JP6589644B2 - Remote control device - Google Patents

Description

  The present invention relates to a technical field of a remote control device that remotely controls a following vehicle that automatically travels so as to follow a leading vehicle that a passenger is driving from outside the following vehicle.

  Development of an automatic traveling system that automatically travels an unmanned following vehicle so as to follow a leading vehicle driven by a passenger (see, for example, Patent Document 1).

JP 2000-311300 A

  In such an automatic traveling system, depending on the traveling mode of the following vehicle, the passenger driving the leading vehicle needs to be actively involved in the traveling of the following vehicle. For example, when any abnormality occurs in the following vehicle, the passenger driving the leading vehicle needs to deal with the abnormality in the following vehicle. In other words, the occupant of the leading vehicle needs to be involved not only in driving the leading vehicle but also in traveling the following vehicle. For this reason, compared with the case where a passenger only needs to drive the leading vehicle, the burden on the passenger increases.

  Examples of problems to be solved by the present invention include the above. An object of the present invention is to provide a remote control device that can reduce the burden on the passenger when there is a following vehicle that automatically travels to follow the leading vehicle that the passenger is driving. To do.

  A first aspect of the remote control device of the present invention is a remote control device for remotely controlling a follower vehicle that automatically travels so as to follow a leading vehicle that a passenger is driving from the outside of the follower vehicle, Communication means capable of mutual communication with each of the leading vehicle and the following vehicle via a wireless communication line, control means for remotely controlling the following vehicle, and when the control means starts remote control, the control means Comprises notifying means for notifying the leading vehicle that the remote control has started.

  According to the first aspect of the remote control device of the present invention, when the remote control device starts remote control of the follower vehicle, the fact that the remote control of the follower vehicle is started indicates that the leading vehicle (that is, the The passenger is notified. Therefore, the passenger does not have to be actively involved in the traveling of the following vehicle because the following vehicle is remotely controlled by the remote control device regardless of the traveling mode of the following vehicle. Can be recognized. For example, even when an abnormality occurs in the following vehicle, the passenger can recognize that the following vehicle does not have to deal with the abnormality because the following vehicle is remotely controlled by the remote control device. . As a result, the passenger does not have to be actively involved in the traveling of the following vehicle. Therefore, the burden on the passenger is reduced.

FIG. 1 is a block diagram showing an example of the configuration of the automatic tracking system of the present embodiment. FIG. 2 is a flowchart showing the flow of operation of the leading vehicle. FIG. 3 is a flowchart showing the flow of operation of the following vehicle. FIG. 4 is a flowchart showing an operation flow of the remote control device.

  Hereinafter, embodiments of a remote control device of the present invention will be described with reference to the drawings. In the following, the embodiment of the remote control device of the present invention will be described using the automatic tracking system 1 to which the embodiment of the remote control device of the present invention is applied.

(1) Configuration of Automatic Tracking System 1 First, the configuration of the automatic tracking system 1 of the present embodiment will be described with reference to the block diagram of FIG. As shown in FIG. 1, the automatic tracking system 1 includes a leading vehicle 11, a tracking vehicle 12, and a remote control device 13. The leading vehicle 11 is a vehicle on which a passenger gets. The leading vehicle 11 is a vehicle that travels according to the operation of the passenger (that is, driven by the passenger). The following vehicle 12 is a vehicle in which a passenger does not get on. The following vehicle 12 automatically travels so as to follow the leading vehicle 11. The remote control device 13 controls the tracking vehicle 12 from a remote location outside the tracking vehicle 12.

  One follower vehicle 12 may follow the leading vehicle 11. Alternatively, a plurality of following vehicles 12 may follow the leading vehicle 11. However, when a plurality of following vehicles 12 follow the leading vehicle 11, it is preferable that the plurality of following vehicles 12 automatically travel so as to form a row behind the leading vehicle 11. In this case, the one following vehicle 12 positioned at the head automatically travels so as to follow the leading vehicle 11. On the other hand, the other following vehicles 12 automatically travel so as to follow the latest following vehicle 12. In the following description, for the sake of simplification of explanation, the following vehicle 12 is assumed to automatically travel so as to follow the leading vehicle 11.

  The leading vehicle 11 includes a communication unit 111, a driving support unit 112, a follow-up traveling instruction unit 113, and an HMI (Human Machine Interface) 114. The communication unit 111 can communicate with each of the following vehicle 12 and the remote control device 13 via a wireless communication line. The driving support unit 112 performs a support operation that supports driving of the lead vehicle 11 by the passenger. As an example of the support operation, there is an operation related to an ADAS (Advanced Driving Assistance System) function. The follow-up travel instruction unit 113 generates follow-up control information that defines the travel mode of the follow-up vehicle 12. The HMI 114 is an interface for inputting and outputting information between a passenger of the vehicle 1 and the vehicle 1.

  The following vehicle 12 includes a communication unit 121, a camera 122, a distance detection unit 123, a travel control unit 124, and a state notification unit 125. The communication unit 121 can communicate with each of the leading vehicle 11 and the remote control device 13 via a wireless communication line. The camera 122 images an external situation in front of the following vehicle 12. The distance detection unit 123 detects the distance between the leading vehicle 11 and the following vehicle 12 (inter-vehicle distance). The traveling control unit 124 controls the following vehicle 12 based on the following control information generated by the leading vehicle 11 so that the following vehicle 12 follows the leading vehicle 11. The state notification unit 125 notifies the remote control device 13 of state information indicating the state of the following vehicle 12.

  The remote control device 13 includes a communication unit 131, a monitoring unit 132, a remote control unit 133 that is a specific example of “control means”, and a start notification unit 134 that is a specific example of “notification means”. Yes. The communication unit 131 can communicate with each of the leading vehicle 11 and the following vehicle 12 via a wireless communication line. Based on the state information notified by the state notification unit 125, the monitoring unit 132 is in a state where the follower vehicle 12 is preferably (or should be remotely controlled) by the remote control device 13 to remotely control the follower vehicle 12. It is determined (in other words, monitored) whether or not the remote control condition is satisfied. The remote control unit 133 remotely controls the following vehicle 12 when a remote control condition is established. The remote control performed by the remote control unit 133 is remote control corresponding to the operation of the user (remote operator) of the remote control device 13. The start notification unit 134 notifies the leading vehicle 11 that the remote control unit 133 has started remote control of the following vehicle 12 when the remote control unit 133 starts remote control of the following vehicle 12.

(2) Operation of Automatic Tracking System 1 Subsequently, an operation performed by the automatic tracking system 1 of the present embodiment (that is, an operation of controlling the tracking vehicle 12 so that the leading vehicle 11 is tracked) will be described. Below, the operation | movement which the leading vehicle 11 performs, the operation | movement which the following vehicle 12 performs, and the operation | movement which the remote control apparatus 13 performs are demonstrated in order.

(2-1) Operation of Leading Vehicle 11 The operation of the leading vehicle 11 will be described with reference to the flowchart of FIG. As shown in FIG. 2, the follow-up traveling instruction unit 113 determines whether or not the occupant has instructed the start of the automatic follow-up traveling that causes the following vehicle 12 to follow the leading vehicle 11 by automatic traveling (step S11). The passenger can instruct the start of automatic follow-up using the HMI 114. Accordingly, the follow-up traveling instruction unit 113 determines whether or not the passenger has instructed the start of the automatic follow-up traveling by monitoring the operation of the passenger using the HMI 114.

  As a result of the determination in step S11, when it is determined that the passenger does not instruct the start of the automatic follow-up travel (step S11: No), the leading vehicle 11 ends the operation illustrated in FIG. In this case, the leading vehicle 11 may perform the operation illustrated in FIG. 2 again after the first predetermined time has elapsed.

  On the other hand, as a result of the determination in step S11, when it is determined that the passenger has instructed the start of the automatic follow-up travel (step S11: Yes), the follow-up travel instruction unit 113 is automatically connected via the communication unit 111. A start request command for requesting the start of follow-up traveling is transmitted to each of the following vehicle 12 and the remote control device 13 (step S12). In order to identify the following vehicle 12 that transmits the start request command, the following traveling instruction unit 113 has identification information (for example, a vehicle number) for identifying the following vehicle 12 that can automatically travel so as to follow the leading vehicle 11. Etc.) may be registered in advance. In this case, the following travel instruction unit 113 transmits a start request command to the following vehicle 12 specified by the identification information via the communication unit 111. As a result, the communication unit 111 establishes a communication connection between the leading vehicle 11 and the following vehicle 12 and the remote control device 13. Therefore, the communication unit 111 can communicate with each of the following vehicle 12 and the remote control device 13 via a wireless communication line.

  Thereafter, the follow-up travel instruction unit 113 generates follow-up control information (step S13). The follow-up control information includes, for example, information that can specify a travel locus specified by the vehicle speed of the follow-up vehicle 12, the steering amount of the follow-up vehicle 12, or the like. The follow-up traveling instruction unit 113 is based on the content of the passenger's operation (for example, operation of the steering wheel, accelerator pedal, etc.) for causing the leading vehicle 11 to travel and the content of the support operation performed by the driving support unit 112. Follow-up control information that can follow the leading vehicle 11 is generated. Following or in parallel with the operation of generating the tracking control information, the tracking traveling instruction unit 113 transmits the tracking control information generated by the tracking traveling instruction unit 113 to the tracking vehicle 12 via the communication unit 111 (step S14). .

  Thereafter, the follow-up traveling instruction unit 113 receives a notification that the remote control unit 133 has started remote control of the following vehicle 12 (hereinafter referred to as “remote control start notification”) from the remote control device 13. It is determined whether or not (step S15). As a result of the determination in step S15, if it is determined that the communication unit 111 has received the remote control start notification (step S15: Yes), the HMI 114 indicates that the remote control unit 133 has started remote control of the following vehicle 12. Is notified to the passenger (step S16). For example, when the HMI 14 includes a display, the HMI 114 may display an image indicating that the remote control unit 133 has started remote control of the following vehicle 12. For example, when the HMI 14 includes a speaker, the HMI 114 may output a sound indicating that the remote control unit 133 has started remote control of the following vehicle 12. On the other hand, as a result of the determination in step S15, when it is determined that the communication unit 111 has not received the remote control start notification (step S15: No), the operation in step S16 is not performed.

  Thereafter, the follow-up travel instruction unit 113 determines whether or not the passenger has instructed the end of the automatic follow-up travel (step S17). In step S <b> 17, as in step S <b> 11, the follow-up travel instruction unit 113 determines whether or not the rider has instructed the end of automatic follow-up travel by monitoring the rider's operation using the HMI 114.

  As a result of the determination in step S17, when it is determined that the occupant has not instructed the end of the automatic follow-up travel (step S17: No), the operations after step S13 are performed again. Accordingly, the follow-up travel instruction unit 113 continues to generate the follow-up control information, and the communication unit 111 continues to send the follow-up control information to the follow-up vehicle 12. On the other hand, as a result of the determination in step S17, when it is determined that the passenger has instructed the end of the automatic follow-up travel (step S17: Yes), the follow-up travel instructing unit 113 automatically An end request command for requesting the end of the follow-up travel is transmitted to each of the follow-up vehicle 12 and the remote control device 13 (step S18). Thereafter, the leading vehicle 11 ends the operation shown in FIG. In this case, the leading vehicle 11 may perform the operation illustrated in FIG. 2 again after the first predetermined time has elapsed.

(2-2) Operation of the Following Vehicle 12 Next, the operation of the following vehicle 12 will be described with reference to the flowchart of FIG. As illustrated in FIG. 3, the travel control unit 124 determines whether or not the communication unit 121 has received a start request command for requesting the start of automatic follow-up travel from the lead vehicle 11 (step S21). As a result of the determination in step S21, when it is determined that the communication unit 121 has not received the start request command (step S21: No), the following vehicle 12 ends the operation illustrated in FIG. In this case, the following vehicle 12 may perform the operation illustrated in FIG. 3 again after the second predetermined time has elapsed. On the other hand, as a result of the determination in step S21, when it is determined that the communication unit 121 has received the start request command (step S21: Yes), the communication unit 121 includes the following vehicle 12, the leading vehicle 11, and the remote control device. Communication connection with each of the 13 is established (step S22). For this reason, the communication unit 121 can communicate with each of the leading vehicle 11 and the remote control device 13 via a wireless communication line.

  Thereafter, the communication unit 121 receives the tracking control information transmitted by the leading vehicle 11 (step S23). Thereafter, the traveling control unit 124 controls the following vehicle 12 based on the following control information so that the following vehicle 12 follows the leading vehicle 11 (that is, automatically travels while following). For example, the traveling control unit 124 may control a drive source (for example, at least one of an engine and a motor generator) included in the following vehicle 12. For example, the traveling control unit 124 may control a steering device included in the following vehicle 12. For example, the traveling control unit 124 may control a brake device included in the following vehicle 12. As a result, the following vehicle 12 automatically travels so as to follow the leading vehicle 11 (step S24).

  The traveling control unit 124, based on at least one of the imaging result of the camera 122 and the detection result of the distance detection unit 123, in addition to the tracking control information, causes the tracking vehicle 12 to track the leading vehicle 11. May be controlled. For example, when the imaging result of the camera 122 indicates that some kind of obstacle exists in front of the following vehicle 12, the traveling control unit 124 controls the following vehicle 12 so as to avoid the obstacle. Also good. For example, when the imaging result of the camera 122 indicates a white line that defines a traveling lane in which the following vehicle 12 is traveling, the traveling control unit 124 causes the following vehicle 12 so that the following vehicle 12 does not deviate from the white line. May be controlled. For example, the traveling control unit 124 controls the following vehicle 12 such that the inter-vehicle distance (that is, the distance between the leading vehicle 11 and the following vehicle 12) indicated by the detection result of the distance detection unit 123 is maintained at a constant distance. May be.

  While the following vehicle 12 is traveling automatically, the state notification unit 125 notifies (that is, transmits) state information indicating the state of the following vehicle 12 to the remote control device 13 via the communication unit 121 (step). S25). The state information may include an imaging result of the camera 122. The state information is analysis information obtained by analyzing the imaging result of the camera 122 (for example, information indicating an obstacle existing in front of the following vehicle 12, information indicating a distance between the following vehicle 12 and the white line, etc.) ) May be included. The state information may include the detection result of the distance detection unit 123. The state information may include follow-up control information received from the leading vehicle 11. The state information may include detection results of various sensors included in the following vehicle 12. The state information may include information (for example, a diagnosis code) indicating whether there is an abnormality in the following vehicle 12.

  Thereafter, the traveling control unit 124 determines whether or not the communication unit 121 has received from the remote control device 13 a remote request command that requests that the remote control device 13 remotely control the following vehicle 12 (step S26). .

  As a result of the determination in step S26, when it is determined that the communication unit 121 has received a remote request command (step S26: Yes), the travel control unit 124 performs remote control (that is, remote control) of the remote control device 13. The following vehicle 12 is controlled so that the following vehicle 12 travels according to the operation of the operator (step S27). That is, the traveling control unit 124 ends the control of the following vehicle 12 so that the following vehicle 12 travels based on the following control information. Therefore, the tracking vehicle 12 travels according to the remote control of the remote control device 13 (that is, the operation of the remote operator) after completing the operation shown in FIG. However, when the remote control of the follower vehicle 12 by the remote control device 13 is finished, the follower vehicle 12 performs the operation shown in FIG. 3 (typically, the operation after step S23) again.

  On the other hand, as a result of the determination in step S26, when it is determined that the communication unit 121 has not received the remote request command (step S26: No), the traveling control unit 124 requests the end of the automatic follow-up traveling. It is determined whether or not the end request command is received from the leading vehicle 11 by the communication unit 121 (step S28). As a result of the determination in step S28, when it is determined that the communication unit 121 has not received the termination request command (step S28: No), the operations after step S23 are performed again. Therefore, the following vehicle 12 continues to automatically travel so as to follow the leading vehicle 11 based on the following control information. On the other hand, as a result of the determination in step S28, when it is determined that the communication unit 121 has received an end request command (step S28: Yes), the following vehicle 12 ends the operation illustrated in FIG. In this case, the following vehicle 12 may perform the operation illustrated in FIG. 3 again after the second predetermined time has elapsed.

(2-3) Operation of Remote Control Device 13 Next, the operation of the remote control device 13 will be described with reference to the flowchart of FIG. As shown in FIG. 4, the remote control unit 133 determines whether or not the communication unit 131 has received a start request command for requesting the start of automatic follow-up travel from the lead vehicle 11 (step S31). As a result of the determination in step S31, when it is determined that the communication unit 131 has not received the start request command (step S31: No), the remote control device 13 ends the operation illustrated in FIG. In this case, the remote control device 13 may perform the operation shown in FIG. 4 again after the third predetermined time has elapsed. On the other hand, as a result of the determination in step S31, when it is determined that the communication unit 131 has received the start request command (step S31: Yes), the communication unit 131 includes the remote control device 13, the leading vehicle 11, and the following vehicle. A communication connection with each of the twelve is established (step S32). For this reason, the communication unit 131 can communicate with each of the leading vehicle 11 and the following vehicle 12 via a wireless communication line.

  Thereafter, the communication unit 131 receives the state information transmitted by the following vehicle 12 (step S33). Thereafter, the monitoring unit 132 determines whether the remote control condition is satisfied based on the state information notified by the state notification unit 125 (step S34). As described above, the remote control condition is a condition that the remote control device 13 is preferably (or should be remotely controlled) to remotely control the following vehicle 12.

  The remote control condition may include a first condition that an abnormality has occurred in the following vehicle 12. The remote control condition may include a second condition that a deviation of a predetermined amount or more has occurred between the traveling mode specified by the tracking control information and the actual traveling mode of the tracking vehicle 12. The remote control condition may include a third condition that the following vehicle 12 deviates from the white line. The remote control condition may include a fourth condition that the distance between the leading vehicle 11 and the following vehicle 12 is equal to or greater than a predetermined distance (that is, the following vehicle 12 is too far from the leading vehicle 11). The remote control condition may include a fifth condition that an obstacle exists in front of the following vehicle 12.

  As a result of the determination in step S34, if it is determined that the remote control condition is satisfied (step S34: Yes), the remote control unit 133 causes the remote control device 13 to follow the follower vehicle 12 via the communication unit 131. Is transmitted to the following vehicle 12 (step S35). Thereafter, the remote control unit 133 starts remote control of the following vehicle 12 (step S36). Specifically, the remote operator drives the follower vehicle 12 by remote control while referring to the imaging result of the camera 122 provided in the follower vehicle 12. As a result, the remote control unit 133 remotely controls the follower vehicle 12 so that the follower vehicle 12 travels in a traveling manner according to the operation of the remote operator. For example, when an abnormality has occurred in the following vehicle 12, the remote operator may drive the following vehicle 12 so that the following vehicle 12 travels toward an area where it can be safely stopped. As a result, the following vehicle 12 can be stopped in an area where it can be safely stopped.

  In addition, when the remote control unit 133 starts remote control of the following vehicle 12, the start notification unit 134 notifies the leading vehicle 11 of a remote control start notification via the communication unit 131 (step S37).

  Thereafter, the remote control device 13 continues to remotely control the tracking vehicle 12 until the remote operator requests the end of the remote control (step S38).

  On the other hand, as a result of the determination in step S34, when it is determined that the remote control condition is not satisfied (step S34: No), the remote control unit 133 issues an end request command for requesting the end of the automatic follow-up running. Then, it is determined whether or not the communication unit 131 has received from the leading vehicle 11 (step S39). As a result of the determination in step S39, when it is determined that the communication unit 131 has not received the termination request command (step S39: No), the operations after step S33 are performed again. Therefore, the remote control device 13 continues to determine whether or not the remote control condition is satisfied. On the other hand, as a result of the determination in step S39, when it is determined that the communication unit 131 has received an end request command (step S39: Yes), the remote control device 13 ends the operation illustrated in FIG. In this case, the remote control device 13 may perform the operation shown in FIG. 4 again after the third predetermined time has elapsed.

  As described above, according to the automatic tracking system 1 of the present embodiment, when the remote control device 13 starts the remote control of the tracking vehicle 12, the leading vehicle indicates that the remote control of the tracking vehicle 12 has started. 11 (that is, the passenger of the leading vehicle 11). Therefore, regardless of the travel mode of the follower vehicle 12, the passenger is actively involved in the travel of the follower vehicle 12 because the follower vehicle 12 is remotely controlled by the remote control device 13. It can be recognized that it is not necessary. For example, even if an abnormality occurs in the following vehicle 12, the passenger recognizes that the following vehicle 12 does not have to deal with the abnormality of the following vehicle 12 because the following vehicle 12 is remotely controlled by the remote control device 13. can do. As a result, the passenger does not have to be actively involved in the traveling of the following vehicle 12. Therefore, the burden on the passenger is reduced.

  It should be noted that the present invention can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification, and a remote control device that includes such a change is also within the technical concept of the present invention. included.

DESCRIPTION OF SYMBOLS 1 Automatic follow-up system 11 Lead vehicle 12 Follow-up vehicle 125 State notification part 13 Remote control apparatus 132 Monitoring part 133 Remote control part 134 Start notification part

Claims (1)

A remote control device that remotely controls a following vehicle that automatically travels so as to follow a leading vehicle that a passenger is driving, from the outside of the following vehicle,
A communication means capable of communicating with each of the leading vehicle and the following vehicle via a wireless communication line;
Control means for remotely controlling the following vehicle;
A remote control device comprising: notification means for notifying the leading vehicle that the control means has started remote control when the control means has started remote control.

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