JP7520462B2 - Vehicle remote control system - Google Patents

Description

The present invention relates to a vehicle remote control system.

In daily life, a user may drive a car to a destination, and for some reason, use a means of transportation such as a train or airplane to return or travel to a different destination instead of the car that the user drove.
Specifically, for example, if a user who works for a company drives to a business office in another prefecture to run some errands and then has to return urgently due to an unforeseen incident at the company, or if an unforeseen incident occurs at another business office and the user has to suddenly head to the other business office, the user may choose to use a train or plane to return to the company or to head to the other business office in order to shorten travel time.

In such cases, for example, a designated driving service is known in which the vehicle used by the user to reach the destination is driven to a specified location (the destination, such as a company or another business office).
Generally, when a designated driver is requested, two staff members are dispatched from the designated driver's office.
In other words, when a request for designated driving services is received from a user, two staff members get into the designated vehicle and drive to the location where the user's vehicle is parked, one staff member (the designated driver) drives the user's vehicle to the designated location requested by the user, and the other staff member drives the designated vehicle and follows the user's vehicle to the designated location.
Then, when the vehicle arrives at the location designated by the user, the two staff members will board the replacement vehicle and return to the office.

JP 2004-62844 A

However, if you request a designated driver to return a vehicle from a distant business location in another prefecture to the company or move it to another business location, the cost will increase as the payment increases the longer the distance.
In addition, the user must explain to the proxy service where they are, such as a business establishment in another prefecture (where the user's vehicle is parked), and the designated location (destination) to which the vehicle will be moved, such as a company or another business establishment, which takes time and effort.
One option would be to contact your company and ask another employee to come and drive your car to the company or another location, but this would take a lot of time and would disrupt the work of other employees.
Furthermore, there may be a case where a user who has completed business at another business location gets in the car again after the car has been moved to another business location and returns to the company.
The present invention has been made in consideration of the above circumstances, and aims to provide a vehicle remote control system that can be attached to the vehicle that the driver has been driving to enable remote control, and that allows the driver to drive the vehicle while sitting in the driver's seat without returning the vehicle to its original state.

In order to achieve the above-mentioned object, the present invention provides a remote control system for a vehicle including a vehicle and a remote operation device, the vehicle including an image information generating unit that captures an image of the periphery of the vehicle and generates image information, a plurality of actuators that respectively operate a plurality of operation members for driving the vehicle operated by a driver, a vehicle-side communication unit that transmits the image information generated by the image information generating unit to the remote operation device and receives remote operation command information from the remote operation device, and an operation member control unit that operates each of the plurality of actuators based on the remote operation command information received by the vehicle-side communication unit, and the plurality of actuators are controlled by the driver seated in the driver's seat. the operating member control unit is configured to be selectable between a remote operation mode in which the multiple actuators are controlled based on the remote operation command information to operate each of the multiple operating members, and a manual operation mode in which the multiple operating members can be manually operated by the driver, and the remote operation device is characterized in that it comprises a command information generation unit that generates the remote operation command information, a remote control side communication unit that receives the image information from the vehicle and transmits the remote operation command information generated by the command information generation unit to the vehicle, and a display unit that displays the image information received by the remote control side communication unit.
In addition, the present invention is characterized in that the vehicle further includes a plurality of detection units that detect the operation amounts of the plurality of operating members by the plurality of actuators, respectively, and a servo control unit that performs servo control of the plurality of actuators based on the plurality of operation amounts detected by the plurality of detection units, and the remote operation mode of the operating member control unit is achieved by operating each of the plurality of actuators via the servo control unit, and the manual operation mode of the operating member control unit is achieved by disabling the control operation of the servo control unit and making the plurality of actuators servo-free.
The present invention is also characterized in that the vehicle further includes a positioning unit that positions the position of the vehicle and generates positioning information, the vehicle side communication unit transmits the positioning information generated by the positioning unit to the remote control device, the remote control device further includes a map database that stores map information, the remote control side communication unit receives the positioning information from the vehicle, and the display unit displays the position of the vehicle on the map information read from the map database based on the positioning information received by the remote control side communication unit.
The present invention is also characterized in that the map database stores destination information identifying a destination in association with the map information, the remote control device further includes an operation input unit for inputting the destination information, a position information identification unit for identifying position information of the destination from the map information based on the destination information inputted to the operation input unit, and a route search unit for searching for a driving route to be traveled from the map information based on the positioning information received by the remote control side communication unit and the position information of the destination, and the display unit displays road guidance based on the driving route searched for by the route search unit.
The present invention is also characterized in that, when the remote operation mode is selected and the multiple operating members are operated based on the remote operation command information, the remote control side communication unit transmits the position of the vehicle to a mobile terminal carried by the user.
In addition, the present invention is characterized in that, when the remote operation mode is selected and the multiple operating members are operated based on the remote operation command information, the remote control side communication unit transmits vehicle position information, in which the position of the vehicle is displayed on the map information, to the mobile terminal.
In addition, the present invention is characterized in that the multiple operating members include an engine switch for starting and stopping an engine mounted on the vehicle, a handle for steering the vehicle, a shift lever for changing gears in the transmission, an operating button for unlocking the shift lever, a brake pedal for braking the vehicle, an accelerator pedal for controlling the engine speed, a parking brake pedal for braking when parking the vehicle, a turn signal lever for operating direction indicators, and a light switch for turning on and off the headlights and small lights, and the actuators are provided corresponding to the engine switch, handle, shift lever, operating button, brake pedal, accelerator pedal, turn signal lever, and light switch, respectively.

According to the present invention, a vehicle is provided with a plurality of actuators for respectively operating a plurality of operating members for driving the vehicle, which are detachably attached to positions that do not interfere with manual operation of the plurality of operating members by a driver seated in the driver's seat, and the vehicle can be remotely controlled by controlling the plurality of actuators based on remote operation command information to operate the plurality of operating members by selecting a remote operation mode of the operating member control unit, and the plurality of operating members can be manually operated by selecting a manual operation mode of the operating member control unit. Also, the vehicle is provided with an image information generation unit that captures an image of the periphery of the vehicle and generates image information, and the remote operation device is provided with a display unit that displays the image information received from the vehicle.
This allows the vehicle to be remotely controlled by attaching multiple actuators to the vehicle, and also allows the driver to manually operate the vehicle from the driver's seat without having to return it to its original state, which is advantageous in terms of improving convenience.
In addition, the image information allows the vehicle to be remotely operated while grasping the situation around the vehicle, which is advantageous in accurately remotely controlling the vehicle from a location away from the vehicle.
In addition, since the multiple actuators are removably mounted in locations that do not interfere with manual operation of the operating members by the driver seated in the driver's seat, the multiple actuators can be easily attached and detached, which is advantageous for efficiently performing maintenance work on the multiple actuators.
Therefore, as described above, when a user drives a vehicle to a destination and for some reason decides to return or go to another location by public transportation instead of the vehicle they drove, if multiple actuators are attached to the vehicle, the vehicle can be returned or moved to another location by remotely controlling the vehicle while grasping the surrounding situation from a location away from the vehicle using image information, which is advantageous in terms of improving convenience. Also, since the multiple actuators are provided in a location that does not interfere with manual operation, the user can drive the vehicle again after moving it, which is advantageous in terms of improving convenience.

In addition, if the remote operation mode of the operating member control unit is achieved by operating each of the multiple actuators via the servo control unit, and the manual operation mode is achieved by disabling the control operation of the servo control unit and setting the multiple actuators servo-free, this is advantageous in switching between the remote operation mode and the manual operation mode with a simple configuration.

In addition, if the vehicle is provided with a positioning unit that measures the vehicle's position and generates positioning information, and a map database is provided in the remote control device, the display unit can display the vehicle's position on map information read from the map database based on the positioning information, making it possible to grasp the vehicle's current position, which is advantageous for accurately remotely controlling the vehicle from a location away from the vehicle.

The map database stores destination information that identifies the destination in association with map information, and the remote control device includes an operation input unit that inputs destination information, a location information identification unit that identifies location information of the destination from the map information based on the destination information input to the operation input unit, and a route search unit that searches for a driving route to be traveled from the map information based on the positioning information received by the remote control communication unit and the location information of the destination. By displaying road guidance on the display unit based on the driving route searched for by the route search unit, the vehicle can be accurately remotely operated from a location away from the vehicle and can be moved to the destination in a short time.

In addition, when the remote operation mode is selected and multiple operating members are operated based on remote operation command information, the vehicle position can be transmitted to a mobile terminal carried by the user, allowing a user who is located away from the vehicle to know the vehicle's position, which is advantageous in improving convenience.
In addition, when the remote operation mode is selected and multiple operating members are operated based on remote operation command information, vehicle position information displaying the vehicle's position on map information can be transmitted to the mobile terminal carried by the user, making it easier for users who are away from the vehicle to grasp the vehicle's position, which is advantageous in improving convenience.
Therefore, even if the driver (user) who has been driving the vehicle in the manual operation mode is in a location away from the vehicle, the driver can grasp the location of the vehicle using the portable terminal carried by the driver.

In addition, if the multiple operating members include an engine switch, a steering wheel, a shift lever, an operating button, a brake pedal, an accelerator pedal, a turn signal lever, and a light switch, and actuators are provided corresponding to the engine switch, the steering wheel, the shift lever, the operating button, the brake pedal, the accelerator pedal, the turn signal lever, and the light switch, respectively, this is advantageous for accurate remote control of the vehicle.

1 is a block diagram showing a configuration of a control system of a vehicle to which a vehicle remote control system according to a first embodiment is applied; 1 is a block diagram showing a configuration of a remote operation device of a vehicle remote control system according to a first embodiment; 5A and 5B are explanatory diagrams of a first actuator that operates an ignition switch of a vehicle, in which (A) is a side view seen from the vehicle width direction, and (B) is a view seen from the arrows along line BB in (A). 5A and 5B are explanatory diagrams of a second actuator for operating a steering wheel of a vehicle, in which (A) is a front view of the steering wheel, and (B) is a view taken along line XX of (A). 1A and 1B are explanatory diagrams of a third actuator that operates the vehicle's shift lever and a fourth actuator that operates the operation button, in which (A) is a side view of the shift lever as seen from the vehicle width direction, and (B) is a view as seen from the arrow B in (A). 1A is a side view of the fifth actuator that operates the vehicle's brake pedal, as viewed from the vehicle width direction; FIG. 1B is a side view of the sixth actuator that operates the vehicle's accelerator pedal, as viewed from the vehicle width direction; and FIG. 1C is a side view of the seventh actuator that operates the vehicle's parking brake pedal, as viewed from the vehicle width direction. 13A and 13B are explanatory diagrams of an eighth actuator that operates a turn signal lever of a vehicle and a ninth actuator that operates a light switch, in which (A) is a front view seen from the rear of the vehicle, and (B) is a view seen from the direction of arrow B in (A). FIG. 2 is an explanatory diagram showing a state in which image information and map information are displayed on a display screen of a display unit; FIG. 11 is a block diagram showing a configuration of a remote operation device of a vehicle remote control system according to a second embodiment. FIG. 2 is an explanatory diagram showing a state in which image information and map information are displayed on a display screen of a display unit; 13A and 13B are explanatory diagrams of a second actuator in a vehicle remote control system according to a third embodiment, in which (A) is a front view of the steering wheel, and (B) is a view taken along line BB in (A).

(First embodiment)
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
The vehicle remote control system of this embodiment includes a vehicle 10 and a remote operation device 45A.
In the present embodiment, the vehicle 10 will be described as a passenger car, but the present invention is not limited to passenger cars and can be applied to various conventionally known vehicles such as trucks, vans, and wagons.
First, the configuration of a vehicle 10 according to the present embodiment will be described.
As shown in FIG. 1, vehicle 10 is driven by a user on public roads, and includes a plurality of operating members, a plurality of actuators, a vehicle-side control device 12, four cameras constituting an image information generating unit: a front camera 74A, a rear camera 74B, a left camera 74C, and a right camera 74D, and a positioning unit 76. In this embodiment, vehicle 10 is an automatic transmission vehicle.

The multiple operating members are members that are operated by the driver to drive the vehicle 10, and in this embodiment, they are an engine switch 14, a handle 16 (steering wheel), a shift lever 18 (select lever), an operating button 20, a brake pedal 22, an accelerator pedal 24, a parking brake pedal 26, a turn signal lever 28, and a light switch 30.
In the following drawings, the symbol FR indicates the front of the vehicle, the symbol IN indicates the inside in the vehicle width direction, the symbol OUT indicates the outside in the vehicle width direction, and the symbol UP indicates the top of the vehicle.

The engine switch 14 is used to start and stop the engine mounted in the vehicle 10, and is provided on a steering column 1002 (column cover) as shown in, for example, FIGS.
The engine switch 14 includes a push button 1402 that is pressed.
The push button 1402 is normally biased to a protruding position, and when pressed, moves from the protruding position to a retracted position, thereby operating to start and stop the engine.

The steering wheel 16 is a member that is rotated to steer the vehicle 10 .
As shown in Figures 4 (A) and (B), the handle 16 comprises a handle body 1602 having a circular cross section and extending in a circular ring shape, a handle shaft 1604 of the handle body 1602, and spokes 1606 connecting the handle shaft 1604 and the handle body 1602.
In addition, the handle shaft 1604 is covered by the steering column 1002 (see FIG. 3A).

The shift lever 18 is a member that is swung to change the gears of the transmission of the vehicle 10 .
As shown in Figures 5(A) and (B), the shift lever 18 has a swing shaft 1802 that is swingably mounted on the center console 1004 in the fore-and-aft direction of the vehicle, and a gripped portion 1804 (shift knob) that is mounted on the tip of the swing shaft 1802 and can be gripped by hand.
The shift positions of the shift lever 18 are, for example, P (parking) range, R (reverse) range, N (neutral) range, and D (drive) range.
The P range is selected when parking, and when the P range is selected, the transmission gears are locked.
The R range is selected when the vehicle is moving backwards.
The N range is selected when the vehicle needs to be towed in the event of a breakdown, and when the N range is selected, engine power is not transmitted to the drive wheels.
The D range is selected when the vehicle is moving forward.
The operation button 20 is provided on the outer side of the gripped portion 1804 in the vehicle width direction, and is pressed to unlock the shift lever 18 when the position is locked.
The operation button 20 is normally biased to a protruding position, and when pressed, is moved from the protruding position to the retracted position, thereby unlocking the position of the shift lever 18 .

The brake pedal 22 is for braking the vehicle 10 .
As shown in FIG. 6A, the brake pedal 22 includes a pedal arm 2204 that is pivotally mounted via a support shaft 2202 on a bracket (not shown) that is attached to the lower part of the dash panel 1006 that separates the vehicle interior space from the engine room, and a pedal tread portion 2206 that is provided at the lower end of the pedal arm 2204 and against which the sole of the driver's foot comes into contact.

The accelerator pedal 24 is used to control the engine speed of the vehicle 10 .
As shown in FIG. 6B , the accelerator pedal 24, like the brake pedal 22, has a pedal arm 2404 that is pivotally mounted via a support shaft 2402 on a bracket (not shown) attached to the lower part of the dash panel 1006, and a pedal tread portion 2406 that is provided at the lower end of the pedal arm 2404 and against which the sole of the driver's foot comes into contact.

The parking brake pedal 26 is for applying the brakes when the vehicle 10 is parked.
As shown in FIG. 6C, the parking brake pedal 26, like the brake pedal 22, has a pedal arm 2604 that is pivotally mounted via a support shaft 2602 on a bracket (not shown) attached to the lower part of the dash panel 1006, and a pedal tread portion 2606 that is provided at the lower end of the pedal arm 2604 and against which the sole of the driver's foot comes into contact.

The turn signal lever 28 is for operating the turn signal of the vehicle 10 .
As shown in Figures 7(A) and (B), the turn signal lever 28 has a lever body 2802 that extends diagonally upward from a location on the outer side of the steering column 1002 in the vehicle width direction near the handlebar 16 and is arranged so as to be swingable up and down.
When the turn signal lever 28 is swung upward from the neutral position, the left turn signal blinks, when the turn signal lever 28 is swung downward from the neutral position, the right turn signal blinks, and when the turn signal lever 28 is in the neutral position, the left and right turn signal lights are turned off.

The light switch 30 is used to turn on and off the headlights and parking lights of the vehicle 10 .
As shown in FIGS. 7A and 7B, the light switch 30 is provided at the tip of a lever body 2802 so as to be able to swing integrally with the lever body 2802 and to be able to rotate about the central axis of the lever body 2802.
The light switch 30 can be rotated to three positions: a headlight-on position, a sidelight-on position, and a headlight and sidelight-off position.

The actuators are adapted to operate the operating members described above.
As shown in FIG. 1, in this embodiment, the following nine actuators are provided.
1) A first actuator 32 that operates the engine switch 14.
2) A second actuator 34 that operates the handle 16 .
3) A third actuator 36 that operates the shift lever 18.
4) A fourth actuator 38 that operates the operation button 20.
5) A fifth actuator 40 that operates the brake pedal 22.
6) A sixth actuator 42 that operates the accelerator pedal 24.
7) A seventh actuator 44 that operates the parking brake pedal 26.
8) An eighth actuator 46 that operates the turn signal lever 28.
9) A ninth actuator 48 that operates the light switch 30.

As shown in Figures 3 (A) and (B), the first actuator 32 is composed of a direct-acting cylinder 32A (direct-acting electric cylinder) and includes a cylinder body 3202, a motor (not shown) incorporated in the cylinder body 3202, and a piston rod 3204 incorporated in the cylinder body 3202.
The linear cylinder 32A is detachably mounted via a bracket B1 at a location (steering column 1002) that does not interfere with manual operation of the engine switch 14 by a driver seated in the driver's seat.
The cylinder body 3202 is arranged so that the direction in which the piston rod 3204 projects and retracts coincides with the vehicle width direction.
A cover 3206 made of an elastic material such as rubber is attached to the tip of the piston rod 3204, and the tip of the piston rod 3204 is arranged so that it can abut against the surface of the push button 1402 of the engine switch 14 via the cover 3206, thereby protecting the push button 1402.
Therefore, when a drive signal is supplied to the motor by the vehicle-side control device 12, the piston rod 3204 appears and disappears from the cylinder body 3202, and when the push button 1402 is pressed, the engine is started and stopped.
In addition, when the drive signal supplied to the motor by the vehicle-side control device 12 is turned off, the motor becomes servo-free, and the driver seated in the driver's seat can manually operate the engine switch 14.
In other words, since the push button 1402 is always biased to the protruding position, when the motor becomes servo-free, the piston rod is retracted by the push button 1402 biased to the protruding position, making it possible to manually operate the engine switch 14.

As shown in FIGS. 4A and 4B, the second actuator 34 includes a motor 3402 and a drive roller 3404 .
The motor 3402 and the drive roller 3404 are detachably mounted via a bracket (not shown) in a location (instrument panel) that does not interfere with manual operation of the steering wheel 16 by a driver seated in the driver's seat.
The motor 3402 is attached to the instrument panel and is disposed so that its drive shaft 3406 is substantially perpendicular to the handle shaft 1604 of the handle 16 .
The drive roller 3404 is attached to the end of a drive shaft 3406 .
The drive roller 3404 is disposed diagonally downward at a portion of the circumference of the handle body 1602 in front of the vehicle, and engages with the handle body 1602, allowing the handle body 1602 to rotate as the drive roller 3404 rotates.
The drive roller 3404 has a groove 3408 that engages with the surface of the handle body 1602 facing diagonally downward at the front of the vehicle body, and is designed so that the rotational driving force of the motor 3402 is efficiently transmitted to the handle body 1602 via the groove 3408 of the drive roller 3404.

The motor 3402 rotates the handle 16 forward and backward via a drive shaft 3406 and a drive roller 3404 when a drive signal is supplied from the vehicle-side control device 12 .
Therefore, when the motor 3402 rotates forward or backward, the drive roller 3404 rotates the handle body 1602 forward or backward, thereby adjusting the steering angle of the vehicle 10.
In addition, when the drive signal supplied to the motor 3402 by the vehicle-side control device 12 is turned off, the motor 3402 becomes servo-free, and the driver seated in the driver's seat can manually operate the steering wheel 16.

As shown in Figures 5 (A) and (B), the third actuator 36 is composed of a direct-acting cylinder 36A (direct-acting electric cylinder) and includes a cylinder body 3602, a motor (not shown) incorporated in the cylinder body 3602, and a piston rod 3604 incorporated in the cylinder body 3602.
The linear cylinder 36A is detachably mounted via a bracket (not shown) at a location (center console 1004) that does not interfere with manual operation of the shift lever 18 by a driver seated in the driver's seat.
The cylinder body 3602 is arranged so that the direction in which the piston rod 3604 protrudes and retracts coincides with the fore-and-aft direction of the vehicle.
The tip of the piston rod 3604 is connected to the longitudinal middle portion of the pivot shaft 1802 of the shift lever 18 via a spherical bearing (not shown) of a connecting portion 3606 .
Therefore, when a drive signal is supplied to the motor by the vehicle-side control device 12, the piston rod 3604 appears and disappears from the cylinder body 3602, and the shift lever 18 is tilted through each shift position, thereby changing gears in the transmission.
In addition, when the drive signal supplied to the motor by the vehicle-side control device 12 is turned off, the motor becomes servo-free, and the driver seated in the driver's seat can manually operate the shift lever 18.

5(B), the fourth actuator 38 is constituted by a direct-acting cylinder 38A (direct-acting electric cylinder), and includes a cylinder body 3802, a motor (not shown) incorporated in the cylinder body 3802, and a piston rod 3804 incorporated in the cylinder body 3802. Note that the fourth actuator 38 is omitted from illustration in FIG. 5(A).
The linear cylinder 38A is detachably mounted via a bracket B2 at a location (the pivot shaft 1802 of the shift lever 18) that does not interfere with the manual operation of the operation button 20 by the driver seated in the driver's seat.
The cylinder body 3802 is arranged so that the direction in which the piston rod 3804 projects and retracts coincides with the vehicle width direction.
A cover 3806 made of an elastic material such as rubber is attached to the tip of the piston rod 3804, and the tip of the piston rod 3804 is arranged so as to be able to abut against the surface of the operation button 20 via the cover 3806, thereby protecting the operation button 20.
Therefore, when a drive signal is supplied to the motor by the vehicle-side control device 12, the piston rod 3804 appears and disappears from the cylinder body 3802, and when the operation button 20 is pressed, the position of the shift lever 18 is locked or unlocked.
In addition, when the drive signal supplied to the motor by the vehicle-side control device 12 is turned off, the motor becomes servo-free, and the driver seated in the driver's seat can manually operate the operation button 20.
In other words, since the operation button 20 is always biased to the protruding position, when the motor becomes servo-free, the piston rod is retracted by the operation button 20 biased to the protruding position, making it possible to manually operate the operation button 20.

As shown in FIG. 6(A), the fifth actuator 40 is composed of a direct-acting cylinder 40A (direct-acting electric cylinder) and includes a cylinder body 4002, a motor (not shown) incorporated in the cylinder body 4002, and a piston rod 4004 incorporated in the cylinder body 4002.
The linear cylinder 40A is detachably mounted via a bracket B3 at a location (dash panel 1006) that does not interfere with manual operation (depression) of the brake pedal 22 by a driver seated in the driver's seat.
The cylinder body 4002 is arranged so that the direction in which the piston rod 4004 projects and retracts coincides with the front-rear direction of the vehicle.
The tip of the piston rod 4004 is connected to the middle part of the pedal arm 2604 in the longitudinal direction via a spherical bearing (not shown) of a connecting part 4006 .
Therefore, when a drive signal is supplied to the motor by the vehicle-side control device 12, the piston rod 4004 appears and disappears from the cylinder body 4002, causing the pedal arm 2604 to swing, thereby braking the vehicle 10.
In addition, when the drive signal supplied to the motor by the vehicle-side control device 12 is turned off, the motor becomes servo-free, and the driver seated in the driver's seat can manually operate the brake pedal 22.

As shown in FIG. 6(B), the sixth actuator 42 is composed of a direct-acting cylinder 42A (direct-acting electric cylinder) and includes a cylinder body 4202, a motor (not shown) incorporated in the cylinder body 4202, and a piston rod 4204 incorporated in the cylinder body 4202.
The linear cylinder 42A is detachably mounted via a bracket B4 at a location (dash panel 1006) that does not interfere with manual operation (depression) of the accelerator pedal 24 by a driver seated in the driver's seat.
The cylinder body 4202 is arranged so that the direction in which the piston rod 4204 projects and retracts coincides with the front-rear direction of the vehicle.
The tip of the piston rod 4204 is connected to the middle part of the pedal arm 2604 in the longitudinal direction via a spherical bearing (not shown) of a connecting part 4206 .
Therefore, when a drive signal is supplied to the motor by the vehicle-side control device 12, the piston rod 4204 appears and disappears from the cylinder body 4202, causing the pedal arm 2404 to swing, thereby controlling the rotation of the engine of the vehicle 10.
In addition, when the drive signal supplied to the motor by the vehicle-side control device 12 is turned off, the motor becomes servo-free, and the driver seated in the driver's seat can manually operate the accelerator pedal 24.

As shown in FIG. 6(C), the seventh actuator 44 is composed of a direct-acting cylinder 44A (direct-acting electric cylinder) and includes a cylinder body 4402, a motor (not shown) incorporated in the cylinder body 4402, and a piston rod 4404 incorporated in the cylinder body 4402.
The linear cylinder 44A is detachably mounted via a bracket B5 at a location (dash panel 1006) that does not interfere with manual operation (depressing operation) of the parking brake pedal 26 by the driver seated in the driver's seat.
The cylinder body 4402 is arranged so that the direction in which the piston rod 4404 projects and retracts coincides with the front-rear direction of the vehicle.
The tip of the piston rod 4404 is connected to the middle part of the pedal arm 2604 in the longitudinal direction via a spherical bearing (not shown) of a connecting part 4406 .
Therefore, when a drive signal is supplied to the motor by the vehicle-side control device 12, the piston rod 4404 appears and disappears from the cylinder body 4402, and the pedal arm 2604 is swung, thereby applying and releasing the brakes when parking the vehicle 10.
In addition, when the drive signal supplied to the motor by the vehicle-side control device 12 is turned off, the motor becomes servo-free, and the driver seated in the driver's seat can manually operate the parking brake pedal 26.

As shown in Figures 7 (A) and (B), the eighth actuator 46 is composed of a direct-acting cylinder 46A (direct-acting electric cylinder) and includes a cylinder body 4602, a motor (not shown) incorporated in the cylinder body 4602, and a piston rod 4604 incorporated in the cylinder body 4602.
The direct acting cylinder 46A is detachably mounted via a bracket B6 at a location (steering column 1002) that does not interfere with manual operation (swinging operation) of the turn signal lever 28 by a driver seated in the driver's seat.
The cylinder body 4602 is arranged so that the direction in which the piston rod 4604 projects and retracts coincides with the vertical direction.
The tip of the piston rod 4604 is connected to the longitudinal middle portion of the lever body 2802 of the turn signal lever 28 via a spherical bearing (not shown) of a connecting portion 4606 .
Therefore, when a drive signal is supplied to the motor by the vehicle-side control device 12, the piston rod 4604 appears and disappears from the cylinder body 4602, causing the turn signal lever 28 to swing, thereby controlling the blinking and extinguishing of the turn signal of the vehicle 10.
In addition, when the drive signal supplied to the motor by the vehicle-side control device 12 is turned off, the motor becomes servo-free, and the driver seated in the driver's seat can manually operate the turn signal lever 28.

As shown in FIGS. 7A and 7B, the ninth actuator 48 includes a direct-acting cylinder 48A (direct-acting electric cylinder) and a rotating member 49.
The linear-acting cylinder 48A includes a cylinder body 4802, a motor (not shown) incorporated in the cylinder body 4802, and a piston rod 4804 incorporated in the cylinder body 4802.
The direct acting cylinder 48A is detachably mounted via a bracket B7 at a location (on the turn signal lever 28) that does not interfere with the manual operation of the light switch 30 by the driver seated in the driver's seat.
The cylinder body 4802 is arranged so that the direction in which the piston rod 4804 projects and retracts coincides with the front-rear direction of the vehicle.
The rotating member 49 has an annular shape and is attached so as to be rotatable integrally with the light switch 30 by clamping the outer periphery of the light switch 30. A connecting piece 4902 protrudes radially outward from the circumferential direction of the rotating member 49.
The tip of the piston rod 4804 of the linear cylinder 48A is connected to the rotating member 49 via a spherical bearing (not shown) of a connecting piece 4902.
Therefore, when a drive signal is supplied to the motor by the vehicle control device 12, the piston rod 4804 appears and disappears from the cylinder body 4802, and the light switch 30 is rotated, thereby controlling the turning on and off of the headlights and parking lights of the vehicle 10.
In addition, when the drive signal supplied to the motor by the vehicle-side control device 12 is turned off, the motor becomes servo-free, and the driver seated in the driver's seat can manually operate the light switch 30.

The front camera 74A captures an image of the area in front of the vehicle 10 and generates image information.
The rear camera 74B captures an image of the area behind the vehicle 10 and generates image information.
The left camera 74C captures an image of the left side of the vehicle 10 and generates image information.
The right camera 74D captures an image of the right side of the vehicle 10 and generates image information.
These four pieces of image information are transmitted from the vehicle side communication unit 60 to the remote control side communication unit 58 of the remote operation device 45A via a wireless line.
The image information may be a moving image or a still image generated at regular time intervals.

The positioning unit 76 determines the position of the vehicle 10 based on a positioning signal received from a positioning satellite, and generates positioning information.
Such positioning satellites are used in Global Navigation Satellite Systems (GNSSs), such as GPS, GLONASS, Galileo, and Quasi-Zenith Satellite System (QZSS), and one of the positioning satellites used in these positioning systems may be used, or two or more positioning satellites may be used in combination.
The positioning information generated by the positioning unit 76 is transmitted from the vehicle side communication unit 60 to the remote control side communication unit 58 of the remote operation device 45A via a wireless line.

Next, the remote control device 45 will be described in detail with reference to Fig. 2. The vehicle-side control device 12 will be described later.
The remote control device 45 is configured to include first to ninth remote control levers 50A to 50I, first to ninth angle sensors 52A to 52I, a mode change switch 54, an operation input unit 78, a map database 80, a display unit 82, a remote control side control unit 56, and a remote control side communication unit 58.
The first to ninth remote control levers 50A to 50I are composed of remote control operating members (joysticks) that are swung to remotely control the engine switch 14, the handle 16 (steering wheel), the shift lever 18, the operating button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30.
The first to ninth angle sensors 52A to 52I are provided corresponding to the first to ninth remote control levers 50A to 50I, and output detection signals indicating angles corresponding to the operating positions of the first to ninth remote control levers 50A to 50I.

The mode changeover switch 54 is operated to switch between a remote control mode (described later) and a manual operation mode, and outputs an operation signal indicating the operation corresponding to the operation position.

The operation input unit 78 accepts operations by an operator performing remote control, and is composed of, for example, a touch panel provided on the display surface of the display unit 82 or key switches provided independently of the display unit 82.
The operation input unit 78 instructs a notification unit 56B (described later) to switch the information to be displayed on the display unit 82 in response to an operation.

The map database 80 stores map information including locations where the vehicle 10 is traveling, and the map information is associated with positioning information (location information) on the earth.
The map information includes information necessary for the vehicle to travel, such as roads, intersections, and traffic lights, as well as information on stores, facilities, apartment complexes, etc. that are the starting point or destination of the vehicle 10, and information indicating the terrain, such as mountains, rivers, and ports.

The display unit 82 displays image information of the surroundings of the vehicle 10 based on the control of the notification unit 56B described below, and also displays the position of the vehicle 10 on map information read from the map database 80 based on the positioning information received by the remote control communication unit 58.

The remote control side control unit 56 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory) for storing and remembering control programs, a RAM (Random Access Memory) as an operating area for the control programs, an EEPROM (Electrically Erasable Programmable Read Only Memory) for rewritably storing various data, the first to ninth angle sensors 52A to 52I, a mode change switch 54, an interface unit for interfacing with peripheral circuits, etc.
The remote control side control unit 56 executes the above control program to function as a command information generating unit 56A and a notification unit 56B.
The command information generating section 56A generates remote control command information based on the detection signals supplied from the first to ninth angle sensors 52A to 52I.
The command information generating section 56A generates mode switching command information based on an operation signal supplied from the mode switching switch 54.

The notification unit 56B displays image information transmitted from the vehicle-side communication unit 60 via a wireless line on the display unit 82, and also reads map information from the map database 80 based on the positioning information transmitted from the vehicle-side communication unit 60 via a wireless line, and superimposes an icon indicating the current position of the vehicle 10 onto the map information based on the positioning information and displays it on the display unit 82.
Furthermore, the notification unit 56B causes the display unit 82 to display image information and map information in response to an operation of the operation input unit 78 .

In the display example shown in Figure 8, the display screen 8202 of the display unit 82 is divided into two parts, left and right, with forward image information Dg being displayed on the left side of the display screen 8202 and map information Dm being displayed on the right side. In the figure, symbol 84A indicates a road, and symbol 84B is an arrow icon indicating the direction of travel and position of the vehicle 10.
The display of the image information Dg may be such that, among the image information Dg of the front, rear, left, and right of the vehicle 10, only the front image information Dg is always displayed, and the image information Dg selected from the rear, left, and right image information Dg is switched and displayed in response to the operation of the operation input unit 78. Alternatively, all of the front, rear, left, and right image information Dg or two or more image information Dg selected from the front, rear, left, and right image information may be displayed.
The display form of the image information Dg and the map information Dm is not limited to this example.
For example, various display formats known in the art can be employed, such as a display format in which image information Dg is displayed on most of the display screen 8202, and map information Dm is displayed in a small display area in one corner of the display screen 8202.

The remote control communication unit 58 is configured to be able to communicate with the vehicle communication unit 60 (described later) via a wireless line, transmits remote operation command information and mode switching command information generated by the command information generation unit 56A to the vehicle communication unit 60 via a wireless line, and receives image information and positioning information transmitted from the vehicle communication unit 60.

In addition, the remote control side communication unit 58 is configured to be able to communicate with the mobile terminal 100 carried by the user via a wireless line, and when the remote operation mode is selected and multiple operating members are operated based on the transmitted remote operation command information and the vehicle 10 is running, the position of the vehicle 10 based on the positioning information received from the vehicle 10 and vehicle position information displaying the position of the vehicle 10 on map information are transmitted to the mobile terminal carried by the user.
Here, the mobile terminal 100 held by the user is configured using a normal computer, including a CPU, a ROM for storing and remembering control programs and the like, a RAM as the operating area for the control programs, an EEPROM for rewritably holding various data, output devices such as a display unit, and an interface unit for interfacing with peripheral circuits, etc., and various processes such as display processing are performed by the CPU executing the control programs stored in the ROM.
The mobile terminal 100 of this embodiment is, for example, a smartphone or tablet terminal, and when it receives vehicle position information from the remote control device 45A, which displays the position of the vehicle 10 and the position of the vehicle 10 on map information, it displays the position of the vehicle 10 in text such as "XX town, △△ city, XX prefecture," or displays the position of the vehicle 10 on the map information Dm (see Figure 8).
This allows the location of vehicle 10 to be grasped, for example, even if a user who was driving vehicle 10 leaves vehicle 10 and asks a pilot (another user) to remotely operate vehicle 10.

The remote control device 45A may be configured as follows.
That is, a driver's seat similar to that of the vehicle 10 is provided in a room in which a driver who remotely operates the vehicle 10 is located, and a large display unit 82 is provided in front of the driver's seat.
Instead of the first to ninth remote control levers 50A to 50I of the remote control device 45A, remote control members simulating the engine switch 14, the handle 16 (steering wheel), the shift lever 18, the operation button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30 are provided near the driver's seat.
Instead of the first to ninth angle sensors 52A to 52I, first to ninth operation amount detection sensors are provided for detecting the operation amounts of the respective remote control members.
The command information generating unit 56 generates remote operation command information based on the operation amounts detected by the first to ninth operation amount detection sensors.
In this way, the vehicle 10 can be remotely controlled in the same manner as when driving the actual vehicle 10, which is advantageous in improving operability when remotely controlling the vehicle 10.

Returning to FIG. 1, the vehicle-side control device 12 includes a vehicle-side communication unit 60 , first to ninth detection units 62 A to 62 I, a servo control unit 64 , and a control unit 66 .
The vehicle-side communication unit 60 is configured to be able to communicate with the remote control-side communication unit 58 via a wireless line, and receives remote operation command information and mode switching command information transmitted from the remote operation device 45 .
In addition, the vehicle-side communication unit 60 transmits image information generated by the front camera 74A, the rear camera 74B, the left camera 74C, and the right camera 74D, as well as positioning information generated by the positioning unit 76 to the remote control device 45.

The first to ninth detection units 62A to 62I detect the amount of operation of the engine switch 14, the handle 16 (steering wheel), the shift lever 18, the operation button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30 by the first to ninth actuators 32 to 48.
That is, the first detection unit 62A detects the amount of movement of the piston rod 3204 of the first actuator 32 (linear electric cylinder) 30 as the amount of operation.
The second detector 62B detects the amount of rotation (angle) of the drive shaft 3406 of the second actuator 34 (motor) as the amount of operation.
The third detection unit 62C detects the amount of movement of the piston rod 3604 of the third actuator 36 (linear electric cylinder) as the amount of operation.
The fourth detection unit 62D detects the amount of movement of the piston rod 3804 of the fourth actuator 38 (linear electric cylinder) as the amount of operation.
The fifth detection unit 62E detects the amount of movement of the piston rod 4004 of the fifth actuator 40 (linear type electric cylinder) as the amount of operation.
The sixth detection unit 62F detects the amount of movement of the piston rod 4204 of the sixth actuator 42 (linear electric cylinder) as the amount of operation.
The seventh detection unit 62G detects the amount of movement of the piston rod 4404 of the seventh actuator 44 (linear type electric cylinder) as the amount of operation.
The eighth detection unit 62H detects the amount of movement of the piston rod 4604 of the eighth actuator 46 (linear electric cylinder) as the amount of operation.
The ninth detection unit 62I detects the amount of movement of the piston rod 4804 of the ninth actuator (linear electric cylinder) 48 as the amount of operation.

The servo control unit 64 performs servo control of the first to ninth actuators 32 to 48 based on the operation amounts detected by the first to ninth detection units 62A to 62I, respectively, under the control of the operating member control unit 66A.

The control unit 66 is composed of a CPU, a ROM for storing and remembering control programs, a RAM as an operating area for the control programs, an EEPROM for storing various data in a rewritable manner, the first to ninth detection units 62A to 62I, the servo control unit 64, an interface unit for interfacing with peripheral circuits, etc.
The control unit 66 executes the control program to function as an operation member control unit 66A.

The operating member control unit 66A monitors the detection results of the first to ninth detection units 62A to 62I based on remote operation command information received via the vehicle-side communication unit 60, and controls the servo control unit 64 to drive and control the first to ninth actuators 32 to 48 to move and operate the engine switch 14, the handlebar 16 (steering wheel), the shift lever 18, the operation button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30.

In addition, the operating member control unit 66A is configured to be able to select between a remote control mode and a manual operation mode by operating the mode switching switch 54 of the remote operation device 45 and receiving mode switching command information generated by the remote control side control unit 56 via the remote control side communication unit 58 and the vehicle side communication unit 60.
When the operation member control section 66A is set to the remote control mode in response to the mode switching command information, it performs remote control in response to the operation of the remote operation device 45 .
That is, the operating member control unit 66A controls the first to ninth actuators 32 to 48 based on the remote operation command information to operate the engine switch 14, the handle 16 (steering wheel), the shift lever 18, the operating button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30.

In addition, when the operation member control unit 66A is set to the manual operation mode in response to the mode switching command information, it controls the servo control unit 64 to turn off the drive signals to the motors of the first to ninth actuators 32 to 48, i.e., by disabling the servo control of the servo control 64, the first to ninth actuators 32 to 48 become servo-free, thereby enabling manual operation of the engine switch 14, the handle 16 (steering wheel), the shift lever 18, the operation button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30.
Alternatively, the mode changeover switch 54 may be provided on the vehicle-side control device 12, and the operation member control section 66A that receives the operation of the mode changeover switch 54 may select between the remote control mode and the manual operation mode.

Next, a case where the vehicle 10 is remotely controlled using the vehicle remote control system of this embodiment will be described.
It is assumed that the vehicle-side control device 12 has been set in advance to the remote control mode by the mode changeover switch 54 .
In addition, the driver is located away from the vehicle 10 and can visually check, for example, image information Dg captured by the forward camera 74A displayed on the display unit 82 as shown in FIG. 8 and map information Dm in which the current position of the vehicle 10 is displayed by an arrow icon 84B, while operating the remote control device 45A to remotely control the vehicle 10 and drive it toward the destination.

First, the operator operates the first to ninth remote control levers 50A to 50I of the remote control device 45 while checking the position of the vehicle 10 using the image information Dg and map information Dm displayed on the display unit 82, and the command information generating unit 56A generates remote control command information based on the detection signals detected by the first to ninth angle sensors 52A to 52I.
The remote control command information is transmitted from the remote control side communication unit 58 to the vehicle side communication unit 60 via a wireless line.

In the vehicle 10, remote operation command information received via the vehicle-side communication unit 60 is supplied to the operating member control unit 66A, and the operating member control unit 66A monitors the detection results of the first to ninth detection units 62A to 62I based on the remote operation command information, and controls the servo control unit 64 to drive and control the first to ninth actuators 32 to 48 to operate the engine switch 14, the handle 16 (steering wheel), the shift lever 18, the operating button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30.
That is, the engine switch 14 is operated by the first actuator 32 to stop and start the engine 1404 .
In addition, the steering angle of the vehicle 10 is adjusted by operating the steering wheel 16 using the second actuator 34, and the vehicle 10 is steered.
In addition, the shift lever 18 is operated by the third actuator 36, and the operation button 20 is operated by the fourth actuator 38, thereby causing the transmission of the vehicle 10 to shift gears.
Furthermore, the brake pedal 22 is operated by the fifth actuator 40, whereby the vehicle 10 is braked.
In addition, the sixth actuator 42 controls the engine speed of the vehicle 10 by operating the accelerator pedal 24 .
In addition, the seventh actuator 44 operates the parking brake pedal 26, thereby braking the vehicle 10 when parking.
In addition, the turn signal lever 28 is operated by the eighth actuator 46, thereby controlling the direction indicators of the vehicle 10.
In addition, the ninth actuator 48 operates the light switch 30 to control the turning on and off of the headlights and parking lights of the vehicle 10.
This allows the vehicle 10 to travel.

Next, we will explain the case where a driver (user) in the vehicle 10 manually operates the engine switch 14, the steering wheel 16, the shift lever 18, the operation buttons 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30 using the vehicle remote control system of this embodiment.
It is assumed that the vehicle-side control device 12 has been set in advance to the manual operation mode by the mode changeover switch 54 .
When the driver sitting in the driver's seat manually presses the engine switch 14, the engine 1404 is stopped and started.
Furthermore, the vehicle 10 is steered by the driver manually operating the steering wheel 16 .
In addition, the driver manually operates the shift lever 18 and the operation button 20 to change gears in the transmission of the vehicle 10 .
In addition, the vehicle 10 is braked by the driver manually operating a brake pedal 22 .
In addition, the driver manually operates an accelerator pedal 24 to control the engine speed of the vehicle 10 .
Furthermore, the driver manually operates a parking brake pedal 26 to brake the vehicle 10 when parking.
Furthermore, the turn signal of the vehicle 10 is operated by the driver manually operating a turn signal lever 28 .
In addition, the driver manually operates a light switch 30 to control whether the headlights and parking lights of the vehicle 10 are turned on or off.
At this time, since the first to ninth actuators 32 to 48 are servo-free, manual operation of the engine switch 14, the handle 16 (steering wheel), the shift lever 18, the operation button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30 is not impeded.
In this manner, the driver can drive the vehicle 10 by manual operation in the same manner as for a normal vehicle.

Next, a case where such a vehicle 10 is used by a user X who is an employee of a company A will be described.
In the following, as an example, a case will be described in which a user X who works at a company A drives his/her vehicle 10 to an office B in another prefecture to run some business, then receives a notice of an unexpected incident at another office C and has to immediately head to the office C, but takes a train to the office C to save time. It is assumed that the remote control device 45A is placed in the company A.

First, the user sets the mode changeover switch 54 to the manual operation mode, and places the first to ninth actuators 32 to 48 in storage boxes and stores them in the trunk.
User X sits in the driver's seat and manually operates an engine switch 14, a steering wheel 16, a shift lever 18, an operation button 20, a brake pedal 22, an accelerator pedal 24, a parking brake pedal 26, a turn signal lever 28, and a light switch 30 to drive the vehicle 10 from a parking lot of company A to a parking lot of business office B in another prefecture.
When user X finishes his business at business office B, he receives instructions from company A to go to business office C by train because an unexpected incident has occurred at business office C, so he asks employee Y at company A to move to business office C in vehicle 10 while he heads to business office C to finish his business.
Then, user X takes out the first to ninth actuators 32 to 48 from the storage box in the trunk, attaches them to the vehicle 10, and heads to business office C by train.

Employee Y (operator) who has received the request operates the mode changeover switch 54 of the remote control device 45A, thereby setting the vehicle-side control device 12 to the remote control mode.
While checking the position of the vehicle 10 using the image information Dg and map information Dm displayed on the display unit 82, employee Y operates the first to ninth remote control levers 50A to 50I of the remote control device 45 to move from the parking lot of business establishment B to the parking lot of business establishment C. The command information generating unit 56A of the remote control device 45A generates remote control command information based on the detection signals detected by the first to ninth angle sensors 52A to 52I.
The remote control communication unit 58 transmits the generated remote operation command information to the vehicle communication unit 60 of the vehicle 10 .

When the vehicle-side communication unit 60 receives the remote operation command information, the operating member control unit 66A monitors the detection results of the first to ninth detection units 62A to 62I based on the remote operation command information, and controls the servo control unit 64 to drive and control the first to ninth actuators 32 to 48 to operate the engine switch 14, the handle 16 (steering wheel), the shift lever 18, the operation button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30 to drive the vehicle 10 and move it from the parking lot of business establishment B to the parking lot of business establishment C.
While the vehicle 10 is traveling from the business establishment B to the business establishment C, the remote control communication unit 58 transmits the position of the vehicle 10 and vehicle position information indicating the position of the vehicle 10 on map information to the mobile terminal 100 carried by the user X. The position of the vehicle 10 and the vehicle position information are displayed on the mobile terminal 100.
Then, when the vehicle 10 arrives at the parking lot of the business establishment C, the employee Y moves the vehicle 10 to a predetermined position in the parking lot, stops the engine 1404, and stops the vehicle 10.
After the vehicle 10 is stopped, employee Y operates the mode changeover switch 54 of the remote control device 45A, thereby setting the vehicle-side control device 12 to the manual operation mode.

After completing his/her business at business establishment C, user X checks the location of vehicle 10 on mobile terminal 100 that he/she carries. If vehicle 10 has been moved to the parking lot of business establishment C, user X sits in the driver's seat of vehicle 10 again and drives vehicle 10 by manually operating engine switch 14, steering wheel 16, shift lever 18, operation buttons 20, brake pedal 22, accelerator pedal 24, parking brake pedal 26, turn signal lever 28, and light switch 30 in the same manner as when heading to business establishment B, and drives vehicle 10 from the parking lot of business establishment C to the parking lot of company A, and then returns to company A.
At this time, the first to ninth actuators 32 to 48 do not need to be removed because they are attached to positions that do not interfere with manual operation.

In addition, the user X may also carry the remote control device 45A, which allows the user X to manually drive the vehicle 10 and also allows the user X to remotely drive the vehicle 10 while visually checking it.
That is, to explain using the above example, when user X is heading from company A to business establishment B, user X sets vehicle 10 to the remote operation mode and moves to a location where he can see vehicle 10 in the parking lot, for example, near the parking space in front of the entrance of company A. User X then operates remote operation device 45A to drive vehicle 10 from the parking lot to the parking space while seeing vehicle 10, and sets vehicle 10 to the manual operation mode.
Then, as described above, user X manually operates vehicle 10 to travel from company A to business establishment B.

As described above, according to the present embodiment, the first to ninth actuators 32 to 48, which respectively operate a plurality of operating members for driving the vehicle 10 operated by the driver, are detachably provided at locations that do not interfere with the manual operation of the plurality of operating members by the driver seated in the driver's seat, and by selecting a remote operation mode of the operating member control unit 66A, the first to ninth actuators 32 to 48 are controlled based on remote operation command information to operate the plurality of operating members, that is, the engine switch 14, the handlebar 16 (steering wheel), the shift lever 18, the operating button 20, the brake pedal 22, the accelerator pedal 24, The vehicle 10 can be remotely controlled by operating the parking brake pedal 26, the turn signal lever 28, and the light switch 30, and by selecting the manual operation mode of the operation member control unit 66A, the first to ninth actuators 32 to 48 are servo-free so that the driver seated in the driver's seat can manually operate the engine switch 14 (ignition key 2004), the steering wheel 16, the shift lever 18, the operation button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30. The vehicle 10 is also provided with a front camera 74A, a rear camera 74B, a left camera 74C, and a right camera 74D that capture images of the surroundings of the vehicle 10 and generate image information, and the remote operation device 45A is provided with a display unit 82 that displays the image information received from the vehicle 10.
Therefore, by attaching the first to ninth actuators 32 to 48 to the vehicle 10, the vehicle 10 can be remotely controlled, and the vehicle 10 can be manually operated from the driver's seat without having to return it to its original state, which is advantageous in terms of improving convenience.
In addition, the image information allows the vehicle 10 to be remotely operated while grasping the situation around the vehicle 10, which is advantageous in accurately remotely controlling the vehicle 10 from a location away from the vehicle 10.
In addition, the first to ninth actuators 32-48 are removably mounted in locations that do not interfere with manual operation of the engine switch 14 (ignition key 2004), steering wheel 16, shift lever 18, operation button 20, brake pedal 22, accelerator pedal 24, parking brake pedal 26, turn signal lever 28, and light switch 30 by a driver seated in the driver's seat. This makes it possible to easily attach and detach the first to ninth actuators 32-48, which is advantageous in efficiently performing maintenance work on the first to ninth actuators 32-48.
That is, as described above, when a user drives vehicle 10 to a destination and for some reason decides to return or go to another location by train or the like instead of using the vehicle 10 that he or she came in on, the first to ninth actuators 32 to 48 can be attached to vehicle 10, and a driver at a location away from vehicle 10 can remotely operate vehicle 10 while grasping the surrounding situation using image information, thereby advantageously improving convenience. Also, because the first to ninth actuators 32 to 48 are provided at locations that do not interfere with manual operation, the user can also drive vehicle 10 again after moving it, which is advantageous in improving convenience.

Furthermore, in this embodiment, the servo control unit 64 performs servo control of the first to ninth actuators 32 to 48 based on the amounts of operation detected by the first to ninth detection units 62A to 62I, respectively, and the remote operation mode of the operating member control unit 66A is achieved by operating the first to ninth actuators 32 to 48 via the servo control unit 64, while the manual operation mode is achieved by disabling the control operation of the servo control unit 64 and setting the first to ninth actuators 32 to 48 servo-free.
This is therefore advantageous in that a simple configuration can be used to switch between the remote control mode and the manual control mode.
The first to ninth actuators 32 to 48 may be configured to be engageable and detachable with respect to the respective operating members, or to be capable of being brought into contact with and separated from the respective operating members, so that a remote operation mode and a manual operation mode can be switched.
However, in this case, multiple actuators and complex mechanisms are required, which is disadvantageous in that costs increase.
In contrast, in the present embodiment, it is sufficient to switch between servo control and servo free for the first to ninth actuators 32 to 48, which is advantageous in terms of reducing such costs.

In addition, in this embodiment, the vehicle 10 is provided with a positioning unit 76 that measures the position of the vehicle 10 and generates positioning information, and the remote control device 45A is provided with a map database 80. This allows the display unit 82 to display the position of the vehicle 10 on map information read from the map database 80 based on the positioning information, making it possible to grasp the current position of the vehicle 10, which is advantageous for accurately remotely controlling the vehicle 10 from a location away from the vehicle 10.

In addition, in this embodiment, when the remote operation mode is selected and the engine switch 14 (ignition key 2004), steering wheel 16, shift lever 18, operation button 20, brake pedal 22, accelerator pedal 24, parking brake pedal 26, turn signal lever 28, and light switch 30 are operated based on remote operation command information, the position of the vehicle 10 is transmitted to the mobile terminal 100 carried by the user, so that a user who is in a location away from the vehicle 10 can grasp the position of the vehicle 10, which is advantageous in improving convenience.
In addition, in this embodiment, when the remote operation mode is selected and the engine switch 14 (ignition key 2004), steering wheel 16, shift lever 18, operation button 20, brake pedal 22, accelerator pedal 24, parking brake pedal 26, turn signal lever 28, and light switch 30 are operated based on remote operation command information, vehicle position information displaying the position of the vehicle 10 on map information is transmitted to the mobile terminal 100 carried by the user, making it easier for a user who is located away from the vehicle 10 to grasp the position of the vehicle 10, which is advantageous in improving convenience.
Therefore, even if a driver (user) who has been driving vehicle 10 in manual operation mode goes to a location away from vehicle 10 and an operator (another user) is driving vehicle 10 in remote operation mode, the location of vehicle 10 can be grasped by the mobile terminal 100 carried by the driver (user).

In addition, in this embodiment, the multiple operating members include the engine switch 14, the handlebar 16 (steering wheel), the shift lever 18, the operating button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30, and the first to ninth actuators 32 to 48 are provided corresponding to the engine switch 14, the handlebar 16 (steering wheel), the shift lever 18, the operating button 20, the brake pedal 22, the accelerator pedal 24, the parking brake pedal 26, the turn signal lever 28, and the light switch 30, respectively, which is advantageous in accurately remotely controlling the vehicle 10.

In addition, in this embodiment, the first actuator 32 is configured to include a direct-acting cylinder 32A having a piston rod 3204 that can abut against the engine switch 14 and a cylinder body 3202 that moves the piston rod 3204 in a direction that causes the swing shaft 1802 to swing. This simplifies the configuration of the first actuator 32, which is advantageous in accurately operating the engine switch 14.

In addition, in this embodiment, the second actuator 34 is configured to include a drive roller 3404 that engages with a portion of the circumference of the handle 16 to enable rotation of the handle 16, and a motor 3402 that drives and rotates the drive roller 3404. This simplifies the configuration of the second actuator 34, which is advantageous in accurately operating the handle 16.

In addition, in this embodiment, the third actuator 36 is configured to include a direct acting cylinder 36A having a piston rod 3604 connected to the pivot shaft 1802 of the shift lever 18 and a cylinder body 3602 that moves the piston rod 3604 in a direction that pivots the pivot shaft 1802. This simplifies the configuration of the third actuator 36, which is advantageous for accurately operating the shift lever 18.

In addition, in this embodiment, the fourth actuator 38 is configured to include a direct acting cylinder 38A having a piston rod 3804 that can contact the operation button 20 of the shift lever 18 and a cylinder body 3802 that moves the piston rod 3804 in a direction that presses the operation button 20. This simplifies the configuration of the fourth actuator 38, which is advantageous in accurately operating the operation button 20.

In addition, in this embodiment, the fifth actuator 40 is configured to include a direct acting cylinder 40A having a piston rod 4004 connected to the pedal arm 2204 of the brake pedal 22 and a cylinder body 4002 that moves the piston rod 4004 in a direction that causes the pedal arm 2604 to swing. This simplifies the configuration of the fifth actuator 40, which is advantageous for accurately operating the brake pedal 22.

In addition, in this embodiment, the sixth actuator 42 is configured to include a direct acting cylinder 42A having a piston rod 4204 connected to the pedal arm 2404 of the accelerator pedal 24 and a cylinder body 4202 that moves the piston rod 4204 in a direction that causes the pedal arm 2404 to swing. This simplifies the configuration of the sixth actuator 42, which is advantageous for accurately operating the accelerator pedal 24.

In addition, in this embodiment, the seventh actuator 44 is configured to include a direct acting cylinder 45A having a piston rod 4404 connected to the pedal arm 2604 of the parking brake pedal 26 and a cylinder body 4402 that moves the piston rod 4404 in a direction that causes the pedal arm 2604 to swing. This simplifies the configuration of the seventh actuator 44, which is advantageous for accurately operating the parking brake pedal 26.

In addition, in this embodiment, the eighth actuator 46 is configured to include a direct acting cylinder 46A having a piston rod 4604 connected to the turn signal lever 28 and a cylinder body 4602 that moves the piston rod 4604 in a direction that causes the turn signal lever 28 to swing. This simplifies the configuration of the eighth actuator 46, which is advantageous in accurately operating the turn signal lever 28.

In addition, in this embodiment, the ninth actuator 48 is configured to include a direct acting cylinder 48A having a piston rod 4804 connected to the light switch 30 and a cylinder body 4802 that moves the piston rod 4804 in a direction that rotates the light switch 30. This simplifies the configuration of the ninth actuator 48, which is advantageous for accurately operating the light switch 30.

In the first embodiment, the second actuator 34 is described as including a drive roller 3404 that engages with a portion of the circumference of the handle 16 to enable rotation of the handle 16, and a motor 3402 that drives and rotates the drive roller 3404. However, various conventionally known configurations can be used as an actuator that drives and rotates the handle 16, as exemplified below.
1) The drive shaft of a motor is connected to the steering shaft 1604, and the steering shaft 1604 (steering wheel 16) is rotated by the rotational driving force of the motor to perform steering.
2) A plurality of drive rollers 3404 and motors 3402 shown in FIG. 4 are provided at intervals in the circumferential direction of the handle body 1602, and each drive roller 3404 is driven to rotate by each motor 3402 to rotate the handle 16 for steering.
3) A ring extending in a circular shape around the rotation axis of the handle shaft 1604 is provided so as to be rotatable integrally with the handle shaft 1604, a drive roller that engages with a portion of the circumference of the ring to enable rotation of the ring, and a motor that rotates the drive roller are provided, and the handle 16 is rotated via the ring by the rotational driving force of the motor to perform steering.
4) A driven sprocket is provided on the handle shaft 1604, a drive sprocket is provided on the drive shaft of the motor, and a chain is looped between the driven sprocket and the drive sprocket. The rotational driving force of the motor rotates the handle shaft 1604 (handle 16) via the drive sprocket, chain, and driven sprocket, thereby performing steering.
5) A driven pinion is provided on the handle shaft 1604, a drive pinion is provided on the drive shaft of the motor, and a rack is provided that meshes with the driven pinion and drive pinion. The rotational driving force of the motor rotates the handle shaft 1604 (handle 16) via the drive pinion, rack, and driven pinion, thereby performing steering.

Second Embodiment
Next, a second embodiment will be described with reference to FIGS.
In the following description of the embodiment, the same parts and members as those in the first embodiment are denoted by the same reference numerals and their description will be omitted, and the description will focus on the parts that are different from the first embodiment.
In the second embodiment, a route is searched for by setting a destination, and road guidance is provided based on the searched route.
In the second embodiment, the configurations of the vehicle 10 and the vehicle-side control device 12 are similar to those in the first embodiment.

As shown in FIG. 9, the map database 80 stores, in addition to the map information Dm described in the first embodiment, destination information that specifies a destination and the map information Dm in association with each other.
Here, destination information includes the name of a store, facility, house, address, telephone number, etc. linked to the destination, and it is possible to identify map information Dm corresponding to the destination from the map database 80 based on the destination information.
The operation input unit 78 also has a function of inputting destination information, which will be described later, in response to an operation and providing the information to a position information specifying unit 56C, which will be described later.
The display unit 82 also has a function of displaying road guidance based on a driving route searched for by a route search unit 56D, which will be described later.

The remote control side control unit 56 of the remote operation device 45B executes a control program to function as a command information generating unit 56A, a notification unit 56B, a position information identifying unit 56C, and a route searching unit 56D.
The location information specifying section 56C specifies the location information of the destination from the map information Dm based on the destination information inputted to the operation input section 78 .
The route search section 56D searches for a route to be traveled from the map information Dm based on the positioning information received by the remote control communication section 58 and the location information of the destination.

Next, a specific example of remotely operating the vehicle 10 using the remote control device 45B will be described.
The explanation will be given by taking the case where "user X, who is an employee of company A, uses the system" described in the first embodiment.

Employee Y (operator), who has been requested to move vehicle 10 from business establishment B to business establishment C, operates the mode change switch 54 of the remote control device 45B, thereby switching and setting the vehicle-side control device 12 from manual operation mode to remote operation mode.
Next, employee Y operates the operation input unit 78 to input destination information corresponding to the business establishment C, which is the destination.
As a result, the position information identifying unit 56C identifies the position information of the destination from the map information Dm based on the destination information input to the operation input unit 78.
Furthermore, the route search unit 56D searches for a route to be traveled from the map information Dm based on the positioning information received by the remote control communication unit 58 and the location information of the destination.
The display unit 82 then displays road guidance based on the driving route searched for by the route search unit 56D.
Specifically, as shown in FIG. 10, the destination is indicated by a destination icon 86, an arrow icon 84 indicating the current position of the vehicle 10 is indicated, and a driving route 88 connecting the destination and the current location is displayed in a form (color and thickness) different from other roads.

While visually checking road guidance using image information Dg captured by the front camera 74A, rear camera 74B, left camera 74C, and right camera 74D and map information Dm displayed on the display unit 82, employee Y operates the first to ninth remote control levers 50A to 50I of the remote control device 45 to move the vehicle 10 from the parking lot of business establishment B to the parking lot of business establishment C, thereby driving the vehicle 10 toward the destination (business establishment C).
In this way, the vehicle 10 can be remotely operated based on road guidance (driving route 88) using the image information Dg and map information Dm displayed on the display unit 82, making it easier for employee Y, who is located within company A away from the vehicle 10, to remotely operate the vehicle 10.

In this way, according to the second embodiment, not only can the same effects as those of the first embodiment be achieved, but when a driver located away from the vehicle 10 remotely controls the vehicle 10 to travel, the vehicle 10 can be accurately remotely controlled outside the driver's field of vision based on road guidance (travel route 88) using the image information Dg and map information Dm displayed on the display unit 82, so that the vehicle 10 can be moved to the destination more smoothly and in a shorter time.
Therefore, as in the example given above, in the case where user X travels from business establishment B to business establishment C by train, and employee Y (operator) at company A remotely operates vehicle 10 at business establishment B to move it to business establishment C, the vehicle 10 can be accurately remotely operated outside the field of view of employee Y based on road guidance (driving route 88) using image information Dg and map information Dm displayed on the display unit 82, so that the vehicle 10 can be moved to business establishment C more smoothly and in a shorter time.

In the first and second embodiments, four cameras, a front camera 74A, a rear camera 74B, a left camera 74C, and a right camera 74D, are provided. However, the number and arrangement of the cameras is optional. Also, instead of providing multiple cameras, it is optional to use a spherical camera or a semi-spherical camera with a wide imaging range.

In the first and second embodiments, a case has been described in which a vehicle 10 driven by a user X working for company A is remotely operated by an employee Y (operator) of company A using a remote control device 45A, but the location from which the vehicle 10 is remotely operated is not limited to company A.
For example, it is assumed that a company D exists that provides remote vehicle operation as a business.
Company D is equipped with a remote control device 45A capable of remotely controlling vehicle 10, and employee Z of company D is able to remotely control vehicle 10 using remote control device 45A.
When user X needs to leave vehicle 10 behind and travel by train, he/she requests company D by communication means such as telephone or e-mail to remotely move vehicle 10 from business establishment B to business establishment C.
Employee Z of company D who receives the request remotely operates vehicle 10 using remote control device 45A based on the request, and moves the vehicle from business establishment B to business establishment C.
In other words, the location where the vehicle 10 is remotely operated is not limited to company A.

Third Embodiment
Next, a third embodiment will be described with reference to FIGS.
The third embodiment is a modification of the first embodiment, and differs from the first embodiment in the configuration of a second actuator 90 that operates the handle 16.

As shown in FIGS. 11A and 11B, the second actuator 90 includes two direct-acting cylinders 90A and 90B (direct-acting electric cylinders).
Each of the direct acting cylinders 90A, 90B includes a cylinder body 9002, a motor (not shown) incorporated in the cylinder body 9002, and a piston rod 9004 incorporated in the cylinder body 9002.
As shown in FIG. 11A, when the steering wheel 16 is in the neutral position (the steering angle is 0 degrees), the connecting portion 92 is attached to the upper portion of the steering wheel main body 1602.
A handle side support shaft 1610 extending parallel to the central axis of the handle shaft 1604 protrudes from the connecting portion 92 toward the rear of the vehicle 10 .
In addition, when the handle 16 is viewed from the rear of the vehicle 10, vehicle body side support shafts 1010A, 1010B extending parallel to the central axis of the handle shaft 1604 are respectively protruded toward the rear of the vehicle 10 at two locations on the instrument panel that sandwich the handle 16 in the vehicle width direction, and these two vehicle body side support shafts 1010A, 1010B are provided via brackets (not shown) at positions that are point-symmetrical with respect to the central axis of the handle shaft 1604.

Of the two linear cylinders 90A, 90B, one linear cylinder 90A has a base end of its cylinder body 9002 supported for swinging motion via one of the vehicle body side support shafts 1010A, and a tip end of a piston rod 9004 supported for swinging motion on the handle side support shaft 1610.
Of the two linear cylinders 90A, 90B, the other linear cylinder 90B has a base end of its cylinder body 9002 supported for swinging motion via the other vehicle body side support shaft 1010B, and a tip end of a piston rod 9004 supported for swinging motion on the handle side support shaft 1610.
Therefore, each of the linear cylinders 90A, 90B is detachably provided at a location (instrument panel) that does not interfere with the manual operation of the steering wheel 16 by the driver seated in the driver's seat.

To explain the control system of the third embodiment using Figure 1, the second detection unit 62B detects the movement amounts of the piston rods 9004 of the two linear cylinders 90A, 90B that constitute the second actuator 90 as operation amounts.
The servo control section 64 performs servo control of the second actuators 90 (linear cylinders 90A, 90B) based on the amounts of operation detected by the second detection sections 62B under the control of the operating member control section 66A.
Specifically, as one piston rod 9004 protrudes and the other piston rod 9004 contracts, each linear cylinder 90A, 90B swings about the vehicle body side support shaft 1010A, 1010B, respectively, as a fulcrum, and a rotational force acts on the handle 16 from each piston rod 9004 via the handle side support shaft 1610 and the connecting portion 92, thereby rotating the handle 16.
In the remote operation mode, the vehicle-side control device 12 supplies a drive signal to the motors of each linear cylinder 90A, 90B, causing the piston rod 9004 to extend and retract relative to the cylinder body 9002, and the steering angle of the vehicle 10 is adjusted by rotating the handle 16 forward and backward.
In the manual operation mode, the drive signal supplied to the motor of each linear cylinder 90A, 90B is turned off by the vehicle side control device 12, so that each linear cylinder 90A, 90B becomes servo-free, and the driver seated in the driver's seat can manually operate the steering wheel 16.
The third embodiment as described above also provides the same effects as the first embodiment.

10 Vehicle 12 Vehicle-side control device 14 Engine switch 1402 Push button 16 Steering wheel (steering)
Reference Signs List 1602 Handle body 18 Shift lever 1802 Oscillating shaft 1804 Grasped portion 20 Operation button 22 Brake pedal 24 Accelerator pedal 26 Parking brake pedal 28 Blinker lever 2802 Lever body 30 Light switch 32 First actuator 34 Second actuator 36 Third actuator 38 Fourth actuator 40 Fifth actuator 42 Sixth actuator 44 Seventh actuator 46 Eighth actuator 48 Ninth actuator 45, 45A, 45B Remote control device 50A to 50I First to ninth operation levers 52A to 52I First to ninth angle sensors 54 Mode changeover switch 56 Control unit 56A Command information generation unit 56B Notification unit 58 Remote control side communication unit 60 Vehicle side communication unit 74A Front camera 74B Rear camera 74C Left camera 74D Right camera 76 Positioning unit 78 Operation input unit 80 Map database 82 Display unit 8202 Display screen Dg Image information Dm Map information 84A Road 84B Arrow icon 86 Destination icon 88 Travel route 90 Second actuator 100 Portable terminal

Claims (6)

A vehicle remote control system including a vehicle and a remote operation device,
The vehicle is
an image information generating unit that captures an image of the surroundings of the vehicle and generates image information;
A plurality of actuators each for operating a plurality of operating members operated by a driver to drive the vehicle;
a vehicle-side communication unit that transmits the image information generated by the image information generation unit to the remote control device and receives remote operation command information from the remote control device;
an operation member control unit that operates each of the actuators based on the remote operation command information received by the vehicle-side communication unit,
the actuators are detachably provided at locations that do not interfere with manual operation of the operating members by the driver seated in the driver's seat,
the operation member control unit is configured to be selectable between a remote operation mode in which the operation member control unit controls each of the actuators based on the remote operation command information to operate each of the operation members, and a manual operation mode in which the operation member is manually operated by the driver,
The remote control device is
A command information generating unit that generates the remote operation command information;
a remote control communication unit that receives the image information from the vehicle and transmits the remote operation command information generated by the command information generating unit to the vehicle;
a display unit that displays the image information received by the remote control side communication unit ,
The vehicle is
a plurality of detection units each detecting an amount of operation of the plurality of operation members by the plurality of actuators;
a servo control unit that performs servo control of each of the actuators based on the operation amounts detected by each of the detection units,
the remote operation mode of the operation member control unit is achieved by operating each of the plurality of actuators via the servo control unit,
The manual operation mode of the operation member control unit is achieved by disabling the control operation of the servo control unit and making the actuators servo-free.
A vehicle remote control system comprising: The vehicle is
A positioning unit is further provided to measure a position of the vehicle and generate positioning information.
the vehicle-side communication unit transmits the positioning information generated by the positioning unit to the remote control device;
The remote control device is
A map database for storing map information is further provided,
The remote control communication unit receives the positioning information from the vehicle,
the display unit displays the position of the vehicle on the map information read from the map database based on the positioning information received by the remote control side communication unit.
2. The vehicle remote control system according to claim 1 . The map database stores destination information that identifies a destination and the map information in association with each other,
The remote control device is
an operation input unit for inputting the destination information;
a location information identifying unit that identifies location information of the destination from the map information based on the destination information input to the operation input unit;
a route search unit that searches for a route to be traveled from the map information based on the positioning information and the location information of the destination received by the remote control side communication unit,
The display unit displays road guidance based on the travel route searched by the route search unit.
3. The vehicle remote control system according to claim 2 . the remote control communication unit transmits the position of the vehicle to a mobile terminal carried by a user when the remote operation mode is selected and the plurality of operation members are operated based on the remote operation command information.
4. The vehicle remote control system according to claim 2 or 3 . the remote control communication unit transmits, to the mobile terminal, vehicle position information indicating the position of the vehicle on the map information, when the remote operation mode is selected and the plurality of operation members are operated based on the remote operation command information.
5. The vehicle remote control system according to claim 4 . The plurality of operating members include an engine switch for starting and stopping an engine mounted on the vehicle, a steering wheel for steering the vehicle, a shift lever for changing gears in a transmission, an operating button for unlocking the shift lever, a brake pedal for braking the vehicle, an accelerator pedal for controlling the engine speed, a parking brake pedal for braking when parking the vehicle, a turn signal lever for operating a direction indicator, and a light switch for turning on and off headlights and small lights,
The actuators are provided corresponding to the engine switch, the steering wheel, the shift lever, the operation buttons, the brake pedal, the accelerator pedal, the turn signal lever, and the light switch, respectively.
6. The vehicle remote control system according to claim 1, wherein the vehicle remote control system further comprises a remote control unit.

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