the predetermined condition is a degree of awakening of the remote operator estimated based on the driving operation received by the reception unit. Is above the standard.

  The invention according to claim 5 is the remote driving control device according to any one of claims 1 to 4, wherein the presenting unit presents the status of the vehicle to each of a plurality of remote operators. The reception unit receives the driving operation of each of the plurality of remote operators, and the remote driving control unit determines that, among the plurality of remote operators, the driving operation received by the reception unit satisfies the predetermined condition. Select one of the satisfied remote operators.

  The invention according to claim 6 is the remote driving control device according to any one of claims 1 to 5, wherein the remote driving control unit receives the vehicle from the presentation unit by the communication unit. Providing a trial period during which the receiving unit accepts the driving operation by the remote operator and does not transmit control information based on the driving operation of the remote operator to the vehicle while presenting the situation to the remote operator; The remote operation is started when the driving operation received by the receiving unit satisfies a predetermined condition.

  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 specifies a remote operator received by the communication unit. Based on the information, any one of the plurality of remote operators whose driving operation satisfies a predetermined condition is selected.

  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 configured to perform a remote operation control based on information received by the communication unit. It is determined whether or not it is necessary to start remote driving urgently, and if necessary, remote driving is started based on an operation of a remote operator having a history satisfying a predetermined condition in advance.

  The invention according to claim 9 is the remote driving control device according to any one of claims 1 to 8, further comprising an imaging unit that captures an image of a remote operator, wherein the remote driving control unit includes: And causing the communication unit to transmit an image of the remote operator performing a driving operation to the communication unit.

  According to a tenth aspect of the present invention, a remote operation control device (300) according to the first aspect, a vehicle-side communication unit (20) that communicates with the remote operation control device, and an acquisition unit that acquires the state of the vehicle ( 10) and a remote operation control unit (160) that requests the remote operation control device to perform 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. ), And a vehicle control device (100) including the vehicle control system (1).

  According to an eleventh aspect of the present invention, the computer (310) communicates with a vehicle to be remotely operated, presents the received status of the vehicle to a remote operator, and accepts and accepts a driving operation by the remote operator. When the driving operation satisfies a predetermined condition, the remote driving control method starts remote driving in which the vehicle to be remotely controlled travels based on the received driving operation.

  According to the twelfth aspect of the present invention, the computer (310) is caused to communicate with a vehicle to be remotely controlled, to present the received status of the vehicle to a remote operator, to receive a driving operation by the remote operator, and to receive the driving operation. A remote operation control program that starts remote operation in which the vehicle to be remotely operated travels based on the received operation operation when the operation operation meets 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 a predetermined condition does not start the remote operation, and performs the remote operation to an appropriate remote operator. Can be done.

  According to the invention described in claim 2-4, a more appropriate remote operator can execute remote driving.

  According to the fifth and sixth aspects of the present invention, one remote operator can be selected after a plurality of remote operators simulate the remote operation of the vehicle, and the remote operator can be more appropriately selected. Driving can be performed.

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

  According to the invention described in claim 8, it is possible to cause an appropriate remote operator to start remote driving even in an emergency.

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

FIG. 1 is a conceptual diagram of a vehicle control system 1. FIG. 2 is a diagram illustrating a device configuration in a remote operation management facility 300. FIG. 14 is a diagram showing an example of the contents of a remote operator list 312. FIG. 3 is a diagram schematically illustrating a configuration of a remote control device 320. FIG. 2 is a diagram illustrating an example of a configuration mounted on a vehicle M. FIG. 5 is a diagram illustrating a state in which a relative position and a posture of a vehicle M with respect to a traveling lane L1 are recognized by a vehicle position recognition unit 122; It is a figure showing signs that a target track is generated based on a recommended lane. FIG. 3 is a sequence diagram illustrating a flow of processing in a vehicle M, a plurality of remote control devices 320, and an integrated 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 a request process of remote driving. It is a figure showing an example of a screen displayed during execution of remote operation. FIG. 5 is a diagram conceptually showing a state in which a remote control is executed by an occupant of a vehicle. It is a figure showing an example of the composition mounted in vehicles M which performs remote operation.

Hereinafter, an embodiment of a remote operation control device, a vehicle control system, a remote operation control method, and a remote operation control program of 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 communication between a plurality of vehicles M-1 to Mn (n is an arbitrary natural number) and the remote operation management equipment 300 via a network NW. Hereinafter, when the vehicle is not distinguished, it is referred to as a vehicle M. The vehicle M is, for example, a two-wheel, three-wheel, four-wheel, or other vehicle, and its driving source 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 power discharged from a secondary battery or a fuel cell. The vehicle M is a vehicle that can execute automatic driving for automatically controlling at least one of acceleration / deceleration and steering. The network NW includes a base station that is an interface for wireless communication, 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 driving management facility 300 or from one vehicle M to another vehicle M, and the remote operation of the vehicle M is executed in response thereto.

[Remote operation management equipment 300]
Hereinafter, the outside equipment on the remote control 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 control management equipment 300 includes an overall control device 310 that communicates with a vehicle M (a remotely controlled vehicle) via a network NW, and a plurality of remote control devices 320-1, 320-2, and 320-. 3, etc. are provided. Hereinafter, when the remote control device is not distinguished, it is simply described as the remote control device 320.

  In each of the remote control devices 320, a remote operator sits and stands by in preparation for a remote control 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, a sound, a speed, an angular velocity, and a vehicle type acquired by a device such as a camera mounted on the vehicle M. The overall control device 310 selects the remote operation device 320 operated by any one of the plurality of remote operators by referring to the remote operator list 312. 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 showing an example of the contents of the remote operator list 312. In the remote operator list 312, a remote operator ID that is identification information of a remote operator of the remote operation device 320 that is receiving information received from the vehicle M is registered. The remote operator list 312 includes, in association with the remote operator ID, the years of experience of remote operation, the latest time lag of the driving operation, the proficiency of comprehensively evaluating the years of experience and time lag, and the current remote operator's Information such as a degree of arousal 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 received. 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 received.

  The proficiency level is information indicating the degree of proficiency of remote driving estimated based on the driving operation received by the remote control device 320. The proficiency may be estimated based on years of experience after actually performing remote control. Alternatively, the cumulative time may not be selected as the remote operator, but may be a simulated remote operation of the vehicle M. The awakening degree is information indicating the degree of awakening of remote driving estimated based on the driving operation received by the remote operation device 320. The arousal degree may be information indicating the degree of arousal based on the time lag, but is not limited thereto, and may be information indicating the degree of arousal based on a biological state such as eyelid movement, line of sight, or heartbeat of the remote operator. There may be.

  The general 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 device 310 refers to the remote operator list 312, selects a remote operator who satisfies a predetermined condition from among the plurality of remote operators registered in the remote operator list 312, and selects the selected remote operator. 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 latest driving operation is appropriate. The latest driving operation includes at least one of a time lag, a steering angle, an accelerator operation amount, and a brake operation amount. The suitability of the latest driving operation is that the time lag is higher than the standard. The time lag being equal to or larger 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. The suitability of the latest driving operation may be that the steering angle, the accelerator operation amount, or the brake operation amount is within a reference range for safely driving the vehicle M. Further, the suitability of the latest driving operation is that the time lag is equal to or more than the reference and the steering angle, the accelerator operation amount, or the brake operation amount is within a reference range for safely driving the vehicle M. May be.
(B) The proficiency of the remote operator is above the standard. The proficiency level increases as the years of experience of the vehicle M are equal to or longer than a predetermined number of years, or as the cumulative time of simulation increases. The proficiency is equal to or higher than the standard when, for example, there are three remote operators, the proficiency is higher than that of one or more remote operators.
(C) The awakening degree of the remote operator is higher than a standard. This is because the higher the arousal level, the shorter the time lag tends to be. The arousal level being equal to or higher than the standard means that, for example, when there are three remote operators, the arousal level is higher than one or more remote operators.

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

  FIG. 4 is a diagram schematically illustrating the configuration of the remote operation device 320. The remote control 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 control unit 330.

  The display unit 321 displays an image captured by the camera of the vehicle M, a speed of the vehicle M, an engine speed, and the like. The display unit 321 may be an HMD (Head Mount Display). The speaker 322 emits a warning sound when an obstacle recognized by the object recognition device 16 of the vehicle M approaches the vehicle M. The remote operator O sits 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 operator may be another type of driving operator such as a joystick.

  Remote operation control section 330 generates control information to be transmitted to 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, to the vehicle M, 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. The driving operator is provided with a reaction force output device for applying a reaction force to be generated by the operation amount. In order to accurately determine the reaction force, it is preferable that information such as speed and angular speed be 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 for the steering wheel 324 or the pedals 325, or may be calculated based on the operation amount changed based on the vehicle speed or the turning angle of the vehicle M at that time. A control amount (for example, throttle opening, brake torque, output torque of an assist motor of the steering device 220, etc.) to be given to the traveling driving force output device 200, the brake device 210, or the steering device 220 may be used.

[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, a 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. . These devices and devices are connected to each other by a multiplex 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. Among the configurations illustrated in FIG. 5, the one that 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 remotely-controlled driving control unit 160 is a “vehicle control device”. This is an example.

  The camera 10 is a digital camera using a solid-state image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). One or a plurality of cameras 10 are attached to an arbitrary portion of the vehicle M. When imaging the front, the camera 10 is attached to an upper part of a front windshield, a rear surface of a rearview mirror, or the like. The camera 10 periodically and repeatedly takes images of the periphery of the vehicle M, for example. The camera 10 may be a stereo camera.

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

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

  The object recognizing 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 to recognize the position, type, speed, and the like of the object. The object recognition device 16 outputs a recognition result to the automatic driving control unit 100.

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

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

  The navigation device 50 includes, for example, a Global Navigation Satellite System (GNSS) receiver 51, a navigation HMI 52, and a route determination unit 53, and stores first map information 54 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 a signal received from a 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 partially or entirely shared with the above-described HMI 30. The route determination unit 53 determines, for example, a route from the position of the vehicle M specified by the GNSS receiver 51 (or an arbitrary position input) to a destination input by an occupant using the navigation HMI 52, as a first It is determined with reference to the map information 54. The first map information 54 is, for example, information in which a road shape is represented by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The route determined by the route determining 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. The navigation device 50 may be realized by a function of a terminal device such as a smartphone or a tablet terminal owned by the user, for example. Further, the navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20, and may acquire the route returned from the navigation server.

  The MPU 60 functions as, for example, a recommended lane determining unit 61, and stores 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, divides the route in units of 100 [m] in 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 determines which lane to travel from the left. The recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel on a reasonable route for proceeding to the branch destination when a branch point, a merge point, or the like exists on the route.

  The second map information 62 is more accurate map information 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. Also, 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 expressways, toll roads, national roads, and prefectural roads, the number of road lanes, the width of each lane, the slope of the road, and the position of the road (longitude, latitude, height, etc.). (Including three-dimensional coordinates), the curvature of the lane curve, the positions of the merging and branching points of the lane, and information such as signs provided on the road. The second map information 62 may be updated as needed 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 an angular velocity around a vertical axis, a direction sensor that detects the direction of the vehicle M, and the like.

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

  The vehicle interior camera 90 captures an image of the upper body with the face of the occupant sitting in the driver's seat as the center. The 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). In addition, 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 include a large scale integration (LSI) or an application specific integrated circuit (ASIC). , FPGA (Field-Programmable Gate Array) or the like, or may be realized by cooperation of software and hardware.

  The first control unit 120 includes, for example, an outside world recognition unit 121, a vehicle position recognition unit 122, and an action plan generation unit 123.

  The external world recognition unit 121 recognizes the position of the surrounding vehicle and the state of the speed, acceleration, and the like of the surrounding vehicle directly from the camera 10, the radar 12, and the finder 14, or based on information input via the object recognition device 16. I do. The position of the surrounding vehicle may be represented by a representative point such as the center of gravity or a corner of the surrounding vehicle, or may be represented by an area represented by the outline of the surrounding vehicle. The “state” of the surrounding vehicle may include the acceleration and jerk of the surrounding vehicle, or the “action state” (for example, whether or not the vehicle is changing lanes or trying to change lanes). Further, the external world recognition unit 121 may recognize the positions of guardrails, telephone poles, parked vehicles, pedestrians, and other objects in addition to surrounding vehicles.

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

  Then, the vehicle position recognition unit 122 recognizes, for example, the position and the posture of the vehicle M with respect to the traveling lane. FIG. 6 is a diagram illustrating a state in which the relative position and posture of the vehicle M with respect to the traveling lane L1 are recognized by the vehicle position recognition unit 122. The vehicle position recognizing unit 122 determines, for example, a deviation OS of a reference point (for example, the center of gravity) of the vehicle M from the center lane CL of the traveling lane and an angle θ formed with a line connecting the 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. Alternatively, the vehicle position recognition unit 122 may recognize the position of the reference point of the vehicle M with respect to any one of the side ends of the vehicle lane L1 as a 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 vehicle travels in the recommended lane determined by the recommended lane determination unit 61 and can cope with the situation around the vehicle M. The event includes, for example, a constant-speed traveling event traveling in the same traveling lane at a constant speed, a following traveling event following a preceding vehicle, a lane change event, a merging event, a branch event, an emergency stop event, and terminating automatic driving. There is a handover event for switching to manual operation. In addition, during the execution of these events, an action for avoidance may be planned based on the surrounding situation of the vehicle M (existence of surrounding vehicles and pedestrians, lane narrowing due to road construction, and the like).

  The action plan generation unit 123 generates a target trajectory on which the vehicle M will travel in the future. The target trajectory includes, for example, a speed element. For example, the target trajectory is generated as a set of target points (orbit points) to set a plurality of future reference times for each predetermined sampling time (for example, about 0 comma [sec]) and to reach those reference times. You. Therefore, when the interval between the orbit points is wide, it indicates that the vehicle travels at high speed in the section between the orbit points.

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

  The action plan generation unit 123 generates, for example, a plurality of target trajectory candidates, and selects an optimum target trajectory at that time based on safety and efficiency.

  The second control unit 140 includes a traveling control unit 141. The traveling control unit 141 controls the traveling driving force output device 200, the braking 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-controlled operation unit 160 transmits a remote operation request using the communication device 20 and automatically controls at least one of acceleration / deceleration and steering of the vehicle M based on control information received from the remote operation management facility 300. Execute remote operation.

  The traveling driving force output device 200 outputs traveling driving force (torque) for driving the vehicle to driving wheels. The traveling 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 driving 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 to the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the automatic driving control unit 100 or the information input from the driving operator 80 so that the braking torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism that transmits a hydraulic pressure generated by operating a brake pedal included in the driving operator 80 to the cylinder via a 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 an actuator in accordance with 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. The electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism, for example. The steering ECU drives the electric motor according to information input from the automatic driving control unit 100 or information input from the driving operator 80 to change the direction of the steered wheels.

  Hereinafter, a process of selecting one of a plurality of remote operators and performing remote driving in the above-described vehicle control system 1 will be described. FIG. 8 is a sequence diagram illustrating a 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 central control device 310. Is done. Each of the remote control 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 control 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 a corresponding remote operator. C-3 is transmitted to the overall control device 310. The overall control device 310 selects any 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 having 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 status from the vehicle M, the process of presenting the vehicle status and accepting the driving operation, and the process of selecting a candidate based on the control information. Accordingly, the central control device 310 tests whether or not a plurality of remote operators can remotely control the vehicle M based on the control information. That is, the remote operation management equipment 300 receives the driving operation by the remote operator while presenting the situation of the vehicle M to the remote operator, and does not transmit the control information based on the driving operation of the remote operator to the vehicle M during the trial period. Is provided. The remote operation management equipment 300 starts remote operation when the operation received during the trial period satisfies a predetermined condition.

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

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

  Referring back 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 the occupant of the vehicle M performing a button operation or the like for requesting a remote operation, but 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 preselected remote operator. The remote control device 320-3 transmits the control information C-3 to the vehicle M via the central control device 310 in response to receiving the control command. When receiving the control information C-1, the control information C-2, and the control information C-3, the central control device 310 transmits the control information C-3 based on a preselected remote operator. It may be extracted and transmitted to the vehicle M. Thereby, the overall control device 310 determines whether it is necessary to start remote driving urgently, and if necessary, performs remote driving based on the driving operation of the remote operator who has a history that satisfies the predetermined condition in advance. Let it start.

  FIG. 10 is a flowchart illustrating an example of the flow of a remote driving request process. 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). When not switching to the manual operation, the automatic operation control unit 100 continues the automatic operation. When switching to the 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 the driving operation of the occupant has been detected in response to outputting the handover request (step S206). When detecting the driving operation of the occupant, the automatic driving control unit 100 ends the automatic driving and switches to the manual driving (step S208). When the automatic driving control unit 100 does not detect the driving operation of the occupant, the remote driving request is transmitted to the remote operation management equipment 300 and the remote operation is started by receiving the control information from the remote operation management equipment 300 ( Step S210, Step S16). The automatic operation control unit 100 continues the remote operation until the remote operation ends (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.

  When performing remote driving of the vehicle M, the remote operation management facility 300 may transmit an image of the selected remote operator performing the driving operation to the vehicle M. 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 performed. This screen includes an 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 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 specify the remote operator. The remote operation management facility 300 can select any one of the plurality of remote operators whose driving operation satisfies a predetermined condition based on the information specifying the remote operator received from the vehicle M. it can.

[Remote operation from vehicle]
The remote control of the vehicle may be performed by an occupant of the vehicle that is automatically driving, instead of the remote control device 320 of the remote control management facility 300. FIG. 12 is a diagram conceptually showing a state where the remote control is executed by the occupant of the vehicle. In the figure, a vehicle M-1 is a vehicle that is performing the above-described remote operation. In addition, the vehicle M-2 is in a state where the driving operator is in a free state because the vehicle M-2 is performing the automatic driving, and the driving operator originally used for the driving operation of the vehicle is a driving operator of a remote operation. The vehicle can be used as 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 remote control is performed in an environment as if the vehicle M-1 is being driven. . Note that, 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 transmitted to the remote operation management facility 300 first, and may be 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 a remote operation. In the figure, components having functions similar to those described with reference to FIG. 5 are denoted by common reference numerals. That is, the automatic driving control unit 100 mounted on the vehicle M that performs the 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 causes the HUD to display an image or the like captured by the camera 10 of the vehicle M that is to be driven remotely, based on the operation amount input from the driving operator 80 in a free state. The control information to be transmitted to the vehicle M to be driven remotely is generated. The remote operation control unit 180 determines whether the driving operation received by the driving operator 80 satisfies a predetermined condition, and when the predetermined condition is satisfied, causes the communication device 20 to transmit control information based on the driving operation.

  As illustrated in FIG. 12, when there are a plurality of vehicles that are candidates for remote control, such as vehicles M-2 and M-3, each of the vehicles M-2 and M-3 is connected via the network NW. , And transmits control information to the overall control device 310. The general control device 310 determines whether 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 the 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.

  Although the vehicle M that performs remote operation and the vehicle M that performs remote operation have been described separately, the vehicle M may be configured to have both of these functions. That is, the vehicle M may be capable of performing remote operation when it is necessary to perform remote operation and performing remote operation in response to a request from another vehicle during automatic driving.

  According to the vehicle control system 1 described above, when the driving operation of the remote operator satisfies the predetermined condition, the remote operation in which the vehicle to be remotely operated is started based on the driving operation is started. A remote operator who does not satisfy the driving operation does not start the remote operation. Thereby, according to the vehicle control system 1, an appropriate remote operator can perform remote driving.

  Further, according to the vehicle control system 1, when the time from the time at which the situation of the vehicle is presented to the time at which the driving operation is received is within a predetermined time, the remote operation is started by the remote operator. The remote operator can execute the remote operation. Furthermore, according to the vehicle control system 1, when the skill level or arousal level of the remote operator is equal to or higher than the standard, the remote operator starts the remote operation, so that a more appropriate remote operator performs the remote driving. be able to.

  Furthermore, according to the vehicle control system 1, any one of the plurality of remote operators whose driving operation satisfies a predetermined condition is selected, so that the plurality of remote operators can simulate the remote operation of the vehicle M. , And one remote operator can be selected. Thereby, according to the vehicle control system 1, a more appropriate remote operator can perform remote driving.

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

  Further, according to the vehicle control system 1, based on the information received from the vehicle M, it is determined whether or not it is necessary to start remote driving urgently. Since the remote operation is started based on the operation of the operator, an appropriate remote operator can start the remote operation even in an emergency.

  Further, according to the vehicle control system 1, an image of a situation in which the remote operator performs a driving operation can be presented to the occupant of the vehicle M. Can be suppressed.

  As described above, the embodiments for carrying out the present invention have been described using the embodiments. However, the present invention is not limited to these embodiments at all, and various modifications and substitutions may be made without departing from the gist of the present invention. 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 facility 310 ‥ Control device 312 ‥ Remote operator list 320 ‥ Remote operation device 321 ‥ Display unit 322 ‥ Speaker 323 ‥ Seat 324 ‥ Steering wheel 325 ‥ Pedals 330 ‥ Remote operation control unit

Claims (11)

A communication unit that communicates with a vehicle to be remotely operated;
A presentation unit that presents the status of the vehicle received by the communication unit to a remote operator,
A receiving unit that receives 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 that starts remote driving in which the vehicle to be remotely controlled based on the driving operation received by the receiving unit runs.
With
The predetermined condition includes that the proficiency of the remote operator estimated based on the driving operation received by the receiving unit is equal to or higher than a reference.
Remote operation control device. Wherein the predetermined condition is a condition of the vehicle from the presented time by the presentation unit further comprises time until accepting a driving operation by the receiving unit is within a predetermined time,
The remote operation control device according to claim 1. The predetermined condition further includes that the awakening degree of the remote operator estimated based on the driving operation received by the reception unit is equal to or higher than a reference.
The remote operation control device according to claim 1. A communication unit that communicates with a vehicle to be remotely operated;
A presentation unit that presents the status of the vehicle received by the communication unit to a remote operator,
A receiving unit that receives 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 that starts remote driving in which the vehicle to be remotely controlled based on the driving operation received by the receiving unit runs.
With
The presentation unit presents the status of the vehicle to each of a plurality of remote operators,
The receiving unit receives the respective driving operations of the plurality of remote operators,
The remote operation control unit, among the plurality of remote operators, selects any remote operator whose driving operation received by the reception unit satisfies the predetermined condition,
Remote operation control device . A communication unit that communicates with a vehicle to be remotely operated;
A presentation unit that presents the status of the vehicle received by the communication unit to a remote operator,
A receiving unit that receives 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 that starts remote driving in which the vehicle to be remotely controlled based on the driving operation received by the receiving unit runs.
With
The remote driving control unit receives the driving operation by the remote operator by the reception unit while presenting the status of the vehicle received by the communication unit to the remote operator by the presentation unit, and performs 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 when the driving operation received by the reception unit in the trial period satisfies a predetermined condition, starts remote driving.
Remote operation control device . 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 5 . The remote operation control unit determines, based on the information received by the communication unit, whether or not it is necessary to start remote operation urgently.If necessary, remote operation with a history satisfying a predetermined condition in advance is performed. Starting remote driving based on the driving operation of the driver,
The remote operation control device according to any one of claims 1 to 6 . An imaging unit for imaging the remote operator is provided,
The remote driving control unit causes the communication unit to transmit, to the vehicle , an image in which the remote operator performs a driving operation,
The remote operation control device according to any one of claims 1 to 7 . A remote operation control device according to claim 1,
A vehicle-side communication unit that communicates with the remote operation control device, an acquisition unit that obtains the status of the vehicle, and requests the remote operation control device to perform a remote operation using the vehicle-side communication unit; A vehicle control device comprising: a remotely driven control unit that drives the vehicle based on control information based on a remote operator's operation received from a vehicle control device;
A vehicle control system comprising: Computer
Communicate with the vehicle to be remotely controlled,
Presenting the received status of the vehicle to a remote operator,
A driving operation by the remote operator is received by a receiving unit ,
When the received driving operation satisfies a predetermined condition, a remote operation in which the vehicle to be remotely controlled is started based on the received driving operation is started,
The predetermined condition includes that the proficiency of the remote operator estimated based on the driving operation received by the reception unit is equal to or higher than a reference.
Remote operation control method. On the computer,
Communication with the vehicle to be remotely controlled,
Let the remote operator present the received status of the vehicle,
A driving operation by the remote operator is received by a receiving unit ,
When the received driving operation satisfies a predetermined condition, a remote driving in which the vehicle to be remotely controlled is started based on the received driving operation is started,
A remote operation control program,
The predetermined condition includes that the proficiency of the remote operator estimated based on the driving operation received by the reception unit is equal to or higher than a reference.
Remote operation control program.

Images