JP7227113B2 - 車両及び遠隔操作システム - Google Patents
車両及び遠隔操作システム Download PDFInfo
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- JP7227113B2 JP7227113B2 JP2019188831A JP2019188831A JP7227113B2 JP 7227113 B2 JP7227113 B2 JP 7227113B2 JP 2019188831 A JP2019188831 A JP 2019188831A JP 2019188831 A JP2019188831 A JP 2019188831A JP 7227113 B2 JP7227113 B2 JP 7227113B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/80—Arrangements for controlling instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/85—Arrangements for transferring vehicle- or driver-related data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0057—Estimation of the time available or required for the handover
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/167—Vehicle dynamics information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/175—Autonomous driving
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/18—Information management
- B60K2360/197—Blocking or enabling of input functions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/55—Remote control arrangements
- B60K2360/56—Remote control arrangements using mobile devices
- B60K2360/573—Mobile devices controlling vehicle functions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/589—Wireless data transfers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/22—Display screens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/60—Security, fault tolerance
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/90—Additional features
- G08C2201/91—Remote control based on location and proximity
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Selective Calling Equipment (AREA)
Description
図2は、車両12のハードウェア構成を示すブロック図である。この図2に示されるように、車両12の走行制御部20は、CPU(Central Processing Unit:プロセッサ)24、ROM(Read Only Memory)26、RAM(Random Access Memory)28、ストレージ30、通信インタフェース32及び入出力インタフェース34を含んで構成されている。各構成は、バス23を介して相互に通信可能に接続されている。
図3は、遠隔操作装置14のハードウェア構成を示すブロック図である。この図3に示されるように、遠隔操作装置14の制御部22は、CPU52、ROM54、RAM56、ストレージ58、通信インタフェース60及び入出力インタフェース62を含んで構成されている。各構成は、バス50を介して相互に通信可能に接続されている。
遠隔操作システム10を構成する車両12は、上記のハードウェア資源を用いて、各種の機能を実現する。車両12が実現する機能構成について図4を参照して説明する。
遠隔操作システム10を構成する遠隔操作装置14は、上記のハードウェア資源を用いて、各種の機能を実現する。遠隔操作装置14が実現する機能構成について図5を参照して説明する。なお、各機能構成は、CPU52がROM54又はストレージ58に記憶されたプログラムを読み出し、実行することにより実現される。
次に、本実施形態の作用を説明する。
図6は、遠隔操作システム10による引継処理の流れの一例を示すフローチャートである。この引継処理は、CPU24がROM26又はストレージ30から遠隔操作プログラムを読み出して、RAM28に展開して実行することによって実行される。また、引継処理は、所定の時間をあけて定期的に実行される。
12 車両
14 遠隔操作装置
70 送信部
72 受信部
76 許可部
78 走行制御部
80 運転データ取得部
84 オペレータ表示部
86 引継判断部
88 通知部
Claims (4)
- 車両外部の遠隔操作装置による遠隔操作を許可する許可部と、
センサ類から取得された車両の周辺情報を前記遠隔操作装置へ送信する送信部と、
前記遠隔操作装置を介して車両外部のオペレータによって入力された遠隔操作信号を受信する受信部と、
前記遠隔操作信号に基づいて車両を走行させる走行制御部と、
車内の運転者によって入力された運転データを取得する運転データ取得部と、
前記許可部によって遠隔操作が許可された状態において、前記運転データ取得部で取得された前記運転データと前記遠隔操作信号との差異が所定範囲内である場合に、遠隔操作へ引継可能であると判断する引継判断部と、
を有し、
車両の前記運転データと前記遠隔操作信号との差異に基づいて、遠隔操作へ引継可能となる条件を運転者へ通知する通知部を備えている車両。 - 前記受信部で受信された前記遠隔操作信号に基づくオペレータの操作状況を運転者が視認可能な位置に表示させるオペレータ表示部を備えた請求項1に記載の車両。
- 前記運転データは、車両の加減速に関するデータ及び操舵に関するデータの少なくとも一つを含んでおり、
前記遠隔操作信号は、前記遠隔操作装置へ入力された加減速に関するデータ及び前記遠隔操作装置へ入力された操舵に関するデータの少なくとも一つを含んでいる請求項1又は2に記載の車両。 - 請求項1~3の何れか1項に記載の車両と、
車両外部に設けられ、前記車両を遠隔操作可能な遠隔操作装置と、
を有する遠隔操作システム。
Priority Applications (3)
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JP2019188831A JP7227113B2 (ja) | 2019-10-15 | 2019-10-15 | 車両及び遠隔操作システム |
US17/034,655 US11548534B2 (en) | 2019-10-15 | 2020-09-28 | Vehicle and remote operation system |
CN202011084033.0A CN112660041B (zh) | 2019-10-15 | 2020-10-12 | 车辆以及远程操作系统 |
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JP7227113B2 true JP7227113B2 (ja) | 2023-02-21 |
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JP7264789B2 (ja) * | 2019-10-15 | 2023-04-25 | トヨタ自動車株式会社 | 車両及び遠隔操作システム |
EP3979027A1 (en) * | 2020-10-01 | 2022-04-06 | Volkswagen Ag | Methods, computer programs, communication circuits for communicating in a tele-operated driving session, vehicle and remote control center for controlling a vehicle from remote |
Citations (3)
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JP2015082758A (ja) | 2013-10-23 | 2015-04-27 | NEUSOFT Japan株式会社 | 遠隔操作受付システム、遠隔操作システム及びプログラム |
JP2016074317A (ja) | 2014-10-07 | 2016-05-12 | 株式会社デンソー | 車両の遠隔制御に用いられる命令判定装置および命令判定装置用のプログラム |
JP2018060450A (ja) | 2016-10-07 | 2018-04-12 | 日産自動車株式会社 | 無人運転システムの車外操作方法と車外操作装置 |
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US8825258B2 (en) * | 2012-11-30 | 2014-09-02 | Google Inc. | Engaging and disengaging for autonomous driving |
JP2017001597A (ja) * | 2015-06-15 | 2017-01-05 | トヨタ自動車株式会社 | 自動運転装置 |
JP6651914B2 (ja) | 2016-03-08 | 2020-02-19 | トヨタ自動車株式会社 | 遠隔操作システム |
CN109891473A (zh) * | 2016-11-11 | 2019-06-14 | 本田技研工业株式会社 | 车辆控制装置、车辆控制系统、车辆控制方法及车辆控制程序 |
US10133270B2 (en) * | 2017-03-28 | 2018-11-20 | Toyota Research Institute, Inc. | Electronic control units, vehicles, and methods for switching vehicle control from an autonomous driving mode |
JP7011973B2 (ja) * | 2018-05-02 | 2022-01-27 | 本田技研工業株式会社 | 車両制御装置及びプログラム |
CN108900971A (zh) * | 2018-08-01 | 2018-11-27 | 郑坤坤 | 一种智能交通控制方法、车载终端及服务器 |
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2015082758A (ja) | 2013-10-23 | 2015-04-27 | NEUSOFT Japan株式会社 | 遠隔操作受付システム、遠隔操作システム及びプログラム |
JP2016074317A (ja) | 2014-10-07 | 2016-05-12 | 株式会社デンソー | 車両の遠隔制御に用いられる命令判定装置および命令判定装置用のプログラム |
JP2018060450A (ja) | 2016-10-07 | 2018-04-12 | 日産自動車株式会社 | 無人運転システムの車外操作方法と車外操作装置 |
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US11548534B2 (en) | 2023-01-10 |
CN112660041B (zh) | 2023-09-26 |
US20210107526A1 (en) | 2021-04-15 |
CN112660041A (zh) | 2021-04-16 |
JP2021064205A (ja) | 2021-04-22 |
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