JP2019185293A - Vehicle remote control method and vehicle remote control device - Google Patents

Abstract

To appropriately guide a vehicle in a scene that the vehicle is remotely operated.SOLUTION: In a case where an assistance request signal requiring a remote operation is acquired from an own vehicle V1, environmental information around the own vehicle V1 is acquired, a travel track of another vehicle V2 being traveled around the own vehicle V1 is calculated on the basis of the acquired environmental information, and one or two or more assistance course candidates for moving the own vehicle are generated on the basis of the travel track of the other vehicle V2, superposed on map information 300 and indicated on a display 31.SELECTED DRAWING: Figure 1

Description

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

  A system is known that outputs a signal for prompting remote operation when an autonomous robot becomes unable to travel due to an obstacle, and performs remote operation of the robot based on camera images and distance measurement information (Patent Document) 1).

JP2013-206237A

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

  The problem to be solved by the present invention is to guide the vehicle appropriately in a scene where the vehicle is operated remotely.

  In the present invention, when a support request signal for requesting remote operation is acquired from a vehicle, environmental information around the host vehicle is acquired, and a travel locus of another vehicle traveling around the host vehicle based on the acquired environmental information is obtained. The above-mentioned problem is solved by generating one or more support route candidates for calculating and moving the host vehicle based on the travel locus of the other vehicle, and displaying the candidate superimposed on the map information.

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

It is a block block diagram of the operation control system which concerns on this embodiment. It is a flowchart which shows the control procedure of the operation control system of this embodiment. It is a figure for demonstrating an example of the condition which remote control requires. It is a figure which shows an example of the driving | running route of the other vehicle which runs avoiding the obstruction factor of autonomous driving | running | working. It is FIG. 1 for demonstrating the display process of a support route candidate. It is FIG. 2 for demonstrating the display process of a assistance route candidate. It is FIG. 3 for demonstrating the display process of a support route candidate. It is a block block diagram of the operation control system which concerns on other embodiment. It is a 1st flowchart which shows the control procedure of the operation control system of other embodiment. It is a 2nd flowchart which shows the control procedure of the operation control system of other embodiment.

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

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

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

Hereinafter, each device constituting the vehicle control device 200 will be described.
The detection device 50 detects the presence of an object such as another vehicle or a pedestrian and the position where the object exists. The detection device 50 according to the present embodiment includes a camera 51. The camera 51 of this embodiment is a camera provided with image pick-up elements, such as CCD and CMOS, for example. The camera 51 of the present embodiment is installed in the host vehicle, images the surroundings of the host vehicle, and acquires image data including other vehicles that exist and travel around the host vehicle.

  The camera 51 of the present embodiment is attached to the host vehicle at a position at a predetermined height behind the host vehicle so that the optical axis is at an angle θ from the horizontal to the lower side. From this position, the camera 51 images a predetermined area behind the host vehicle V1 with a predetermined angle of view. The angle of view of the camera 51 is set so as to be able to image not only the travel lane in which the host vehicle travels but also the travel lanes adjacent to the left and right. The captured image of the camera 51 includes images of other vehicles in front of the same lane and in front of left and right in the adjacent lane. The camera 51 can also be installed at the rear. The captured image of the camera 51 includes images of other vehicles behind the same lane and left and right behind adjacent lanes.

  The detection device 50 of this embodiment may include a radar device 52. As the radar device 52, a system known at the time of filing such as a millimeter wave radar, a laser radar, a laser range finder, and an ultrasonic sensor can be used.

  The detection device 50 processes the acquired image data, and calculates the position or distance of the object relative to the host vehicle. The “object” includes other vehicles that travel around the host vehicle. The “object” includes an obstacle, a lane, a sign, and a road structure that are detected when the host vehicle travels autonomously. Obstacles include other vehicles, pedestrians, construction areas, road defects, falling objects, and the like.

  The detection device 50 calculates the relative speed and the relative acceleration between the host vehicle and the object from the change in position of the object with time. For the process of deriving the positional relationship between the host vehicle and the object based on the image data and the process of deriving the speed information based on the change over time, the method known at the time of filing this application can be used as appropriate. The detection device 50 processes the acquired distance measurement data, and calculates the relative speed and relative acceleration between the host vehicle and the object from the positional change of the object over time. The technique known at the time of filing can also be used for the process of deriving the positional relationship between the host vehicle and the object based on the distance measurement data and the process of deriving the speed information based on the change over time.

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

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

  Examples of the vehicle subject to autonomous control include an electric vehicle including an electric motor as a travel drive source, an engine vehicle including an internal combustion engine as a travel drive source, and a hybrid vehicle including both the electric motor and the internal combustion engine as a travel drive source. . Note that electric vehicles and hybrid vehicles using an electric motor as a driving source include a type using a secondary battery as a power source for the electric motor and a type using a fuel cell as a power source for the electric motor.

  The drive device 80 of this embodiment includes a drive mechanism for the host vehicle. The drive mechanism includes an electric motor and / or an internal combustion engine that are the above-described travel drive sources, a power transmission device including a drive shaft and an automatic transmission that transmits output from these travel drive sources to the drive wheels, and brakes the wheels. A braking device is included. The drive device 80 generates each control signal of these drive mechanisms based on the input signal by the driver's accelerator operation and brake operation, and the control signal acquired from the vehicle controller 70, and executes the driving control including acceleration / deceleration of the vehicle. . By sending control information to the driving device 80, it is possible to automatically perform driving control including acceleration / deceleration of the vehicle. In the case of a hybrid vehicle, torque distribution output to each of the electric motor and the internal combustion engine corresponding to the traveling state of the vehicle is also sent to the drive device 80.

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

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

  With the above configuration, the subject vehicle, which is a control target, can autonomously travel on the control route from the current location to the destination.

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

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

Next, processing of the processor 10 of the vehicle remote control device 100 will be described.
When the processor 10 acquires a support request signal for requesting remote operation from the subject vehicle, the processor 10 executes support route generation processing. The assistance request signal is issued when it is determined that autonomous driving is not possible when autonomous driving of the host vehicle is inhibited. Specifically, a support request signal is transmitted to the vehicle remote control device 100 when there is an obstacle on the route along which the vehicle travels autonomously. Obstacles include moving objects and stationary objects. Obstacles include construction sites, road defects, and puddles. Obstacles include traffic restrictions and checkpoints.

  The own vehicle to be operated in the present embodiment is a vehicle capable of autonomous traveling. However, autonomous running cannot always be continued, and autonomous running may become impossible depending on the environment and vehicle state. In preparation for such an unexpected situation, when autonomous running becomes impossible, a system that supports driving is built in order to escape from the situation. In the support system, the driving of the target vehicle is constantly monitored to confirm the continuation of autonomous driving. The support system may be a manned system where an administrator is located or an unattended system. A vehicle having an autonomous traveling function reports a support request signal to the support system when the vehicle becomes unable to continue autonomous traveling.

  Since the autonomous traveling control is performed based on the recognition process, the autonomous traveling control cannot be continued if the recognition process cannot be performed accurately. For example, detection information obtained by a camera, a radar sensor, a posture sensor, or the like may not be accurately acquired due to poor device maintenance or bad weather. In locations where there are many high-rise buildings, the current position based on GPS signals may be lost. Further, when the lane mark is missing or deteriorated, the traveling lane cannot be identified, and the lane to be referred to in the map information may not be discriminated. Furthermore, even if a sudden event such as the route to the destination being blocked by construction, the autonomous traveling control may not be continued. Whether or not the autonomous traveling can be continued is determined by the vehicle control device 200, and when the autonomous traveling cannot be continued, a support request signal for requesting a remote operation is generated, and the vehicle remote control device 100 is communicated via the communication device 40. Automatically sent to

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

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

  The processor 10 displays the support route candidate. Since the support route candidate is displayed as visible information on the map information 300, confirmation is facilitated. The map information 300 may be high-precision digital map information (high-precision map, dynamic map), or map information using a satellite photograph acquired in real time. The support route candidate may be displayed on the display 31 of the vehicle remote control device 100 or may be displayed on the display 111 of the vehicle control device 200. The support route candidates displayed on the display 31 are useful for checking the status and determining the control route in the support system. The support route candidates displayed on the display 111 are useful for checking the situation and determining the control route for the vehicle occupant. Since one or more support route candidates are generated based on the traveling locus of the other vehicle, the support route candidates according to the actual environment around the vehicle can be displayed.

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

  The processor 10 creates one control route based on the displayed one or more support route candidates. If there is a single support route candidate, a control route is created based on the only support route candidate. A method for creating one control route from a plurality of support route candidates is not particularly limited. An approximate point of a plurality of support route candidates may be extracted, and a route passing through the approximate point may be set as one control route. One control route may be created by averaging the positions of a plurality of support route candidates. Of the support route candidates, the candidate with the most matching points may be used as one control route. One control route may be calculated based on the representative value of the lateral position (position along the route width) of the support route candidate. When the variation of the plurality of acquired support route candidates is large, one control route may be created from the support route candidates whose variations are less than a predetermined value. A route that includes support route candidates whose variation is less than a predetermined value may be used.

  Further, the processor 10 creates a control path in consideration of the existence of the opposite lane when creating one control path. The processor 10 creates a control path that does not protrude from the opposite lane. The processor 10 creates a control path so as not to belong to the opposite lane area. Specifically, the processor 10 acquires the traveling locus of the oncoming vehicle that travels in the opposite lane whose traveling direction is opposite to the traveling lane of the host vehicle to be controlled. The traveling locus of the oncoming vehicle is acquired from the captured image of the camera 51. The traveling direction of the vehicle can be determined from the change over time of the captured image. Since the traveling direction of the host vehicle can be obtained from the detection signal of the sensor 60 or the captured image, it is possible to identify the row of oncoming vehicles that travel on the opposite lane in the opposite direction. Plot the location of one or more oncoming vehicles and determine their travel trajectory. The processor 10 sets the opposite lane region based on the traveling locus of the oncoming vehicle. The opposing lane area can be an area including a traveling locus of the oncoming vehicle. The opposite lane region may be a region having a width obtained by adding a margin in consideration of the width of the vehicle and / or the width of the opposite lane on the basis of the traveling locus of the oncoming vehicle. When the width of the opposite lane is narrow, the amount of protrusion from the opposite lane increases. Therefore, the opposite lane region may be set with a larger margin as the width of the opposite lane is narrower. The processor 10 creates a control path so as not to belong to the set opposite lane area.

  A control route that guides the host vehicle that has become unable to run autonomously so that it does not belong to the opposite lane area based on the locus of the oncoming vehicle (another vehicle) that travels on the opposite lane while taking into consideration the running locus of the other vehicle. Since the calculation is performed, it is possible to calculate the control route in consideration of the actual traveling area of the oncoming vehicle. Thereby, the control path according to the actual situation can be calculated, and the vehicle control adapted to the actual situation can be executed.

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

  In the support system, since one control route can be calculated from the support route candidates displayed on the display 31, the burden can be reduced. There are an infinite number of routes to move the vehicle that has become unable to run autonomously, but in this embodiment, using the support route candidates, it is possible to narrow down to support route candidates according to the actual environment. It is possible to reduce the burden on the support system for the rescue processing of the old vehicle. For example, the control route can be set or calculated by tracing the support route candidate. While checking the captured image of the camera, etc., it takes time to calculate the control route for moving the host vehicle that has become unable to autonomously travel, and the time required for the vehicle to reach the destination is extended. The time required for the calculation process of the control route can be shortened, and thus the time required to reach the destination of the vehicle can be shortened.

  In addition, among the support route candidates displayed on the display 133, the passenger of the host vehicle can visually recognize the current state and select a support route candidate that most closely matches the current state. Further, by displaying the support route candidates, it is possible to know that movement (rescue from the current state) is possible.

  By calculating one control route from the support route candidates calculated based on the travel locus of the other vehicle, a control route adapted to the actual environment around the host vehicle can be calculated. Further, since the support route candidate is automatically generated and the control route can be calculated automatically or by selection, it is possible to shorten the time taken from the output of the support request signal to the setting of the control route. The load on the vehicle remote control device 100 or the burden on the person who operates the vehicle remote control device 100 can be reduced.

  When the processor 10 acquires a support request signal from the host vehicle, the processor 10 starts processing for calculating a support route candidate and a control route, and indicates that the host vehicle is in a state that requires remote control. A notification command for informing the vehicle is transmitted to the host vehicle. Information to be notified (notification information) includes “There is an obstacle”, “Unable to travel”, “Own vehicle is waiting for remote operation command”, “Own vehicle is executing remote operation” Information to inform. The vehicle controller 70 of the host vehicle causes the notification device 130 to present notification information. The notification device 130 includes a display 133 and a speaker 134. The display 133 has a display surface that is visible from the outside of the vehicle. The display surface is provided on the door portion of the vehicle or on the roof. The speaker 134 performs audio output that can be viewed outside the vehicle. The notification device 130 displays text and figures indicating the notification information on the display 133 in accordance with the notification command. The notification device 130 announces text indicating the notification information through the speaker 134 in accordance with the notification command. In addition, when autonomous driving is performed, it is preferable to display such as “during automatic driving” on the notification device 130.

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

  In this way, by notifying the outside of the host vehicle that the host vehicle is in a state that requires remote control, a situation in which the host vehicle cannot travel due to the presence of an obstacle or the like is Can be communicated to. The other vehicle that recognizes the notification information recognizes in advance that there is a factor that obstructs autonomous traveling such as an obstacle, and travels along a route for traveling while avoiding this. Since the other vehicle knows the presence of an obstacle or the like in advance, the driving load is reduced as compared with the case where the other vehicle knows the presence immediately before. By knowing the presence of obstacles in advance, it is possible to suppress the situation that other vehicles do not pass through, and increase the number of other vehicles that pass through the obstacles and increase the number of support route candidates. be able to. A more appropriate control route can be calculated by increasing the number of support route candidates (number of samples). In addition, the traveling trajectory of another vehicle in which the presence of an obstacle or the like has been notified in advance is an exemplary model for a route that avoids the obstacle. By using the travel trajectory of the other vehicle as an exemplary model, a control route that reliably avoids a travel obstruction factor such as an obstacle can be calculated.

  A control procedure of the vehicle remote control device 100 of the present embodiment will be described with reference to FIG. In addition, since the content of the process in each step is as above-mentioned, it uses. Here, the processing flow will be mainly described.

  In step S <b> 101, the processor 10 acquires a support request signal for requesting a remote operation from the host vehicle V <b> 1 to be operated. In this process, a remote control process performed when an assistance request signal is acquired will be described. In the state where the support request signal is not received, the host vehicle V1 performs autonomous traveling by the vehicle control device 200.

  FIG. 3A shows an example of a scene where a support request signal is transmitted. This is a scene where the construction site exists as an obstacle OB and the vehicle V1 cannot travel autonomously. The control route R0 of the host vehicle V1 is interrupted, and the host vehicle V1 is in a stopped state. After step S101, in step S201, the notification process may be started in response to receiving the support request signal. As conceptually shown in FIG. 3A, notification information such as “rescue standby” is displayed or announced. Vehicle lights may be turned on in a predetermined pattern (cycle). This process continues until obstacle avoidance is confirmed in step S106 described later. If the avoidance of the obstacle is confirmed in the same step, the notification process is ended in step S202.

  In step S102, the processor 10 acquires environmental information around the host vehicle, and detects other vehicles that travel around the host vehicle based on the acquired environment information. The processor 10 calculates the travel locus of the other vehicle from the captured image or the distance measurement signal, and determines whether the other vehicle has passed a factor that hinders autonomous travel such as an obstacle detected by the host vehicle. FIG. 3B shows a scene where the other vehicle V2 passes through the obstacle OB. The other vehicle V2 moves along the control route R2 and passes through the obstacle OB that is the construction site.

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

  Then, it progresses to step S104, the control command containing a control route is produced | generated, and it is transmitted to vehicle control apparatus S104. In step S105, the vehicle control device 200 executes a vehicle driving control process in accordance with the control command. In step S106, when it is confirmed that the own vehicle that has moved according to the control route has avoided an obstacle, the remote control of the vehicle is terminated in step S107, and the autonomous running (automatic driving) process is started.

  In step S <b> 108, the processor 10 determines whether there is one or a plurality of other vehicles that have passed the obstacle (an example of a factor that hinders the autonomous traveling of the host vehicle V <b> 1. The same applies hereinafter). If there is only one other vehicle that has passed through the obstacle, the process proceeds to step S109, and the processor 10 acquires the travel locus of the other vehicle. When there is only one other vehicle that passes through the obstacle, there is no choice but to refer to the traveling locus of the other vehicle. In step S110, the processor 10 calculates a support route candidate based on the travel locus of the other vehicle.

  Returning to step S108, if there are a plurality of other vehicles that have passed through the obstacle, the process proceeds to step S114. The processor 10 determines whether there is an oncoming lane. If the oncoming lane does not exist, there is no need to consider the oncoming lane, so the process proceeds to step S110, and the traveling trajectories of a plurality of other vehicles are set as support route candidates.

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

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

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

FIG. 4A is a diagram illustrating a state in which the host vehicle V1 that is traveling autonomously cannot travel. The state of FIG. 4A corresponds to the state of FIG. 3A. The control route R0 extending from the host vehicle V1 is interrupted in front of the obstacle OB1 (vehicle side). FIG. 4A shows an icon indicating the position of the host vehicle V <b> 1 superimposed on the map information 300.
FIG. 4B shows an icon indicating the travel locus R1 of the other vehicle and the position of the host vehicle V1 superimposed on the map information 300. The support route candidate display information may indicate the location of a factor (for example, an obstacle) that hinders the autonomous traveling of the host vehicle V1. When a moving object is detected, it is displayed together. Further, an image captured by the camera 51 may also be displayed. Although FIG. 4B shows a single support route candidate, a plurality of support route candidates may be displayed in a superimposed manner. In that case, in order to facilitate identification, it is displayed in a different mode (color, thickness, solid line or broken line, double line) or the like.
FIG. 4C shows the control route R2 calculated based on the travel locus R1 of the other vehicle. The control route R2 illustrated in FIG. 4C corresponds to the control route R2 illustrated in FIG. 3B. The control route R2 extends from the host vehicle V1. Since the control route R2 is connected to the icon of the host vehicle V1, the control route R2 can indicate the route along which the host vehicle V1 moves without interruption from the current position.

  In step S112, the processor 10 calculates one control route based on one or more support route candidates. The calculation of the control path may be performed automatically by the vehicle remote control device 100, or may be selected by a remote control administrator who uses the vehicle remote control device 100. In step S113, the processor 10 transmits a control command including the control route to the vehicle control device 200 of the host vehicle. By using the obtained support route candidates, a control route to be actually moved to the host vehicle is selected or calculated, and transmitted to the vehicle control device 200 of the host vehicle, thereby using the travel locus of the other vehicle. Obstacles that hinder autonomous driving can be avoided.

  The vehicle control device 200 executes the received control command. In step S106, the vehicle moves along a control path that avoids the obstacle, and avoids the obstacle. If the avoidance of the obstacle can be confirmed, in step S202, the notification process started after step S101 is ended. Finally, in step S107, the remote control process executed in response to the support request signal is terminated. Since the factor that hinders the autonomous running that caused the generation of the support request signal is avoided, the autonomous running control is resumed.

  Since the vehicle remote control device 100 according to the embodiment of the present invention is configured and operates as described above, the following effects can be obtained.

[1] The vehicle remote control method according to the present embodiment acquires environmental information around the host vehicle when acquiring a support request signal for requesting remote operation from the host vehicle to be operated, and based on the acquired environment information. The travel locus of the other vehicle traveling around the host vehicle is calculated, one or more support route candidates for moving the host vehicle are generated based on the travel locus of the other vehicle, and the support route candidate is defined as map information. Overlay and display.
The own vehicle that issued the support request signal is in a state where the autonomous running process cannot be continued. When the environmental information acquired at this timing includes information on other vehicles that travel in places where the factors that hinder the autonomous driving of the host vehicle exist, the vehicle travels avoiding the factors that hinder the autonomous driving of other vehicles. You can predict that In the present embodiment, a travel locus of another vehicle traveling around the host vehicle is calculated based on the environmental information detected when the support request signal is received, and the host vehicle is moved based on the travel locus of the other vehicle. One or more support route candidates to be generated are generated.
In this embodiment, a control route adapted to an actual situation can be calculated by calculating a control route of the subject vehicle to be rescued based on a support route candidate based on a travel locus of another vehicle.
Since the information obtained from the detection device 50 is limited, it is difficult to obtain detailed information in detail. If another vehicle is traveling around that point (around the host vehicle) even though the host vehicle has become unable to autonomously travel, the other vehicle is not only a factor that impedes autonomous driving of the host vehicle. It is thought that it is traveling with grasping all the circumstances. Even if detailed information is not obtained, it can be predicted that there are no obstacles on the traveling locus of the other vehicle. Since one or more support route candidates are generated based on the traveling locus of the other vehicle, the support route candidates according to the actual environment around the vehicle can be displayed.
The processor 10 displays the support route candidate. Since the support route candidate is displayed on the map information 122 as visible information, the confirmation can be facilitated.

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

[3] In the vehicle remote control method of the present embodiment, one control route is calculated based on one or more displayed support route candidates, a control command including the control route is transmitted to the host vehicle, and the control command is transmitted. It is executed by the vehicle control device of the host vehicle.
Since one control route is created from the support route candidates based on the travel locus of another vehicle, a control command including an appropriate control route and a control route in consideration of actual factors (obstacles and other surrounding environments) that hinder autonomous driving Can be generated. The host vehicle can be driven on an appropriate route according to the actual environment.
While checking the captured image of the camera, etc., it takes time to calculate the control route for moving the host vehicle that has become unable to autonomously travel, and the time required for the vehicle to reach the destination is extended. The time required for the calculation process of the control route can be shortened, and thus the time required to reach the destination of the vehicle can be shortened. In the support system, since one control route can be calculated from the displayed support route candidates, the burden can be reduced. The occupant of the host vehicle can visually check the current state among the displayed support route candidates and select a support route candidate that most closely matches the current state. Further, by displaying the support route candidates, it is possible to know that movement (rescue from the current state) is possible.

[4] The vehicle remote control method according to the present embodiment acquires a travel locus of an oncoming vehicle that travels in the opposite lane, sets the opposite lane region based on the travel locus, and sets a control route so as not to belong to the opposite lane region. calculate. A control route that guides the host vehicle that has become unable to run autonomously so that it does not belong to the opposite lane area based on the locus of the oncoming vehicle (another vehicle) that travels on the opposite lane while taking into consideration the running locus of the other vehicle. Since the calculation is performed, it is possible to calculate the control route in consideration of the actual traveling area of the oncoming vehicle. Thereby, the control path according to the actual situation can be calculated, and the vehicle control adapted to the actual situation can be executed.

[5] In the vehicle remote control method of the present embodiment, when the assistance request signal is acquired from the own vehicle, the vehicle is informed to the outside that the own vehicle is in a state that requires remote operation. As a result, the situation in which the host vehicle cannot travel due to the presence of an obstacle or the like can be transmitted to the surroundings by the notification information. The other vehicle that recognizes the notification information recognizes in advance that there is a factor that obstructs autonomous traveling such as an obstacle, and travels along a route for traveling while avoiding this. Since the other vehicle knows the presence of an obstacle or the like in advance, the driving load is reduced as compared with the case where the other vehicle knows the presence immediately before. By knowing the presence of obstacles in advance, it is possible to suppress the situation that other vehicles do not pass through, and increase the number of other vehicles that pass through the obstacles and increase the number of support route candidates. be able to. A more appropriate control route can be calculated by increasing the number of support route candidates (number of samples). In addition, the traveling trajectory of another vehicle in which the presence of an obstacle or the like has been notified in advance is an exemplary model for a route that avoids the obstacle. By using the travel trajectory of the other vehicle as an exemplary model, a control route that reliably avoids a travel obstruction factor such as an obstacle can be calculated.

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

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

Second Embodiment
A second embodiment will be described.
In 2nd Embodiment, the driving | running | working locus | trajectory of the vehicle (the own vehicle or another vehicle) memorize | stored in the cloud server is utilized. Since the basic configuration is common to the first embodiment, the description of the first embodiment is incorporated herein. The description will focus on the features of the present embodiment, avoiding repeated explanation.

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

The server 1000 according to the present embodiment stores a vehicle travel locus in association with position information. The vehicle includes both other vehicles and the host vehicle. That is, the past traveling history (including the traveling locus) of the host vehicle is also used.
The vehicle using the driving control system 1 transmits the regression trajectory of the vehicle moved based on the control command described in the first embodiment to the server 1000 and writes the travel trajectory information 400 in the storage device 1300. Information storage processing may be performed by the control device 1100. In the present embodiment, the server 1000 is arranged, but the travel locus information 400 may be written in the RAM 13 that is a storage device of the vehicle remote control device 100. Server 1000 is controlled by vehicle remote control device 100. The storage device in which the travel locus information 400 in the present embodiment is stored may be the storage device 1300 of the server 1000, the RAM 13 of the vehicle remote control device 100, or both. The storage devices may be further distributed.

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

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

  FIG. 6 is a flowchart showing a process for storing the regression trajectory. FIG. 6 includes the remote control process shown in FIG. As shown in FIG. 6, after avoiding an obstacle in step S <b> 106, in step S <b> 301, the processor 10 acquires a regression trajectory that the host vehicle has actually moved from the vehicle control device 200, and stores the storage device 1300 ( Or it memorize | stores in RAM13) and the traveling locus information 400 is updated.

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

  FIG. 7 is a flowchart illustrating remote operation processing according to the second embodiment. The description of FIG. 2 is used for the part which overlaps in FIG. In step S101, a support request signal is received. The support request information includes the current position. In step S401, the processor 10 accesses the travel locus information 400 and searches for a regression locus including the current position or a point near the current position based on the current position included in the support request signal. If there is no return trajectory, the return trajectory cannot be used, and therefore processing using the travel trajectory of another vehicle after step S102 shown in FIG. 2 is executed. On the other hand, if there is a regression trajectory in step S401, the process proceeds to step S402 to determine whether there is a single or a plurality of regression trajectories. If there is only one regression trajectory, that regression trajectory is used. In step S403, a regression trajectory is acquired, and in step S404, a support route candidate is calculated based on the regression trajectory. In step S402, when there are a plurality of regression tracks, a support route candidate considering the oncoming lane is calculated.

  In step S114, the processor 10 determines whether there is an oncoming lane. If the oncoming lane does not exist, there is no need to consider the oncoming lane, so the process proceeds to step S404, and a plurality of return trajectories are set as support route candidates.

  If it is determined in step S115 that there is an oncoming lane, the processor 10 proceeds to step S116 and calculates a support route candidate considering the oncoming lane. Specifically, the processor 10 sets the facing lane region based on the traveling locus of the oncoming vehicle. Then, it is determined whether there is a return trajectory belonging to the opposite lane area. The processor 10 sets the return trajectory belonging to the opposite lane area as a support route candidate considering the opposite lane. The processor 10 can assign a priority to each of the support route candidates. A support route candidate having a high priority is easily selected as a control route. Alternatively, only support route candidates having a priority level equal to or higher than a predetermined value may be narrowed down, and a control route may be calculated from the narrowed down support route candidates. In this case, the priority of the support route candidate considering the oncoming lane may be set high, and the priority of the support route candidate not considering the oncoming lane may be set low.

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

  In step S404, the processor 10 acquires support route candidates based on one or a plurality of regression trajectories. In step S111, the processor 10 displays support route candidates on the display.

  In step S112, the processor 10 calculates one control route based on one or more support route candidates. The calculation of the control route may be performed automatically by the vehicle remote control device 100, or may be selected by a remote control administrator who uses the vehicle remote control device 100. In step S113, the processor 10 transmits a control command including the control route to the vehicle control device 200 of the host vehicle. By using the obtained support route candidates, a control route to be actually moved to the host vehicle is selected or calculated, and transmitted to the vehicle control device 200 of the host vehicle. Obstacles that impede travel can be avoided. Thereafter, the process proceeds to step S105. The processing after step S105 is common to the processing shown in FIGS. If the past regression trajectory used and the regression trajectory executed this time are the same, there is no need to store them, but if there are different points, they are stored as new regression trajectories.

  In FIG. 2, the process of generating a support route candidate using a travel locus of another vehicle is described, and in FIG. 7, the process of generating a support route candidate using a regression track is described. Support route candidates can also be created using the travel trajectory and return trajectory of another vehicle. In this case, both the support route candidate obtained in step S110 in FIG. 2 and the support route candidate obtained in step S404 in FIG. 7 are set as support route candidates. All support route candidates are displayed in step S111. Subsequent processing is common to the processing of FIGS.

  According to the present embodiment, by storing a regression trajectory of a vehicle (whether own vehicle or other vehicle) that has avoided an obstacle (a factor that inhibits autonomous driving) according to a control command including a control route in the past. When a vehicle that can newly travel autonomously needs to be remotely operated in the same place (same situation) as in the past, obstacles can be avoided based on the past regression trajectory. By comparing the position information of the return trajectories, it is possible to determine the identity of the place where the remote operation is performed. If the locations where the remote operation is performed are common (predetermined distance range), it can be determined that autonomous driving is disabled due to the same cause (obstacle, construction, regulation). Since the regression trajectory corresponds to the control route calculated by the previous remote control processing, the processing cost for route calculation and route selection can be reduced. According to the present embodiment, at the timing of obtaining a support request signal for requesting remote operation, even when there are no other vehicles or a small number of vehicles that avoid obstacles and travel, based on a regression trajectory that has avoided obstacles in the past. Thus, the control route can be calculated. When the vehicle cannot travel autonomously at the same place, the vehicle that seeks remote operation can be returned to autonomous traveling based on the regression trajectory of the vehicle that has been returned to autonomous traveling by remote support in the past.

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

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

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

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

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

Claims (9)

A vehicle remote control method executed by a processor of a remote control device that operates a vehicle capable of autonomous traveling at a remote location,
When obtaining a support request signal for requesting remote operation from the subject vehicle, obtain environmental information around the subject vehicle,
Based on the acquired environmental information, a travel locus of another vehicle traveling around the host vehicle is calculated,
Based on the travel locus of the other vehicle, generate one or more support route candidates for moving the host vehicle,
A vehicle remote control method for displaying the support route candidate superimposed on map information.   The vehicle remote control method according to claim 1, wherein the support route candidate is displayed together with a current position of the host vehicle that is a target of remote control processing. One control route is calculated based on the one or more displayed support route candidates,
Transmitting a control command including the control route to the host vehicle;
The vehicle remote control method according to claim 1 or 2, wherein the control command of the host vehicle is executed by the control command. Obtaining a traveling locus of an oncoming vehicle that travels in an opposite lane whose traveling direction is opposite to the traveling lane of the host vehicle to be controlled;
Set the opposite lane area based on the travel locus,
The vehicle remote control method according to claim 3, wherein the control route is calculated so as not to belong to the facing lane region. The vehicle writes a regression trajectory of the vehicle moved based on the control command to a storage device,
5. The one or more support route candidates for moving the vehicle are generated based on the regression trajectory stored in the storage device when a support request signal is acquired from the vehicle. Vehicle remote control method.   The vehicle remote control according to claim 5, wherein the remote control device updates the regression track data stored in the storage device when the regression track of the vehicle moved based on the control command is received. Method. The host vehicle includes a notification device that notifies information to the outside of the host vehicle,
The notification command for notifying the outside of the own vehicle that the own vehicle is in a state requiring a remote operation when the support request signal is acquired from the own vehicle is transmitted to the own vehicle. The vehicle remote control method as described in any one of -6.   The vehicle remote control method according to any one of claims 1 to 7, wherein the host vehicle transmits the support request signal when an obstacle exists on a route along which the host vehicle autonomously travels. A communication device for exchanging information with a vehicle capable of autonomous driving;
A processor that executes remote control processing of the subject vehicle,
A display for displaying information used for the remote control processing,
The processor is
When obtaining a support request signal for remote control from the own vehicle, obtain environmental information around the own vehicle,
Based on the acquired environmental information, a travel locus of another vehicle traveling around the host vehicle is calculated,
Based on the travel locus of the other vehicle, generate one or more support route candidates for moving the host vehicle,
A vehicle remote control device that superimposes the support route candidate on map information and displays it on the display.