JP2021060764A - Driving control device - Google Patents

Abstract

To provide a driving control device capable of detecting abnormality of a remote operator.SOLUTION: A driving control device 10 (driving control device 20) comprises: a travel information acquisition part 200 for acquiring travel information about a remotely drivable vehicle by a driving operation of a remote operator; and a driving determination part 270 for determining whether or not the driving operation is appropriate, using the travel information.SELECTED DRAWING: Figure 3

Description

The present invention relates to a driving control device that controls remote driving of a vehicle.

The vehicle system described in Patent Document 1 below includes a occupant suitability detection device that detects the suitability of a occupant as a driver, a vehicle-side operation device operated by the driver, and a vehicle-side control device that controls the running state of the vehicle. And a plurality of vehicles having a vehicle-side communication device for transmitting and receiving information to and from the outside of the vehicle. Further, this vehicle system includes a control center having a center-side communication device and a center-side control device that controls a running state of the vehicle via a vehicle-side control device.

The vehicle-side control device is driven in either a manual driving mode by operating the vehicle-side control device, an automatic driving mode not by operating the vehicle-side control device, or a center driving mode by the center-side control device. Control the state. In the center operation mode, the center side control device controls the running state of the vehicle based on the amount of operation that the remote operator of the control center operates the vehicle by the remote control device. Further, when the vehicle-side control device shifts from the automatic driving mode to the manual driving mode, if it is determined that the occupant is not suitable as a driver, the vehicle shifts to the center driving mode. As a result, even if the occupants of the vehicle do not have the appropriateness as a driver, the driving of the vehicle is continued.

JP-A-2018-0622223

The above-mentioned prior art is based on the premise that the remote operator always properly remotely controls the vehicle when the vehicle shifts to the center operation mode (remote operation mode). Is not considered. However, in order to ensure the safety of the vehicle, it is required to appropriately detect the abnormality of the remote operator.

In consideration of the above facts, an object of the present invention is to obtain an operation control device capable of detecting an abnormality of a remote operator.

The driving control device according to the invention according to claim 1 has a driving information acquisition unit that acquires driving information of a vehicle that can be remotely controlled by a remote operator's driving operation, and whether or not the driving operation is appropriate. , A driving determination unit for determining using the traveling information.

The "driving information" according to claim 1 includes at least one of information on the behavior of the vehicle and information on the surroundings of the vehicle.

According to the invention of claim 1, the driving information acquisition unit acquires driving information of a vehicle capable of remote driving by a remote operator's driving operation. Further, the driving determination unit determines whether or not the above driving operation is appropriate by using the above driving information. That is, for example, if the behavior of the vehicle is not stable and it is determined that the driving operation of the remote operator is not appropriate, there is a possibility that an abnormality has occurred in the remote operator. Therefore, it is possible to detect an abnormality of the remote operator based on the determination result of the operation determination unit.

As described above, the operation control device according to the present invention can detect an abnormality of the remote operator.

It is a conceptual diagram which shows the schematic structure of the operation control system to which the operation control device which concerns on embodiment of this invention is applied. It is a block diagram which shows the hardware composition of the vehicle in the same embodiment. It is a block diagram which shows an example of the functional structure of the vehicle control device in the same embodiment. It is a block diagram which shows the hardware configuration of the remote control device in the same embodiment. It is a block diagram which shows an example of the functional structure of the remote control device in the same embodiment. It is a sequence diagram which shows the flow of processing between each apparatus in the same embodiment. It is a flowchart explaining the flow of the determination process in the same embodiment.

Hereinafter, the operation control device 10 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 7. The operation control device 10 according to the present embodiment is applied to the operation control system 11 shown in FIG. The operation control system 11 includes a vehicle 12, a plurality of remote control devices 14A and 14B, and a processing server 18. Hereinafter, the remote control devices 14A and 14B may be simply referred to as "remote control device 14".

The vehicle 12 is equipped with a driving control device 10 that controls the operation of the vehicle 12. The operation control device 10 includes a vehicle control device 20. Further, the remote control devices 14A and 14B each include a remote control device 40. Then, in the above-mentioned operation control system 11, the vehicle control device 20 of the vehicle 12, the remote control device 40 of the remote control device 14A, the remote control device 40 of the remote control device 14B, and the processing server 18 form a network N1. They are connected to each other via.

The operation control system 11 shown in FIG. 1 is composed of one vehicle 12 and two remote control devices 14A and 14B, but the number is not limited to this. The operation control system 11 may include two or more vehicles 12, or may include three or more remote control devices 14.

(Vehicle configuration)
The vehicle 12 includes manual driving based on the driving operation of the driver who is an occupant of the vehicle 12, automatic driving in which autonomous driving is performed based on the driving plan generated by the vehicle control device 20, and remote control device 14A. , 14B is configured to be capable of performing remote operation based on the operation of the remote operator (remote driver).

FIG. 2 is a block diagram showing a hardware configuration of a device mounted on the vehicle 12 as a component of the operation control device 10. In addition to the vehicle control device 20 described above, the operation control device 10 includes a GPS (Global Positioning System) device 22, an external sensor 24, an internal sensor 26, an input device 28, an actuator 30, and a user I / F (Inter). Face) 32 and is included.

The vehicle control device 20 includes a CPU (Central Processing Unit) 20A, a ROM (Read Only Memory) 20B, a RAM (Random Access Memory) 20C, a storage 20D, a communication I / F (Inter Face) 20E, and an input / output I / F 20F. It is composed of. The CPU 20A, ROM 20B, RAM 20C, storage 20D, communication I / F20E, and input / output I / F20F are connected to each other so as to be communicable with each other via the bus 20G.

The CPU 20A is a central arithmetic processing unit that executes various programs and controls each unit. That is, the CPU 20A reads the program from the ROM 20B and executes the program using the RAM 20C as a work area. In this embodiment, the control program is stored in the ROM 20B. When the CPU 20A executes the control program, the vehicle control device 20 has the driving information acquisition unit 200, the driving plan generation unit 240, the operation reception unit 250, the driving control unit 260, the operation determination unit 270, and the operation stop unit shown in FIG. It functions as a 280, a delivery unit 290, and a notification unit 300.

As shown in FIG. 2, the ROM 20B stores various programs and various data. The RAM 20C temporarily stores a program or data as a work area. The storage 20D is composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs including an operating system and various data. The communication I / F 20E includes an interface for connecting to the network N1 in order to communicate with another vehicle control device 20, the remote control device 40, the processing server 18, and the like. As the interface, for example, communication standards such as LTE and Wi-Fi (registered trademark) are used.

The communication I / F20E of the present embodiment transmits an image captured by the camera 24A to the remote control device 14A or 14B outside the vehicle 12 via the network N1, and operates the vehicle 12 from the remote control device 14A or 14B. Receives remote control information, which is the operation information for making the camera. The camera 24A is attached with a microphone (not shown), and sound data recorded together with the captured image is transmitted and received together with the captured image data.

The input / output I / F 20F is an interface for communicating with each device mounted on the vehicle 12. The vehicle control device 20 of the present embodiment is connected to the GPS device 22, the external sensor 24, the internal sensor 26, the input device 28, the actuator 30, and the user I / F 32 via the input / output I / F 20F. The GPS device 22, the external sensor 24, the internal sensor 26, the input device 28, the actuator 30, and the user I / F 32 may be directly connected to the bus 20G.

The GPS device 22 is a device that measures the current position of the vehicle 12. The GPS device 22 includes an antenna (not shown) that receives a signal from a GPS satellite. The external sensor 24 is a group of sensors that detect peripheral information around the vehicle 12. The external sensor 24 includes a camera 24A that captures a predetermined range, a millimeter wave radar 24B that transmits an exploration wave to a predetermined range and receives a reflected wave, and a rider (Laser Imaging Detection and Ranger) 24C that scans a predetermined range. including. The internal sensor 26 is a group of sensors that detect the traveling state of the vehicle 12. The internal sensor 26 includes at least one of a vehicle speed sensor, an acceleration sensor and a yaw rate sensor.

The input device 28 is a group of switches operated by an occupant riding in the vehicle 12. The input device 28 includes a steering wheel 28A as a switch for steering the steering wheel of the vehicle 12, an accelerator pedal 28B as a switch for accelerating the vehicle 12, and a brake pedal 28C as a switch for decelerating the vehicle 12.

The actuator 30 includes a steering wheel actuator that drives the steering wheels of the vehicle 12, an accelerator actuator that controls the acceleration of the vehicle 12, and a brake actuator that controls the deceleration of the vehicle 12.

The user I / F 32 includes, for example, a display which is a display unit and a speaker which is an audio output unit (both are not shown). The display is arranged, for example, on the instrument panel of the vehicle 12, and constitutes a capacitive touch panel. The speakers are arranged on the left and right side doors of the vehicle 12, for example.

FIG. 3 is a block diagram showing an example of the functional configuration of the vehicle control device 20. As shown in FIG. 3, the vehicle control device 20 includes a travel information acquisition unit 200, a travel plan generation unit 240, an operation reception unit 250, a driving control unit 260, a driving determination unit 270, an operation stop unit 280, and a delivery unit 290. And has a notification unit 300. Each functional configuration is realized by the CPU 20A reading the control program stored in the ROM 20B and executing the control program.

The travel information acquisition unit 200 has a function of acquiring travel information of the vehicle 12. The traveling information acquisition unit 200 includes a position information acquisition unit 210, a peripheral information acquisition unit 220, and a behavior information acquisition unit 230. The position information acquisition unit 210 has a function of acquiring the current position of the vehicle 12. The position information acquisition unit 210 acquires position information from the GPS device 22 via the input / output I / F 20F.

The peripheral information acquisition unit 220 has a function of acquiring peripheral information around the vehicle 12. The peripheral information acquisition unit 220 acquires peripheral information of the vehicle 12 from the external sensor 24 via the input / output I / F 20F. The "peripheral information" includes information on other vehicles, pedestrians, obstacles, the traveling path of the vehicle 12, weather, brightness, and the like around the vehicle 12.

The behavior information acquisition unit 230 has a function of acquiring behavior information related to the behavior of the vehicle, such as the vehicle speed, acceleration, and yaw rate of the vehicle 12. The behavior information acquisition unit 230 acquires the behavior information of the vehicle 12 from the internal sensor 26 via the input / output I / F 20F.

The travel plan generation unit 240 travels on the vehicle 12 based on the position information acquired by the position information acquisition unit 210, the peripheral information acquired by the peripheral information acquisition unit 220, and the behavior information acquired by the behavior information acquisition unit 230. It has a function to generate a travel plan for making the vehicle run. The travel plan includes not only a travel route to a preset destination, but also information such as a course for avoiding obstacles in front of the vehicle 12 and the speed of the vehicle 12.

The operation reception unit 250 has a function of receiving signals output from each input device 28 when manual operation is performed based on the operation of the occupant of the vehicle 12. The operation reception unit 250 generates vehicle operation information, which is operation information for controlling the actuator 30, based on the signals received from each input device 28.

The travel control unit 260 received from the operation reception unit 250, the automatic operation based on the travel plan generated by the travel plan generation unit 240, the remote operation based on the remote control information received (acquired) from the remote control device 14A or 14B, and the operation reception unit 250. It has a function to control manual driving based on vehicle operation information.

The driving determination unit 270 has a function of determining whether or not the driving operation of the remote operator is appropriate by using the driving information acquired by the driving information acquisition unit 200. The driving determination unit 270 uses the driving operation (steering operation, accelerator) of the remote operator based on the peripheral information and behavior information acquired by the driving information acquisition unit 200 and the remote control information received from the remote control device 14A or 14B. Judgment processing for determining whether or not the operation (operation and brake operation) is appropriate is executed.

For example, the driving determination unit 270 determines whether or not the frequency of sudden acceleration, sudden deceleration, sudden steering, wobbling, etc. of the vehicle 12 is low, and the driving operation (steering operation, accelerator operation, and braking operation) with respect to the peripheral information of the vehicle 12. ), And whether or not the remote operator's remote operation is appropriate is determined based on whether or not the operation amount is appropriate.

The operation stop unit 280 has a function of stopping the remote operation by the remote operator when the operation determination unit 270 denies the above determination, that is, when the remote operator determines that the remote operation is inappropriate. ing. Specifically, when the operation stop unit 280 determines that the remote control information received from either one of the remote control devices 14A and 14B is inappropriate for the driving information, the operation stop unit 280 informs the remote operator of the remote control device 14A and 14B. It is determined that an abnormality has occurred, and a stop process is executed to stop the remote operation by one of them. The above-mentioned abnormalities of the remote operator include, for example, a state of poor physical condition such as sudden fever, abdominal pain, and extreme fatigue, as well as a state in which remote driving becomes difficult due to a natural disaster or a man-made disaster.

In the above stop processing, the operation stop unit 280 automatically switches from the remote operation switching process by either one of the remote control devices 14A and 14B to the remote operation by either one, or from the remote operation by any one of the above. Executes automatic operation switching processing to switch to operation. In the above stop processing, a manual operation switching process for switching from remote control to manual operation by any one of the above, or a stop process for urgently stopping the vehicle 12 on the shoulder of the road may be executed.

The delivery unit 290 has a function of transferring the operation authority, which is the authority for operating the vehicle 12 on which the vehicle control device 20 is mounted, to the remote operator of the remote control device 14A or 14B. When granting the operation authority of the vehicle 12 to the remote operator of the remote control device 14A or 14B, the vehicle control device 20 transmits an authority transfer command to the remote control device 14A or 14B. By transferring the operation authority from the driver of the vehicle 12 to the remote operator, in the vehicle 12, the travel control unit 260 drives the vehicle 12 based on the remote control information received from the remote control device 14A or 14B. That is, remote control is performed.

Further, when the operation stop unit 280 executes the above stop process, the delivery unit 290 refers to either one of the remote control devices 14A and 14B (the remote control device 14 whose remote operation is stopped) and the other. A transfer notification command for notifying the transfer of the operation authority to the remote control device 14 or the vehicle 12 is transmitted. The remote control device 14 that has received the transfer notification command executes a termination process for terminating the remote operation.

The notification unit 300 has a function of notifying the occupants of the vehicle 12 in advance via the user I / F 32 that the stop processing is executed when the operation stop unit 280 executes the above stop processing. ing. In the above stop processing, the occupant can arbitrarily select which of the remote operation switching process and the automatic operation switching process is preferable by the operation of the user I / F32 (for example, the touch operation of the display). It may be configured as follows. Further, for example, in the case of the configuration in which any of the remote operation switching process, the automatic operation switching process, and the manual operation switching process is executed in the above-mentioned stop process, which process is preferable to be executed is determined by the user I /. It may be configured so that the occupant can arbitrarily select it by operating F32.

(Remote control device)
FIG. 4 is a block diagram showing a hardware configuration of a device mounted on the remote control device 14A of the present embodiment. Although the remote control device 14A will be described in the following description, the remote control device 14B also has the same configuration and function. In addition to the remote control device 40 described above, the remote control device 14A includes a display device 42, a speaker 44, and an input device 48 as an operation unit.

The remote control device 40 includes a CPU 40A, a ROM 40B, a RAM 40C, a storage 40D, a communication I / F40E, and an input / output I / F40F. The CPU 40A, ROM 40B, RAM 40C, storage 40D, communication I / F40E, and input / output I / F40F are connected to each other so as to be communicable with each other via the bus 40G. The functions of the CPU 40A, ROM 40B, RAM 40C, storage 40D, communication I / F 40E and input / output I / F 40F are the above-mentioned CPU 20A, ROM 20B, RAM 20C, storage 20D, communication I / F 20E and input / output I / F 20F of the vehicle control device 20. It is the same. Here, the communication I / F40E corresponds to the communication unit.

The CPU 40A reads the program from the ROM 40B and executes the program using the RAM 40C as a work area. In this embodiment, the processing program is stored in the ROM 40B. When the CPU 40A executes the processing program, the remote control device 40 functions as the vehicle information acquisition unit 400, the operation information generation unit 410, and the operation switching unit 420 shown in FIG.

The display device 42, the speaker 44, and the input device 48 are connected to the remote control device 40 of the present embodiment via the input / output I / F 40F. The display device 42, the speaker 44, and the input device 48 may be directly connected to the bus 40G.

The display device 42 is a liquid crystal monitor for displaying an image captured by the camera 24A of the vehicle 12 and various information related to the vehicle 12. The speaker 44 outputs the sound recorded together with the captured image by the microphone attached to the camera 24A of the vehicle 12.

The input device 48 is a controller for operation by a remote operator using the remote control device 14A. The input device 48 includes a steering wheel 48A as a switch for steering the steering wheel of the vehicle 12, an accelerator pedal 48B as a switch for accelerating the vehicle 12, and a brake pedal 48C as a switch for decelerating the vehicle 12. The form of each input device 48 is not limited to this. For example, a lever switch may be provided instead of the steering wheel 48A. Further, for example, a push button switch or a lever switch may be provided instead of the pedal switch of the accelerator pedal 48B or the brake pedal 48C.

FIG. 5 is a block diagram showing an example of the functional configuration of the remote control device 40. As shown in FIG. 5, the remote control device 40 includes a vehicle information acquisition unit 400, an operation information generation unit 410, and an operation switching unit 420 shown in FIG.

The vehicle information acquisition unit 400 has a function of acquiring vehicle information such as a captured image and recorded sound of the camera 24A transmitted from the vehicle control device 20 and a vehicle speed. The acquired captured image and vehicle information are displayed on the display device 42, and the recorded sound is output from the speaker 44.

The operation information generation unit 410 has a function of receiving signals output from each input device 48 when remote operation is performed based on the operation of the remote operator. Further, the operation information generation unit 410 generates remote operation information to be transmitted to the vehicle control device 20 based on the signals received from each input device 48.

The operation switching unit 420 has a function of controlling switching of the vehicle 12 for remote control. Specifically, when the operation switching unit 420 acquires the authority transfer command from the vehicle 12, the operation switching unit 420 executes a process for remotely driving the vehicle 12. Further, when the transfer notification command is acquired from the vehicle 12, the operation switching unit 420 executes a termination process for terminating the remote operation of the vehicle 12.

(Control flow)
In the present embodiment, when the remote operator of the remote control device 14A is remotely driving the vehicle 12, when a predetermined condition is satisfied, the remote control device 14B is remotely controlled by the remote operator and the vehicle 12 is used. The process of switching to one of the automatic operations is executed. Hereinafter, the flow of processing between the devices will be described with reference to the sequence diagram of FIG.

In step S10 of FIG. 6, in the operation control device 10 of the vehicle 12, the CPU 20A of the vehicle control device 20 executes remote control. At the same time, in step S11, in the remote control device 14A, the CPU 40A of the remote control device 40 is executing the remote control. That is, the remote control device 14A receives the captured image of the camera 24A and the vehicle information of the internal sensor 26 from the vehicle 12, and also provides the remote control information for controlling the vehicle 12 toward the vehicle control device 20 of the vehicle 12. Send.

In step S12 of FIG. 6, in the operation control device 10 of the vehicle 12, the CPU 20A of the vehicle control device 20 executes the determination process. The details of the determination process will be described later.

When the CPU 20A decides to transfer the operation authority to another remote operator in the determination process of step S12, in the operation control device 10 of the vehicle 12 in step S13, the CPU 20A of the vehicle control device 20 switches the remote operator. Execute the notification process to notify the occupants of (change).

Next, in step S14A, in the operation control device 10 of the vehicle 12, the CPU 20A of the vehicle control device 20 transmits an authority transfer command for transferring the operation authority of the vehicle 12 to the remote control device 14B. At the same time, in step S15, in the operation control device 10, the CPU 20A of the vehicle control device 20 transmits a transfer notification command for notifying the transfer of the operation authority to the remote control device 14A.

Next, in step S14B, in the operation control device 10 of the vehicle 12, the CPU 20A of the vehicle control device 20 executes a switching process (remote operation switching process) for switching the remote operator. At the same time, in step S17, in the remote control device 14A, the CPU 40A of the remote control device 40 executes a termination process for terminating the process related to the remote operation. At the same time, in step S18, in the remote control device 14B, the CPU 40A of the remote control device 40 executes a switching process for performing remote operation. By the processing in each device, the switching from the remote control by the remote control device 14A to the remote control by the remote control device 14B is executed.

Next, in step S19, in the operation control device 10 of the vehicle 12, the CPU 20A of the vehicle control device 20 starts remote operation by the remote control device 14B. At the same time, in step S20, in the remote control device 14B, the CPU 40A of the remote control device 40 starts remote control. That is, the remote control device 14B receives the captured image of the camera 24A and the vehicle information of the internal sensor 26 from the vehicle 12, and also provides the remote control information for controlling the vehicle 12 toward the vehicle control device 20 of the vehicle 12. Send.

On the other hand, when the CPU 20A decides to return the operation authority to the vehicle 12 in the determination process of step S12, in the operation control device 10 of the vehicle 12, the CPU 20A of the vehicle control device 20 changes from remote operation to automatic operation in step S21. Execute notification processing to notify the occupants of the switch.

Next, in step S22, in the operation control device 10 of the vehicle 12, the CPU 20A of the vehicle control device 20 transmits a transfer notification command for notifying the transfer of the operation authority to the remote control device 14A.

Next, in step S23, the operation control device 10 of the vehicle 12 executes a switching process (automatic driving switching process) for the CPU 20A of the vehicle control device 20 to switch to automatic driving. At the same time, in step S24, in the remote control device 14A, the CPU 40A of the remote control device 40 executes a termination process for terminating the process related to the remote operation. By the processing in each device, the switching from the remote operation by the remote control device 14A to the automatic operation by the vehicle control device 20 is executed.

Then, in the next step S25, in the operation control device 10 of the vehicle 12, the CPU 20A of the vehicle control device 20 executes automatic operation.

Next, the determination process executed by the vehicle control device 20 of the operation control device 10 will be described with reference to the flowchart of FIG. 7.

In step S100 of FIG. 7, the CPU 20A acquires the traveling information of the vehicle 12 from the GPS device 22, the external sensor 24, and the internal sensor 26.

Next, in step S101, the CPU 20A acquires remote control information from the remote control device 14A or 14B.

Next, in step S102, the CPU 20A determines whether or not remote operation by the remote operator of the remote control device 14A or 14B is appropriate based on the acquired travel information and remote control information. If the determination is affirmed, the CPU 20A returns to step S100, and if this determination is denied, the CPU 20A proceeds to step S103.

In step S103, the CPU 20A determines whether or not another remote operator (in this embodiment, the remote operator of the remote control device 14B) has been secured. If the CPU 20A determines that another remote operator has been secured, the CPU 20A proceeds to step S104. On the other hand, if the CPU 20A determines that another remote operator has not been secured, the process proceeds to step S105.

In step S104, the CPU 20A decides to transfer the operation authority to another remote operator. Then, the determination process is completed and the process proceeds to step S13 of FIG.

In step S105, the CPU 20A decides to return the operating authority to the vehicle 12. Then, the determination process is completed and the process proceeds to step S21 of FIG.

(Summary of this embodiment)
In the driving control device 10 according to the present embodiment, the driving information acquisition unit 200 acquires the driving information of the vehicle 12 that can be remotely controlled by the remote operator of the remote control device 14A or 14B. Further, the driving determination unit 270 determines whether or not the above driving operation is appropriate by using the above driving information. That is, for example, if the behavior of the vehicle 12 is not stable and it is determined that the remote operator's driving operation is not appropriate, there is a possibility that an abnormality has occurred in the remote operator. Therefore, it is possible to detect an abnormality of the remote operator (abnormality of remote operation by the remote operator) based on the determination result of the operation determination unit 270.

Further, in the present embodiment, when the operation determination unit 270 determines that the operation of the remote operator is inappropriate, the operation can be switched to remote operation or automatic operation by another remote operator. As a result, the running of the vehicle 12 can be continued while ensuring the safety of the vehicle 12.

Further, in the present embodiment, since the above-mentioned operation control device 10 is mounted on the vehicle 12, the abnormality of the remote operator can be determined (detected) on the side of the vehicle 12. As a result, the safety of the vehicle 12 can be appropriately ensured on the side of the vehicle 12. Moreover, when the behavior of the vehicle 12 becomes unstable due to not only the abnormality of the remote operator but also the abnormality of the remote control device 14A or 14B or the communication abnormality of the network N1, those abnormalities can be detected. Therefore, the safety of the vehicle 12 can be suitably ensured.

(Supplementary explanation of the embodiment)
In the above embodiment, the case where the driving control device 10 is mounted on the vehicle 12 has been described, but the present invention is not limited to this. For example, the operation control device 10 may be configured by the processing server 18. In that case, for example, the processing server 18 is composed of a microcomputer including a CPU, a ROM, a RAM, a storage, and a communication I / F, expands a program stored in the ROM into the RAM, and executes the program in the CPU. As a result, the processing server 18 functions as a driving information acquisition unit 200, a driving determination unit 270, an operation stop unit 280, and the like.

Further, in the above embodiment, the operation control device 10 includes a travel information acquisition unit 200, a travel plan generation unit 240, an operation reception unit 250, a travel control unit 260, a driving determination unit 270, an operation stop unit 280, a delivery unit 290, and the like. The configuration is such that it functions as the notification unit 300, but the present invention is not limited to this. The driving control device 10 may at least function as a driving information acquisition unit 200 and a driving determination unit 270.

Further, in the above embodiment, the vehicle 12 is configured to be capable of performing manual driving, automatic driving, and remote driving, but the present invention is not limited to this, and the vehicle 12 is configured to be capable of executing only manual driving and remote driving. You may do it. In that case, for example, in the stop processing executed by the operation stop unit 280, the remote operation switching process or the manual operation switching process is executed.

Further, in the above embodiment, various processors other than the CPU may execute each process in which the CPUs 20A and 40A read the software (program) and execute the software (program). In this case, the processor includes a PLD (Programmable Logic Device) whose circuit configuration can be changed after manufacturing an FPGA (Field-Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), and the like. An example is a dedicated electric circuit or the like, which is a processor having a circuit configuration designed exclusively for the purpose. In addition, each process may be executed by one of these various processors, or a combination of two or more processors of the same type or different types (for example, a plurality of FPGAs, and a combination of a CPU and an FPGA, etc.). ) May be executed. Further, the hardware structure of these various processors is, more specifically, an electric circuit in which circuit elements such as semiconductor elements are combined.

Further, in the above embodiment, the program has been described in a manner in which the program is stored (installed) in advance on a non-temporary recording medium that can be read by a computer. For example, in the vehicle control device 20 of the vehicle 12, the control program is stored in the ROM 20B in advance. Further, in the remote control device 40 of the remote control device 14A or 14B, the processing program is stored in advance in the ROM 40B. However, the present invention is not limited to this, and each program is a non-temporary recording medium such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versaille Disc Read Only Memory), and a USB (Universal Serial Bus) memory. May be provided in the form provided. Further, each program may be downloaded from an external device via a network.

The processing flow described in the above embodiment is also an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be changed within a range that does not deviate from the gist.

In addition, the present invention can be implemented with various modifications without departing from the gist thereof. Further, it goes without saying that the scope of rights of the present invention is not limited to the above-described embodiment.

10 Driving control device 12 Vehicle 200 Driving information acquisition unit 270 Driving judgment unit

Claims (1)

A driving information acquisition unit that acquires driving information of a vehicle that can be driven remotely by a remote operator's driving operation,
A driving determination unit that determines whether or not the driving operation is appropriate using the driving information,
Operation control device equipped with.

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