JP7062496B2 - Vehicle remote control method and vehicle remote control device - Google Patents

Description

The present invention relates to a vehicle remote control method and a vehicle remote control device.

A system is known in which a signal prompting remote control is output when an autonomous traveling robot becomes unable to travel due to the presence of an obstacle, and the robot is remotely controlled based on a camera image and distance measurement information (Patent Documents). 1).

Japanese Unexamined Patent Publication No. 2013-206237

However, when the vehicle is operated remotely, the camera image and the distance measurement information are insufficient in information, and the vehicle may not be guided appropriately.

An object to be solved by the present invention is to appropriately guide a vehicle in a situation where the vehicle is operated remotely.

The present invention acquires environmental information around the own vehicle when a support request signal requesting remote control is acquired from the vehicle, and based on the acquired environmental information, the traveling locus of another vehicle traveling around the own vehicle is obtained. The above problem is solved by calculating, generating one or more support route candidates for moving the own vehicle based on the traveling locus of another vehicle, and superimposing this on the map information and displaying it.

According to the present invention, the travel locus of another vehicle is calculated using the environmental information in the scene where the own vehicle requests support, and the support route candidate is generated based on the calculation. Support route candidates to be avoided can be generated and displayed.

It is a block block diagram of the operation control system which concerns on this embodiment. It is a flowchart which shows the control procedure of the operation control system of this embodiment. It is a figure for demonstrating an example of the situation required by remote control. It is a figure which shows an example of the travel path of another vehicle traveling while avoiding the hindrance factor of autonomous travel. FIG. 1 is a diagram for explaining a display process of a support route candidate. It is a 2nd figure for demonstrating the display process of a support route candidate. It is a 3rd figure for demonstrating the display process of a support route candidate. It is a block block diagram of the operation control system which concerns on other embodiment. It is a 1st flowchart which shows the control procedure of the operation control system of another embodiment. It is a 2nd flowchart which shows the control procedure of the operation control system of another embodiment.

<First Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, the case where the vehicle remote control device 100 according to the present invention is applied to the operation control system 1 mounted on the vehicle will be described as an example. The vehicle remote control device 100 operates a vehicle capable of autonomous traveling at a place away from the vehicle. The embodiment of the vehicle remote control device 100 of the present invention is not limited, and can be applied to a vehicle or a terminal device capable of exchanging information with the vehicle control device 200. The operation control system 1, the vehicle remote control device 100, and the vehicle control device 200 are all computers that execute arithmetic processing for controlling the operation of the vehicle.

FIG. 1 is a diagram showing a block configuration of the operation control system 1. The operation control system 1 of the present embodiment includes a vehicle remote control device 100 and a vehicle control device 200. The vehicle remote control device 100 of the present embodiment has a communication device 20, and the vehicle control device 200 has a communication device 40. Each device exchanges information with each other by wireless communication. The vehicle remote control device 100 of the present embodiment generates support route candidates, control routes, and control commands used by the vehicle control device 200 for operation control. These information are stored in the vehicle controller 70 or the navigation device 120 via the communication device 20 and the communication device 40.

First, the vehicle control device 200 will be described.
The vehicle control device 200 of the present embodiment includes a communication device 40, a detection device 50, a sensor 60, a vehicle controller 70, a drive device 80, a steering device 90, an output device 110, a navigation device 120, and notification. A device 130 is provided. Each device constituting the vehicle control device 200 is connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.

Hereinafter, each device constituting the vehicle control device 200 will be described.
The detection device 50 detects the presence and position of an object such as another vehicle or pedestrian. The detection device 50 of this embodiment includes a camera 51. The camera 51 of the present embodiment is a camera including an image pickup element such as a CCD or CMOS. The camera 51 of the present embodiment is installed in the own vehicle, images the surroundings of the own vehicle, and acquires image data including other vehicles existing and traveling around the own vehicle.

The camera 51 of the present embodiment is attached to the own vehicle at a position at a predetermined height behind the own vehicle so that the optical axis has an angle θ downward from the horizontal. The camera 51 takes an image of a predetermined area behind the own vehicle V1 from this position at a predetermined angle of view. The angle of view of the camera 51 is set so that not only the traveling lane in which the own vehicle travels but also the traveling lanes adjacent to the left and right thereof can be imaged. The captured image of the camera 51 includes images of other vehicles in front of the same lane and in front of the left and right of the adjacent lane. The camera 51 can also be installed rearward. The captured image of the camera 51 includes images of other vehicles behind the same lane and left and right behind the adjacent lane.

The detection device 50 of the present embodiment may include a radar device 52. As the radar device 52, a millimeter-wave radar, a laser radar, a laser range finder, an ultrasonic sensor, or the like known at the time of filing can be used.

The detection device 50 processes the acquired image data and calculates the position or distance of the object with respect to the own vehicle. The "object" includes other vehicles traveling around the own vehicle. The "object" includes obstacles, lanes, signs, and road structures detected when the own vehicle travels autonomously. Obstacles include other vehicles, pedestrians, construction areas, road defects, falling objects, and the like.

The detection device 50 calculates the relative speed and relative acceleration of the own vehicle and the object from the change in the position of the object with time. As for the derivation process of the positional relationship between the own vehicle and the object based on the image data and the derivation process of the speed information based on the amount of change over time, the method known at the time of filing the present application can be appropriately used. The detection device 50 processes the acquired distance measurement data, and calculates the relative speed and the relative acceleration of the own vehicle and the object from the change in the position of the object with time. The method known at the time of filing can also be used for the derivation process of the positional relationship between the own vehicle and the object based on the distance measurement data and the derivation process of the speed information based on the amount of change over time.

The sensor 60 of the present embodiment includes a steering angle sensor 61 and a vehicle speed sensor 62. The steering angle sensor 61 detects steering information such as the steering amount, steering speed, and steering acceleration of the own vehicle, and sends the steering information to the vehicle controller 70. The vehicle speed sensor 62 detects the vehicle speed and acceleration of the own vehicle and sends them to the vehicle controller 70.

The vehicle controller 70 of the present embodiment is an in-vehicle computer such as an engine control unit (ECU), and electronically controls the operating state of the vehicle. The vehicle controller 70 executes control (automatic driving control) to autonomously drive the vehicle based on a control command according to the environmental information around the vehicle detected by the detection device 50. The control command includes a speed control command and a steering control command at each point of the control path and the control path (each time point when traveling on the control path). During autonomous driving, the vehicle controller 70 generates a control command. However, when a factor that hinders autonomous driving occurs and a support request signal for remote control is acquired from the own vehicle to be controlled, the vehicle remote control device 100 generates a control command. This method will be described later.

Examples of the vehicle to be autonomously controlled include an electric vehicle having an electric motor as a traveling drive source, an engine vehicle having an internal combustion engine as a traveling drive source, and a hybrid vehicle having both an electric motor and an internal combustion engine as a traveling drive source. .. The electric vehicle or hybrid vehicle using an electric motor as a traveling drive source includes a type in which a secondary battery is used as a power source for the electric motor and a type in which a fuel cell is used as a power source for the electric motor.

The drive device 80 of the present embodiment includes a drive mechanism of the own vehicle. The drive mechanism includes the electric motor and / or the internal combustion engine which are the above-mentioned traveling drive sources, a power transmission device including a drive shaft and an automatic transmission for transmitting the output from these traveling drive sources to the drive wheels, and the wheels. Includes braking devices and the like. The drive device 80 generates each control signal of these drive mechanisms based on the input signal by the accelerator operation and the brake operation of the driver and the control signal acquired from the vehicle controller 70, and executes the operation control including the acceleration / deceleration of the vehicle. .. By transmitting control information to the drive device 80, it is possible to automatically perform operation control including acceleration / deceleration of the vehicle. In the case of a hybrid vehicle, torque distribution output to each of the electric motor and the internal combustion engine according to the traveling state of the vehicle is also sent to the drive device 80.

The vehicle controller 70, which has acquired control information from the processor 10, controls the drive device 80 and the steering device 90 to drive the own vehicle V1 along the control path. The vehicle controller 70 maintains a predetermined lateral position with respect to the traveling lane by using the road shape detected by the detection device 50 and the lane mark model stored in the road information and the map information 122 of the navigation device 120. The steering device 90 is controlled so as to travel while traveling. The steering device 90 of the present embodiment includes a steering actuator. The steering actuator includes a motor or the like attached to the column shaft of the steering. The steering device 90 executes steering control of the vehicle based on the control signal acquired from the vehicle controller 70 or the input signal by the steering operation of the driver. The vehicle controller 70 calculates the steering control amount based on the steering angle acquired from the steering angle sensor 61, the vehicle speed acquired from the vehicle speed sensor 62, and the current information of the steering actuator, and sends a current command to the steering actuator. , Control the own vehicle so that it travels in the lateral position of the target.

The navigation device 120 of the present embodiment includes a position detection device 121, readable map information 122, and a route calculation device 123. The position detecting device 121 includes a Global Positioning System (GPS) and detects the traveling position (latitude / longitude) of the traveling vehicle. The position detection device 121 may include a gyro sensor, an odometer, and the like. The route calculation device 123 identifies the road link on which the own vehicle travels with reference to the map information 122 based on the current position of the own vehicle detected by the position detection device 121. The route calculation device 123 calculates the route from the current position of the own vehicle to the destination. The route to the destination calculated by the route calculation device 123 can be used for automatic driving control. The navigation device 120 sends the route to the destination calculated by the route calculation device 123 to the vehicle controller 70. The vehicle controller 70 uses the route calculated by the route calculation device 123 as a control route, and generates a control command for causing the own vehicle to travel on this control route. The navigation device 120 generates guidance information to reach the destination and displays it on the output device 110 described later.

With the above configuration, the own vehicle to be controlled can autonomously travel on the control route from the current location to the destination.

Hereinafter, the vehicle remote control device 100 of the present embodiment will be described. As shown in FIG. 1, the vehicle remote control device 100 of the present embodiment includes a processor 10, a communication device 20, and an output device 30. The communication device 20 exchanges information with the vehicle control device 200 via the communication device 40 mounted on the vehicle. The vehicle remote control device 100 controls the driving operation of the vehicle at a place away from the vehicle. The vehicle remote control device 100 can always control the operation of the vehicle, but the vehicle remote control device 100 of the present embodiment controls the operation of the vehicle when the autonomous driving is interrupted or stopped.

The processor 10 of the vehicle remote control device 100 executes a ROM (Read Only Memory) 12 in which a program for executing operation control of the own vehicle is stored, and a program stored in the ROM 12 to execute the vehicle remote control device 100. It is a computer including a CPU (Central Processing Unit) 11 as an operating circuit that functions as an operation circuit, and a RAM (Random Access Memory) 13 that functions as an accessible storage device. The processor 10 of the present embodiment executes each function by the cooperation of the software for realizing the above functions and the above-mentioned hardware.

Next, the processing of the processor 10 of the vehicle remote control device 100 will be described.
When the processor 10 acquires a support request signal requesting remote control from its own vehicle to be operated, the processor 10 executes a support route generation process. The support request signal is issued when the autonomous driving of the own vehicle is hindered or when it is determined that the autonomous driving is impossible. Specifically, when an obstacle exists on the route on which the own vehicle autonomously travels, a support request signal is transmitted to the vehicle remote control device 100. Obstacles include moving and stationary objects. Obstacles include construction sites, road defects, puddles, and so on. Obstacles include traffic restrictions and checkpoints.

The own vehicle to be operated according to the present embodiment is a vehicle capable of autonomous traveling. However, it is not always possible to continue autonomous driving, and autonomous driving may not be possible depending on the environment and vehicle conditions. In preparation for such an unforeseen situation, a system has been constructed to support driving in order to escape from the situation when autonomous driving becomes impossible. In the support system, the driving of the target vehicle is constantly monitored to confirm the continuation of autonomous driving. The support system may be a manned system in which an administrator is located or an unmanned system. A vehicle having an autonomous driving function notifies a support system of a support request signal when the own vehicle cannot continue autonomous driving.

Since the autonomous driving control is performed based on the cognitive processing, if the cognitive processing cannot be performed accurately, the autonomous driving control cannot be continued. For example, the detection information by a camera, a radar sensor, an attitude sensor, or the like may not be accurately acquired due to poor equipment or bad weather. In places where there are many skyscrapers, there is a possibility that the current position based on GPS signals will be lost. Further, when the lane mark is missing or deteriorated, the traveling lane cannot be identified, and the lane to be referred to in the map information may not be identified. Furthermore, the continuation of autonomous driving control may not be possible due to a sudden event such as the route to the destination being blocked by construction work. The vehicle control device 200 determines whether or not the autonomous driving can be continued, and when the autonomous driving cannot be continued, a support request signal for remote control is generated, and the vehicle remote control device 100 is generated via the communication device 40. Is automatically sent to.

When the processor 10 of the vehicle remote control device 100 acquires the support request signal, the processor 10 acquires the environmental information around the own vehicle. The environmental information around the own vehicle includes the captured image of the camera 51. The environmental information includes the measurement information of the radar device 52.

The processor 10 calculates the traveling locus of another vehicle traveling around the own vehicle based on the acquired environmental information. The own vehicle that has issued the support request signal is in a stopped state due to the interruption of the autonomous driving process. Environmental information indicates the condition around the stopped vehicle. That is, it is considered that the environmental information includes information on other vehicles traveling in a place where a factor that hinders the autonomous traveling of the own vehicle actually exists. When the environmental information includes an image of another vehicle, it can be predicted that the other vehicle is traveling while avoiding factors that hinder autonomous traveling. In the present embodiment, the traveling locus of another vehicle traveling around the own vehicle is calculated based on the environmental information, and one or more support route candidates for moving the own vehicle are generated based on the traveling locus of the other vehicle. do. In the present embodiment, the support route candidate based on the traveling locus of another vehicle is calculated as reference information of the route for the own vehicle to avoid the obstructive factor. By calculating the control route of the own vehicle to be rescued based on the support route candidate, the control route adapted to the actual situation can be calculated. Since the information obtained from the detection device 50 is limited, it is difficult to obtain detailed information in detail. If another vehicle is running at that point (around the own vehicle) even though the own vehicle has become unable to run autonomously, the other vehicle is not only a factor that hinders the autonomous running of the own vehicle. , It is considered that the vehicle is running with all the circumstances in mind. Even if detailed information cannot be obtained, it can be predicted that there are no obstacles in the traveling locus of other vehicles. If the own vehicle can travel near the traveling locus of another vehicle, it is highly possible that the vehicle can escape from the state in which autonomous driving is impossible.

The processor 10 displays the support route candidate. Since the support route candidate is displayed as visible information on the map information 300, it is easy to confirm. The map information 300 may be high-precision digital map information (high-precision map, dynamic map), or may be map information using satellite images acquired in real time. The support route candidate may be displayed on the display 31 of the vehicle remote control device 100, or may be displayed on the display 111 of the vehicle control device 200. The support route candidates displayed on the display 31 are useful for confirming the situation in the support system and determining the control route. The support route candidates displayed on the display 111 are useful for confirming the situation and determining the control route for the occupants of the vehicle. Since one or more support route candidates are generated based on the traveling locus of another vehicle, it is possible to display the support route candidates according to the actual environment around the vehicle.

In the display process, one or more support route candidates are displayed together with the current position of the own vehicle. Since the current position of the own vehicle and the support route candidate are displayed on the map information, the positional relationship between the position where autonomous driving is disabled and the support route candidate can be grasped on the map information.

The processor 10 creates one control route based on the displayed one or more support route candidates. If there is only one support route candidate, a control route is created based on the only support route candidate. The method of creating one control route from a plurality of support route candidates is not particularly limited. Approximate points of a plurality of support route candidates may be extracted, and the route passing through the approximate points may be used as one control route. One control route may be created by averaging the positions of a plurality of support route candidates. Among the support route candidates, the candidate having the most matching points may be used as one control route. One control route may be calculated based on the representative value of the lateral position (position in the direction along the route width) of the support route candidate. When the variation of a plurality of acquired support route candidates is large, one control route may be created from the support route candidates whose variation is less than a predetermined value. The route may include support route candidates whose variation is less than a predetermined value.

Further, the processor 10 creates a control path in consideration of the existence of the opposite lane when creating one control path. The processor 10 creates a control path that does not extend to the opposite lane. The processor 10 creates a control path so as not to belong to the opposite lane area. Specifically, the processor 10 acquires the travel locus of an oncoming vehicle traveling in an oncoming lane whose traveling direction is opposite to that of the own vehicle to be controlled. The traveling locus of the oncoming vehicle is acquired from the captured image of the camera 51. The traveling direction of the vehicle can be determined from the change over time in the captured image. Since the traveling direction of the own vehicle can be acquired from the detection signal of the sensor 60 or the captured image, it is possible to identify the row of oncoming vehicles traveling in the oncoming lane in the opposite direction. The existence positions of one or more oncoming vehicles are plotted, and the traveling locus thereof is obtained. The processor 10 sets the oncoming lane area based on the traveling locus of the oncoming vehicle. The oncoming lane area can be an area including the traveling locus of the oncoming vehicle. The oncoming lane region may be a region having a width based on the traveling locus of the oncoming vehicle and adding a margin considering the width of the vehicle and / or the width of the oncoming lane. When the width of the facing lane is narrow, the amount of protrusion from the facing lane is also large. Therefore, the narrower the width of the facing lane, the larger the margin may be added to set the facing lane area. The processor 10 creates a control path so as not to belong to the set opposite lane area.

A control route that guides the own vehicle that has become unable to autonomously travel so as not to belong to the oncoming lane area based on the locus of the oncoming vehicle (other vehicle) traveling in the oncoming lane while considering the traveling locus of the other vehicle. Since it is calculated, it is possible to calculate a control route in consideration of the traveling area of an existing oncoming vehicle. As a result, it is possible to calculate a control route according to the actual situation and execute vehicle control adapted to the actual situation.

After calculating the control path, the processor 10 transmits a control command including the control path to the vehicle controller 70 of the own vehicle. The vehicle controller 70 causes the vehicle control device 200 to execute a control command. Since one control route is created from the support route candidates based on the travel locus of other vehicles, an appropriate control route that takes into consideration the actual factors (obstacles and other surrounding environment) that hinder autonomous driving, and control including the control route. Can generate instructions. You can drive your vehicle on an appropriate route according to the actual environment.

In the support system, one control route can be calculated from the support route candidates displayed on the display 31, so that the burden can be reduced. There are innumerable routes to move the own vehicle that has become unable to drive autonomously, but in this embodiment, the support route candidates can be narrowed down to the support route candidates according to the actual environment, so that autonomous driving is not possible. It is possible to reduce the burden on the support system that handles the rescue of the vehicle that has become. For example, a control route can be set or calculated by tracing a support route candidate. It takes time to calculate the control route to move the own vehicle that cannot run autonomously while checking the image captured by the camera, and the time required for the vehicle to reach the destination is extended. The time required for the calculation process of the control route can be shortened, and the time required to reach the destination of the vehicle can be shortened.

Further, the occupant of the own vehicle can visually check the current situation and select the support route candidate most suitable for the current situation from the support route candidates displayed on the display 133. In addition, by displaying the support route candidates, it is possible to know that movement (rescue from the current state) is possible.

By calculating one control route from the support route candidates calculated based on the traveling locus of another vehicle, it is possible to calculate a control route adapted to the actual environment around the own vehicle. Further, since the support route candidate is automatically generated and the control route can be calculated automatically or by selection, the time required from the output of the support request signal to the setting of the control route can be shortened. It is possible to reduce the load of the vehicle remote control device 100 or the burden on the person who operates the device 100.

When the processor 10 acquires a support request signal from the own vehicle, the processor 10 starts a process of calculating a support route candidate and a control route, and indicates that the own vehicle is in a state of requiring remote control outside the own vehicle. Sends a notification command to the own vehicle. The information to be notified (notification information) includes "there is an obstacle", "cannot run", "the own vehicle is waiting for a remote control command", and "the own vehicle is executing remote control". Information to inform. The vehicle controller 70 of the own vehicle causes the notification device 130 to present the notification information. The notification device 130 includes a display 133 and a speaker 134. The display 133 has a display surface that can be visually recognized from the outside of the vehicle. The display surface is provided on the door portion of the vehicle or on the roof. The speaker 134 outputs audio that can be viewed outside the vehicle. The notification device 130 displays text or a figure indicating the notification information on the display 133 in accordance with the notification command. The notification device 130 announces the text indicating the notification information via the speaker 134 in accordance with the notification command. When autonomous driving is being performed, it is preferable to display "automatic driving" or the like on the notification device 130.

The notification device 130 may notify the notification information to the outside by using the winker 131 and the light 132 provided in the vehicle. The notification device 130 may change the light emission angle of the winker 131 and the light 132, the blinking cycle, the blinking pattern, and the lighting color to notify the notification information to the surroundings.

In this way, by notifying the outside of the own vehicle that the own vehicle is in a state requiring remote control, the situation in which the own vehicle is unable to travel due to the presence of obstacles or the like is reported to the surroundings by the notification information. Can be communicated to. The other vehicle that recognizes this notification information recognizes in advance that there is a factor that hinders autonomous driving such as an obstacle, and travels along a route for avoiding this factor. Since the other vehicle knows the existence of an obstacle or the like in advance, the driving load is reduced as compared with the case where the existence is known immediately before. By notifying the existence of obstacles in advance, it is possible to prevent other vehicles from hesitating and not passing, increase the number of other vehicles passing through obstacles, and increase the number of support route candidates. be able to. A more appropriate control route can be calculated by increasing the number of support route candidates (number of samples). In addition, the traveling locus of another vehicle in which the existence of an obstacle or the like is notified in advance serves as a model model as a route for avoiding the obstacle. By using the traveling locus of another vehicle that serves as a model model, it is possible to calculate a control route that reliably avoids traveling obstruction factors such as obstacles.

The control procedure of the vehicle remote control device 100 of the present embodiment will be described with reference to FIG. The details of the processing in each step are as described above, so they will be used. Here, the flow of processing will be mainly described.

In step S101, the processor 10 acquires a support request signal for remote control from the own vehicle to be operated from the own vehicle V1. In this process, the remote control process performed when the support request signal is acquired will be described. In the state where the support request signal is not received, the own vehicle V1 autonomously travels by the vehicle control device 200.

FIG. 3A shows an example of a scene in which a support request signal is transmitted. This is a scene in which the construction site exists as an obstacle OB and autonomous driving of the own vehicle V1 becomes impossible. The control path R0 of the own vehicle V1 is interrupted, and the own vehicle V1 is in a stopped state. After step S101, in step S201, the notification process may be started in response to the reception of the support request signal. As conceptually shown in FIG. 3A, notification information such as "rescue standby" is displayed or announced. The light of the vehicle may be turned on in a predetermined pattern (cycle). This process continues until the avoidance of obstacles is confirmed in step S106 described later. When the avoidance of obstacles is confirmed in the same step, the notification process is terminated in step S202.

In step S102, the processor 10 acquires environmental information around the own vehicle, and detects another vehicle traveling around the own vehicle based on the acquired environmental information. The processor 10 calculates the traveling locus of another vehicle from the captured image or the distance measuring signal, and determines whether or not the other vehicle has passed a factor that hinders autonomous traveling such as an obstacle detected by the own vehicle. FIG. 3B shows a scene in which another vehicle V2 passes through an obstacle OB. The other vehicle V2 moves along the control path R2 and passes by avoiding the obstacle OB at the construction site.

The remote control process is started when the autonomous driving of the own vehicle cannot be continued. Monitor the presence of other vehicles traveling avoiding obstacles at a predetermined time. The predetermined time can be set arbitrarily. In step S102, when no other vehicle passes through, the processor 10 proceeds to step S103 and calculates a control path based on the environmental information. The environmental information that can be acquired is limited, and it takes time to draw a control route while checking the environmental information for each position, so it takes time until the vehicle starts traveling and until it reaches the destination. The time of is relatively long (compared to the case of the processing after step S108).

After that, the process proceeds to step S104, a control command including a control path is generated, and the control command is transmitted to the vehicle control device S104. In step S105, the vehicle control device 200 executes the vehicle operation control process in accordance with the control command. When it is confirmed in step S106 that the own vehicle that has moved according to the control path has avoided the obstacle, the remote control of the vehicle ends in step S107, and the autonomous driving (automatic driving) process is started.

In step S108, the processor 10 determines whether there is one or a plurality of other vehicles that have passed an obstacle (an example of a factor that hinders the autonomous traveling of the own vehicle V1; the same applies hereinafter). If there is only one other vehicle that has passed the obstacle, the process proceeds to step S109, and the processor 10 acquires the traveling locus of the other vehicle. If there is only one other vehicle passing through an obstacle, there is no choice but to refer to the travel trajectory of the other vehicle. In step S110, the processor 10 calculates a support route candidate based on the traveling locus of another vehicle.

Returning to step S108, if there are a plurality of other vehicles that have passed the obstacle, the process proceeds to step S114. The processor 10 determines whether or not there is an oncoming lane. If there is no oncoming lane, it is not necessary to consider the oncoming lane, so the process proceeds to step S110, and the traveling loci of a plurality of other vehicles are used as support route candidates.

If it is determined in step S115 that there is an oncoming lane, the processor 10 proceeds to step S116 and calculates a support route candidate considering the oncoming lane. Specifically, the processor 10 sets the oncoming lane area based on the traveling locus of the oncoming vehicle. Then, it is determined whether or not there is a traveling locus belonging to this opposite lane region. The processor 10 sets the traveling locus belonging to the oncoming lane region as a support route candidate in consideration of the oncoming lane. The processor 10 can give priority to each of the support route candidates. Support route candidates with high priority are likely to be selected as control routes. Further, only the support route candidates having a priority of a predetermined value or higher may be narrowed down, and the control route may be calculated from the narrowed down support route candidates. In this case, the priority of the support route candidate considering the oncoming lane may be set high, and the priority of the support route candidate not considering the oncoming lane may be set low.

If it is determined in step S115 that there is no oncoming lane, the processor 10 proceeds to step S117 and calculates a support route candidate that does not consider the oncoming lane. The display mode is different between the support route candidate considering the oncoming lane in step S116 and the support route candidate not considering the oncoming lane in step S117. When selecting color, thickness, breakage, double line, etc., support route candidates considering the oncoming lane are displayed in different display methods so that they can be selected with priority. After steps S116 and S117, the process proceeds to step S110. In addition, you may proceed from step S108 to step S110 without performing steps S114 to S116.

In step S110, the processor 10 acquires a support route candidate based on the travel locus of one or a plurality of other vehicles. In step S111, the processor 10 displays the support route candidate on the display. 4A to 4C show display examples of support route candidates. Map information 300 is projected on the display screen of the display 31.

FIG. 4A is a diagram showing a state in which the own vehicle V1 during autonomous traveling cannot travel. The state of FIG. 4A corresponds to the state of FIG. 3A. The control path R0 extending from the own vehicle V1 is interrupted in front of the obstacle OB1 (on the vehicle side). FIG. 4A shows an icon indicating the position of the own vehicle V1 superimposed on the map information 300.
FIG. 4B shows an icon indicating the traveling locus R1 of another vehicle and the position of the own vehicle V1 superimposed on the map information 300. In the display information of the support route candidate, the location of a factor (for example, an obstacle) that hinders the autonomous traveling of the own vehicle V1 may be indicated. If a moving object is detected, it is also displayed. Further, the captured image of the camera 51 may also be displayed. Although a single support route candidate is shown in FIG. 4B, a plurality of support route candidates may be superimposed and displayed. In that case, it is displayed in a different manner (color, thickness, solid line or broken line, double line) for easy identification.
FIG. 4C shows a control path R2 calculated based on the traveling locus R1 of another vehicle. The control path R2 shown in FIG. 4C corresponds to the control path R2 shown in FIG. 3B. The control path R2 extends from the own vehicle V1. Since the control path R2 is connected to the icon of the own vehicle V1, the control path R2 can indicate the route on which the own vehicle V1 moves without interruption from the current position.

In step S112, the processor 10 calculates one control path based on one or more support path candidates. The calculation of the control path may be automatically performed by the vehicle remote control device 100, or may be selected by the remote control manager who uses the vehicle remote control device 100. In step S113, the processor 10 transmits a control command including a control path to the vehicle control device 200 of the own vehicle. By using the obtained support route candidates to select or calculate a control route to actually move to the own vehicle and transmitting it to the vehicle control device 200 of the own vehicle, the traveling locus of the other vehicle is used to utilize the traveling locus of the own vehicle. Obstacles that hinder autonomous driving can be avoided.

The vehicle control device 200 executes the received control command. In step S106, the vehicle moves along the control path to avoid the obstacle and avoids the obstacle. After confirming the avoidance of the obstacle, in step S202, the notification process started after step S101 is terminated. Finally, in step S107, the remote control process executed in response to the support request signal is terminated. Since the factors that hinder autonomous driving, which caused the generation of the support request signal, have been avoided, the control of autonomous driving is resumed.

Since the vehicle remote control device 100 of the embodiment of the present invention is configured and operates as described above, it has the following effects.

[1] The vehicle remote control method of the present embodiment acquires environmental information around the own vehicle when a support request signal requesting remote control is acquired from the own vehicle to be operated, and is based on the acquired environmental information. The travel locus of another vehicle traveling around the own vehicle is calculated, one or more support route candidates for moving the own vehicle are generated based on the travel locus of the other vehicle, and the support route candidate is used as map information. Display by superimposing.
The own vehicle that has issued the support request signal is in a state where autonomous driving processing cannot be continued. If the environmental information acquired at this timing includes information on another vehicle traveling in a place where a factor that hinders the autonomous driving of the own vehicle actually exists, the other vehicle travels while avoiding the factor that hinders the autonomous driving. You can predict that you are doing it. In the present embodiment, the traveling locus of another vehicle traveling around the own vehicle is calculated based on the environmental information detected when the support request signal is received, and the own vehicle is moved based on the traveling locus of the other vehicle. Generate one or more support route candidates.
In the present embodiment, the control route adapted to the actual situation can be calculated by calculating the control route of the own vehicle to be rescued based on the support route candidate based on the travel locus of the other vehicle.
Since the information obtained from the detection device 50 is limited, it is difficult to obtain detailed information in detail. If another vehicle is running at that point (around the own vehicle) even though the own vehicle has become unable to run autonomously, the other vehicle is not only a factor that hinders the autonomous running of the own vehicle. , It is considered that the vehicle is running with all the circumstances in mind. Even if detailed information cannot be obtained, it can be predicted that there are no obstacles on the traveling track of other vehicles. Since one or more support route candidates are generated based on the traveling locus of another vehicle, it is possible to display the support route candidates according to the actual environment around the vehicle.
The processor 10 displays the support route candidate. Since the support route candidate is displayed as visible information on the map information 122, confirmation can be facilitated.

[2] In the vehicle remote control method of the present embodiment, the support route candidate is displayed together with the current position of the own vehicle to be the target of the remote control process. Since the current position of the own vehicle and the support route candidate are displayed on the map information, the positional relationship between the position where autonomous driving is disabled and the support route candidate can be grasped on the map information.

[3] The vehicle remote control method of the present embodiment calculates one control route based on one or a plurality of displayed support route candidates, transmits a control command including the control route to the own vehicle, and issues a control command. Let the vehicle control device of your vehicle execute it.
Since one control route is created from the support route candidates based on the travel locus of another vehicle, a control command including an appropriate control route and a control route in consideration of actual factors (obstacles and other surrounding environment) that hinder autonomous driving. Can be generated. You can drive your vehicle on an appropriate route according to the actual environment.
It takes time to calculate the control route to move the own vehicle that cannot run autonomously while checking the image captured by the camera, and the time required for the vehicle to reach the destination is extended. The time required for the calculation process of the control route can be shortened, and the time required to reach the destination of the vehicle can be shortened. In the support system, one control route can be calculated from the displayed support route candidates, so that the burden can be reduced. The occupants of the own vehicle can visually check the current situation and select the support route candidate most suitable for the current situation from the displayed support route candidates. In addition, by displaying the support route candidates, it is possible to know that movement (rescue from the current state) is possible.

[4] In the vehicle remote control method of the present embodiment, the traveling locus of an oncoming vehicle traveling in the oncoming lane is acquired, the oncoming lane region is set based on the traveling locus, and the control route is set so as not to belong to the oncoming lane region. calculate. A control route that guides the own vehicle that has become unable to autonomously travel so as not to belong to the oncoming lane area based on the locus of the oncoming vehicle (other vehicle) traveling in the oncoming lane while considering the traveling locus of the other vehicle. Since it is calculated, it is possible to calculate a control route in consideration of the traveling area of an existing oncoming vehicle. As a result, it is possible to calculate a control route according to the actual situation and execute vehicle control adapted to the actual situation.

[5] The vehicle remote control method of the present embodiment notifies the outside that the own vehicle is in a state requiring remote control when the support request signal is acquired from the own vehicle. As a result, the situation in which the own vehicle cannot travel due to the presence of an obstacle or the like can be transmitted to the surroundings by the notification information. The other vehicle that recognizes this notification information recognizes in advance that there is a factor that hinders autonomous driving such as an obstacle, and travels along a route for avoiding this factor. Since the other vehicle knows the existence of an obstacle or the like in advance, the driving load is reduced as compared with the case where the existence is known immediately before. By notifying the existence of obstacles in advance, it is possible to prevent other vehicles from hesitating and not passing, increase the number of other vehicles passing through obstacles, and increase the number of support route candidates. be able to. A more appropriate control route can be calculated by increasing the number of support route candidates (number of samples). In addition, the traveling locus of another vehicle in which the existence of an obstacle or the like is notified in advance serves as a model model as a route for avoiding the obstacle. By using the traveling locus of another vehicle that serves as a model model, it is possible to calculate a control route that reliably avoids traveling obstruction factors such as obstacles.

[6] The vehicle remote control method of the present embodiment transmits a support request signal when an obstacle exists on the route on which the vehicle autonomously travels. It is possible to generate an appropriate control path in consideration of obstacles that hinder autonomous driving and an appropriate control command including this control path. You can drive your vehicle on an appropriate route according to the actual environment.

[7] When the vehicle remote control method of the present embodiment is executed by the vehicle remote control device 100, the vehicle remote control device 100 has the same operation as the map generation method and has the same effect.

<Second Embodiment>
The second embodiment will be described.
In the second embodiment, the traveling locus of the vehicle (own vehicle or another vehicle) stored in the cloud server is used. Since the basic configuration is the same as that of the first embodiment, the description of the first embodiment is incorporated here. The features of the present embodiment will be mainly described while avoiding duplicate explanations.

The block configuration diagram of the operation control system 1 of the 2nd Embodiment of FIG. 5 is shown. The difference from the block configuration shown in FIG. 1 is that the operation control system 1 of the second embodiment includes the server 1000. The server 1000 exchanges information with the vehicle remote control device 100 and the vehicle control device 200 by communication. The server 1000 includes a control device 1100, a communication device 1200, and a storage device 1300.

The server 1000 of the present embodiment stores the traveling locus of the vehicle in association with the position information. Vehicles include both other vehicles and own vehicles. That is, the past travel history (including the travel locus) of the own vehicle is also used.
The vehicle using the driving control system 1 transmits the regression locus of the vehicle moved based on the control command described in the first embodiment to the server 1000, and writes it in the storage device 1300 as the traveling locus information 400. The information storage process may be performed by the control device 1100. In the present embodiment, the server 1000 is arranged, but it may be written as the travel locus information 400 in the RAM 13 which is the storage device of the vehicle remote control device 100. The server 1000 is controlled by the vehicle remote control device 100. The storage device for storing the travel locus information 400 in the present embodiment may be the storage device 1300 of the server 1000, the RAM 13 of the vehicle remote control device 100, or both. The storage devices may be further distributed.

The "regression locus of a vehicle that has moved based on a control command" is a locus (regression locus) when the vehicle moves according to a control command including a transmitted control path to the vehicle that has issued a support request signal. .. The regression locus is a history of positions moved according to a control path calculated by the vehicle remote control device 100 or an operator operating the vehicle remote control device 100 based on the travel locus of another vehicle acquired when the support request signal is issued. Since the regression locus includes position information, the place where the regression locus is calculated (the place where the support request signal is issued) can be specified. The regression trajectory is a route that avoids obstacles by moving the control path after the vehicle becomes unable to autonomously travel due to obstacles or the like, and returns (regresses) to the travel route set in autonomous travel. ..

The processor 10 stores the received regression trajectory in the storage device 1300 of the accessible server 1000 or stores it in the server 1000. As mentioned above, the server 1000 functions under the control of the vehicle remote control device 100. When the processor 10 receives the regression locus of the vehicle moved based on the control command, the processor 10 updates the travel locus information 400 including the regression locus data stored in the storage device 1300 (or RAM 13).

FIG. 6 is a flowchart showing a process of storing the regression locus. FIG. 6 includes the remote control process shown in FIG. As shown in FIG. 6, after avoiding the obstacle in step S106, in step S301, the processor 10 acquires the return locus in which the own vehicle actually moved from the vehicle control device 200, and stores the server 1000 in the storage device 1300 ( Alternatively, it is stored in the RAM 13) and the travel locus information 400 is updated.

When the processor 10 of the vehicle remote control device 100 acquires the support request signal from the vehicle, the processor 10 generates one or more support route candidates for moving the vehicle based on the regression trajectory stored in the server 1000. The processor 10 superimposes the support route candidate on the map information 300 and displays it on the display 31.

FIG. 7 is a flowchart showing the remote control process of the second embodiment. For the part overlapping with FIG. 2, the description of FIG. 2 is used. In step S101, the support request signal is received. Assistance request information includes the current location. In step S401, the processor 10 accesses the travel locus information 400 and searches for a regression locus including a point including the current position or a point in the vicinity of the current position based on the current position included in the support request signal. If there is no regression locus, the regression locus cannot be used, so the process of using the travel locus of another vehicle after step S102 shown in FIG. 2 is executed. On the other hand, in step S401, if there is a regression locus, the process proceeds to step S402, and it is determined whether the regression locus is single or plural. If there is only one regression trajectory, that regression trajectory is used. The regression locus is acquired in step S403, and the support route candidate is calculated based on the regression locus in step S404. In step S402, when there are a plurality of regression trajectories, support route candidates considering the oncoming lane are calculated.

In step S114, the processor 10 determines whether or not there is an oncoming lane. If the oncoming lane does not exist, it is not necessary to consider the oncoming lane, so the process proceeds to step S404, and a plurality of regression loci are set as support route candidates.

If it is determined in step S115 that there is an oncoming lane, the processor 10 proceeds to step S116 and calculates a support route candidate considering the oncoming lane. Specifically, the processor 10 sets the oncoming lane area based on the traveling locus of the oncoming vehicle. Then, it is determined whether or not there is a regression trajectory belonging to this opposite lane region. The processor 10 uses the regression locus belonging to the oncoming lane region as a support route candidate in consideration of the oncoming lane. The processor 10 can give priority to each of the support route candidates. Support route candidates with high priority are likely to be selected as control routes. Further, only the support route candidates having a priority of a predetermined value or higher may be narrowed down, and the control route may be calculated from the narrowed down support route candidates. In this case, the priority of the support route candidate considering the oncoming lane may be set high, and the priority of the support route candidate not considering the oncoming lane may be set low.

If it is determined in step S115 that there is no oncoming lane, the processor 10 proceeds to step S117 and calculates a support route candidate that does not consider the oncoming lane. The display mode is different between the support route candidate considering the oncoming lane in step S116 and the support route candidate not considering the oncoming lane in step S117. When selecting color, thickness, breakage, double line, etc., support route candidates considering the oncoming lane are displayed in different display methods so that they can be selected with priority. After steps S116 and S117, the process proceeds to step S404. In addition, you may proceed from step S108 to step S404 without performing steps S114 to S116.

In step S404, the processor 10 acquires support path candidates based on one or more regression trajectories. In step S111, the processor 10 displays the support route candidate on the display.

In step S112, the processor 10 calculates one control path based on one or more support path candidates. The calculation of the control path may be automatically performed by the vehicle remote control device 100, or may be selected by the remote control manager who uses the vehicle remote control device 100. In step S113, the processor 10 transmits a control command including a control path to the vehicle control device 200 of the own vehicle. By using the obtained support route candidates to select or calculate a control route to actually move to the own vehicle and transmitting it to the vehicle control device 200 of the own vehicle, the autonomy of the own vehicle is utilized by utilizing the past regression trajectory. Obstacles that hinder driving can be avoided. Then, the process proceeds to step S105. The processes after step S105 are common to the processes shown in FIGS. 2 and 6. If the past regression trajectory used and the regression trajectory executed this time are the same, it is not necessary to memorize them, but if there are differences, they are memorized as a new regression trajectory.

FIG. 2 describes a process of generating a support route candidate using the traveling locus of another vehicle, and FIG. 7 describes a process of generating a support route candidate using a regression locus. It is also possible to create a support route candidate using the traveling locus and the regression locus of another vehicle. In this case, both the support route candidate obtained in step S110 of FIG. 2 and the support route candidate obtained in step S404 of FIG. 7 are set as support route candidates. All support route candidates are displayed in step S111. Subsequent processing is common to the processing of FIGS. 2 and 7.

According to the present embodiment, by storing the regression trajectory of a vehicle (whether the own vehicle or another vehicle) that has avoided obstacles (factors that hinder autonomous driving) according to a control command including a control route in the past. , When a new vehicle capable of autonomous driving needs remote control in the same place (same situation) as in the past, obstacles can be avoided based on the regression trajectory in the past. By comparing the position information of the regression trajectory, it is possible to judge the identity of the place where the remote control was performed. If the location where the remote control is performed is common (predetermined distance range), it can be determined that autonomous driving has become impossible due to the same cause (obstacle, construction, regulation). Since the regression trajectory corresponds to the control route calculated by the remote control process, the processing cost for route calculation and route selection can be reduced. According to the present embodiment, even if there are no other vehicles traveling while avoiding obstacles or the number of vehicles is small at the timing when the support request signal for remote control is acquired, it is based on the regression trajectory that avoids obstacles in the past. The control path can be calculated. When the autonomous driving of the vehicle becomes impossible at the same place, the vehicle requiring remote control can be returned to the autonomous driving based on the regression trajectory of the vehicle which has returned to the autonomous driving by remote support in the past.

Since the vehicle remote control device 100 of the second embodiment of the present invention is configured and operates as described above, it has the following effects.

[1] In the vehicle remote control method of the present embodiment, the regression locus of the vehicle moved based on the control command is written in the storage device, the received regression locus is stored in the accessible storage device 1300 (RAM 13), and the vehicle is used. When the support request signal is acquired, one or more support route candidates for moving the vehicle are generated based on the accumulated regression locus. As a result, by using the regression locus of the vehicle that has been avoided in the past, it is possible to generate a support route candidate at the timing when the support request signal is issued, even if another vehicle does not newly travel in the vicinity of the own vehicle. When another vehicle travels at the timing when the support request signal is issued, it is possible to efficiently generate appropriate support route candidates and control routes by also using the past regression trajectory.

[2] The vehicle remote control method of the present embodiment updates the regression locus data stored in the storage device 1300 (RAM 13) when the regression locus of the vehicle moved based on the control command is received.
According to the vehicle remote control method of the present embodiment, when the obstacle can be avoided by the newly generated control path, the latest regression locus is reflected in the travel locus information 400. It can be said that the more recent regression trajectory is more in line with the actual driving environment than the past regression trajectory. Next, the control route of the vehicle that issues the support request signal can be a route that matches the actual driving environment.

It should be noted that the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above-described embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

1 ... Operation control system 100 ... Vehicle remote control device 10 ... Processor 11 ... CPU
12 ... ROM
300 ... Map information 13 ... RAM
20 ... Communication device 30 ... Output device 31 ... Display 32 ... Speaker 200 ... Vehicle control device 40 ... Communication device 50 ... Detection device 51 ... Camera 52 ... Radar device 60 ... Sensor 61 ... Steering angle sensor 62 ... Vehicle speed sensor 70 ... Vehicle controller 80 ... Drive device 81 ... Braking device 90 ... Steering device 110 ... Output device 111 ... Display 112 ... Speaker 120 ... Navigation device 121 ... Position detection device 122 ... Map information 123 ... Route calculation device 130 ... Notification device 131 ... Winker 132 ... Light 133 ... Display 134 ... Speaker 1000 ... Server 1100 ... Control device 1200 ... Communication device 1300 ... Storage device 300 ... Map information 400 ... Travel locus information

Claims (11)

A vehicle remote control method executed by a processor of a remote control device that operates a vehicle capable of autonomous driving at a remote location.
The processor
When it is determined that the own vehicle to be operated cannot run autonomously, and the support request signal for remote control issued from the own vehicle is acquired, the own vehicle that issues the support request signal. Get information about the surrounding environment of
Based on the information of another vehicle traveling in a place where the factor that hinders the autonomous running of the own vehicle, which is included in the acquired environmental information, is avoided, the factor that hinders the autonomous running of the own vehicle is avoided. Calculate the traveling locus of the other vehicle
Generate one or more support route candidates for moving the own vehicle along the vicinity of the traveling locus of the other vehicle.
A vehicle remote control method for displaying a support route candidate superimposed on map information. The vehicle remote control method according to claim 1, wherein the support route candidate is displayed together with the current position of the own vehicle to be the target of the remote control process. One control route is calculated based on the one or more displayed support route candidates.
A control command including the control path is transmitted to the own vehicle, and the control command is transmitted to the own vehicle.
The vehicle remote control method according to claim 1 or 2, wherein the control command is executed by the vehicle control device of the own vehicle. Acquires the traveling locus of an oncoming vehicle traveling in an oncoming lane whose traveling direction is opposite to that of the own vehicle to be controlled.
The facing lane area is set based on the traveling locus, and the opposite lane area is set.
The vehicle remote control method according to claim 3, wherein the control path is calculated so as not to belong to the oncoming lane region. The vehicle writes the regression locus of the vehicle that has moved based on the control command in the storage device, and writes the regression locus of the vehicle.
According to claim 3 or 4, when the support request signal is acquired from the vehicle, one or more support route candidates for moving the vehicle are generated based on the regression trajectory stored in the storage device. The vehicle remote control method described. The vehicle remote control according to claim 5, wherein when the remote control device receives the regression locus of the vehicle that has moved based on the control command, the vehicle remote control device updates the data of the regression locus stored in the storage device. Method. The own vehicle is provided with a notification device for notifying information to the outside of the own vehicle.
A claim for transmitting to the own vehicle a notification command for notifying the outside of the own vehicle that the own vehicle is in a state requiring remote control when the support request signal is acquired from the own vehicle. The vehicle remote control method according to any one of 1 to 6. The vehicle remote control method according to any one of claims 1 to 7, wherein the own vehicle transmits the support request signal when an obstacle exists on the route on which the own vehicle autonomously travels. A vehicle remote control method executed by a processor of a remote control device that operates a vehicle capable of autonomous driving at a remote location.
The processor
When a support request signal requesting remote control is acquired from the own vehicle to be operated, the environmental information around the own vehicle is acquired.
Based on the acquired environmental information, the traveling locus of another vehicle traveling around the own vehicle is calculated.
Based on the traveling locus of the other vehicle, one or more support route candidates for moving the own vehicle are generated.
The support route candidate is superimposed on the map information and displayed .
The own vehicle is provided with a notification device for notifying information to the outside of the own vehicle.
The processor
When the support request signal is acquired from the own vehicle, the vehicle remote control transmits a notification command to notify the outside of the own vehicle that the own vehicle is in a state requiring remote control. Method. A vehicle capable of autonomous driving, a communication device that exchanges information, and
A processor that executes remote control processing of the own vehicle to be operated,
A display for displaying information used for the remote control process is provided.
The processor
When it is determined that the own vehicle to be operated cannot run autonomously, and the support request signal for remote control issued from the own vehicle is acquired, the own vehicle that issues the support request signal. Get information about the surrounding environment of
Based on the information of another vehicle traveling in a place where the factor that hinders the autonomous running of the own vehicle, which is included in the acquired environmental information, is avoided, the factor that hinders the autonomous running of the own vehicle is avoided. Calculate the traveling locus of the other vehicle
Generate one or more support route candidates for moving the own vehicle along the vicinity of the traveling locus of the other vehicle.
A vehicle remote control device that superimposes the support route candidate on map information and displays it on the display. A vehicle capable of autonomous driving, a communication device that exchanges information, and
A processor that executes remote control processing of the own vehicle to be operated,
A display for displaying information used for the remote control process is provided.
The processor
When the support request signal for remote control is acquired from the own vehicle, the environmental information around the own vehicle is acquired, and the environment information is acquired.
Based on the acquired environmental information, the traveling locus of another vehicle traveling around the own vehicle is calculated.
Based on the traveling locus of the other vehicle, one or more support route candidates for moving the own vehicle are generated.
The support route candidate is superimposed on the map information and displayed on the display.
The own vehicle is provided with a notification device for notifying information to the outside of the own vehicle.
When the processor acquires a support request signal from the own vehicle, the processor transmits a notification command to the own vehicle to notify the outside of the own vehicle that the own vehicle is in a state requiring remote control. Vehicle remote control device.

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