JP5790696B2 - Vehicle remote control system and in-vehicle device - Google Patents

Description

  The present invention relates to a vehicle remote operation system and an in-vehicle device, and more particularly to a vehicle remote operation system and an in-vehicle device for remotely operating a vehicle from a communication terminal.

  Techniques that support operations during parking of vehicles have been proposed. For example, Patent Literature 1 discloses a parking guidance device that detects an empty space of a parking space based on an image captured by a front camera when a vehicle enters a parking lot. The parking guidance apparatus of patent document 1 predicts the delivery route when it is assumed that the vehicle is parked in forward parking and backward parking in the detected empty space. The parking guidance device of Patent Document 1 compares the predicted difficulty levels related to vehicle operations on each delivery route, and guides the parking method determined to be easy.

JP 2007-320433 A

  By the way, since the parking place is narrow and it is difficult to open the door greatly when the vehicle is parked, it is difficult to get on and off the vehicle of a person who is going to board. In addition, when it is raining or when there is heavy luggage, there may be situations where the person who intends to board does not want to move to the parking place. In such a situation, it is desired that the vehicle is delivered from the parking place to an appropriate position.

  Even with the above technique, a parking method with a low degree of difficulty related to vehicle operation on the exit route is guided, but an appropriate exit position itself must be determined by a human. Therefore, it is desired to further reduce the burden on humans at the time of delivery.

  The present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a remote control system and an in-vehicle device that can further reduce the burden on humans when leaving the store.

  The present invention is a vehicle remote control system that remotely controls a vehicle from a communication terminal, and determines a delivery position of the vehicle based on a parking position of the vehicle and a position of a passenger who is scheduled to board the vehicle. A vehicle remote control system including a determination unit.

  According to this configuration, in the vehicle remote control system that remotely controls the vehicle from the communication terminal, the exit position determination unit can issue the exit of the vehicle based on the parking position of the vehicle and the position of the passenger who is scheduled to board the vehicle. Determine the position. Accordingly, the vehicle can be discharged according to the parking position of the vehicle and the position of the occupant, and convenience in leaving operation and boarding the vehicle is improved.

  In this case, the exit position determination unit can determine the exit position of the vehicle based on obstacles existing around the passenger.

  According to this configuration, the leaving position determining unit determines the leaving position of the vehicle based on the obstacle present around the passenger. As a result, in addition to the parking position of the vehicle and the position of the occupant, the vehicle can be evacuated according to obstacles around the occupant, further improving convenience in the evacuation operation and boarding the vehicle. To do.

  The delivery position determination unit may determine the delivery position of the vehicle based on the width of the road around the passenger.

  According to this configuration, the delivery position determination unit determines the delivery position of the vehicle based on the width of the road around the passenger. Thereby, in addition to the parking position of the vehicle and the position of the occupant, the vehicle can be discharged according to the width of the road around the occupant, and the convenience in leaving the vehicle and boarding the vehicle is further improved. .

  In addition, the exit position determination unit is configured such that the distance between the obstacle present around the passenger and the passenger is greater than the vehicle width of the vehicle, and the vehicle is not switched between forward and backward from the parking position. When it is possible to move to the position where the driver's seat is stopped, the position where the vehicle's driver's seat is stopped toward the passenger is determined as the exit position.

  According to this configuration, the unloading position determination unit can get on the vehicle without switching the forward and backward from the parking position, and the distance between the obstacle present around the passenger and the passenger is larger than the vehicle width of the vehicle. When it is possible to move to a position where the driver's seat of the vehicle is stopped toward the passenger, the position at which the driver's seat of the vehicle is stopped toward the passenger is determined as the exit position. Thereby, when the situation permits, it is possible to leave the vehicle at a position where the rider stops with the driver's seat of the vehicle facing, and convenience in boarding the vehicle is further improved.

  In addition, the exit position determination unit is configured to provide a vehicle to the rider when the distance between the obstacle present around the rider and the rider is equal to or less than the vehicle width of the vehicle, and without switching the vehicle forward and backward from the parking position. When it is impossible to move to the position where the driver's seat is stopped, the vehicle's front end of the vehicle is pointed at the position where the passenger stops at any seat other than the driver's seat of the vehicle. One of the positions where the vehicle stops is determined as the delivery position.

  According to this configuration, the unloading position determination unit is configured so that the distance between the obstacle present around the rider and the rider is equal to or less than the vehicle width of the vehicle, and the vehicle does not switch forward and backward from the parking position. When it is impossible to move to the position where the driver's seat of the vehicle is stopped toward the passenger, the vehicle is positioned at the position where the passenger stops at any seat other than the driver's seat of the vehicle. One of the positions where the front end of the vehicle stops is determined as the delivery position. As a result, even in a situation where it is impossible to leave the vehicle at a position where the driver's seat of the vehicle is stopped toward the passenger, the vehicle can be discharged to a position where the passenger can easily board the vehicle. In addition, convenience in boarding the vehicle is further improved.

  The delivery position determination unit can determine the delivery position of the vehicle based on the traffic volume on the road around the passenger.

  According to this configuration, the leaving position determination unit determines the leaving position of the vehicle based on the traffic volume on the road around the passenger. Thereby, in addition to the parking position of the vehicle and the position of the occupant, the vehicle can be discharged according to the traffic volume of the road around the occupant and can be further harmonized with the surrounding road traffic. .

  In this case, when the traffic volume of the road around the occupant is equal to or greater than a predetermined threshold, the evacuation position determination unit can determine the position at which another vehicle can pass on the road around the occupant as the evacuation position. .

  According to this configuration, when the traffic volume on the road around the occupant is equal to or greater than the predetermined threshold, the evacuation position determination unit determines a position at which another vehicle can pass on the road around the occupant as the evacuation position. . Thereby, even when the traffic volume of the road around the passenger is large, the vehicle can be discharged to a position where other vehicles are not obstructed, and harmony with the surrounding road traffic can be further improved.

  In addition, the vehicle further includes an automatic unloading unit that moves the vehicle to the unloading position of the vehicle determined by the unloading position determination unit after the vehicle starts from the position where the vehicle is parked, without operating the communication terminal. I can do it.

  According to this configuration, after the vehicle has started from the position where the vehicle is parked, the vehicle is moved to the vehicle exit position determined by the exit position determination unit without being operated by the communication terminal. Move. Therefore, no operation to the communication terminal is required during the movement of the vehicle, and the exit operation is further facilitated.

  Moreover, it can be further provided with a pause unit for temporarily stopping the moving vehicle by remote control from the communication terminal.

  According to this configuration, for safety, parking assistance or vehicle movement can be temporarily stopped by remote operation from the communication terminal.

  On the other hand, the present invention is an in-vehicle device mounted on a vehicle in a vehicle remote control system that remotely controls the vehicle from a communication terminal, and is based on the parking position of the vehicle and the position of the rider who is scheduled to board the vehicle. The vehicle-mounted device includes a delivery position determination unit that determines the delivery position of the vehicle.

  In this case, the exit position determination unit can determine the exit position of the vehicle based on obstacles existing around the passenger.

  The delivery position determination unit may determine the delivery position of the vehicle based on the width of the road around the passenger.

  In addition, the exit position determination unit is configured such that the distance between the obstacle present around the passenger and the passenger is greater than the vehicle width of the vehicle, and the vehicle is not switched between forward and backward from the parking position. When it is possible to move to the position where the driver's seat is stopped, the position where the vehicle's driver's seat is stopped toward the passenger is determined as the exit position.

  In addition, the exit position determination unit is configured to provide a vehicle to the rider when the distance between the obstacle present around the rider and the rider is equal to or less than the vehicle width of the vehicle, and without switching the vehicle forward and backward from the parking position. When it is impossible to move to the position where the driver's seat is stopped, the vehicle's front end of the vehicle is pointed at the position where the passenger stops at any seat other than the driver's seat of the vehicle. One of the positions where the vehicle stops is determined as the delivery position.

  The delivery position determination unit can determine the delivery position of the vehicle based on the traffic volume on the road around the passenger.

  In this case, when the traffic volume of the road around the occupant is equal to or greater than a predetermined threshold, the evacuation position determination unit can determine the position at which another vehicle can pass on the road around the occupant as the evacuation position. .

  In this case, after the vehicle starts from the position where the vehicle is parked, the vehicle further includes an automatic unloading unit that moves the vehicle to the unloading position of the vehicle determined by the unloading position determining unit without operating the communication terminal. I can do it.

  Moreover, it can be further provided with a pause unit for temporarily stopping the moving vehicle by remote control from the communication terminal.

  According to the vehicle remote control system and the vehicle-mounted device of the present invention, convenience in leaving operation and boarding the vehicle is improved.

It is a block diagram which shows the structure of the vehicle equipment in the vehicle remote control system which concerns on embodiment. It is a block diagram which shows the structure of the portable terminal in the vehicle remote control system which concerns on embodiment. It is a flowchart which shows operation | movement of the vehicle remote control system which concerns on embodiment, and mainly shows operation | movement when an operator is located in the right side of a vehicle. It is a flowchart which shows operation | movement of the vehicle remote control system which concerns on embodiment, and mainly shows operation | movement when an operator is located in the right side of a vehicle. It is a flowchart which shows operation | movement of the vehicle remote control system which concerns on embodiment, and mainly shows operation | movement when there is much traffic. It is a top view which shows the definition of each dimension in a parking position. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position which a door opens. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the bonnet of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the driver's seat of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the left rear seat of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the driver's seat of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the left seat of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the bonnet of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the driver's seat of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the left rear seat of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the left seat of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows the operation | movement which a vehicle stops in the position where an operator faces the driver's seat of a vehicle. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows operation | movement in case the traffic volume of a road is large and the road is the width | variety which can pass on both sides. It is a top view which shows the operation | movement at the time of delivery which concerns on embodiment, and shows operation | movement in case the traffic volume of a road is large and the road is the width | variety which cannot pass on both sides. It is a flowchart which shows operation | movement of the vehicle remote control system which concerns on embodiment, and shows a series of operation | movement performed by parking and delivery. It is a flowchart which shows operation | movement of the vehicle remote control system which concerns on embodiment, and shows operation | movement when there exists an obstruction.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the vehicle remote control system and the vehicle-mounted device of the present embodiment, in a situation where the parking place is narrow and the vehicle is parked, it is difficult to open the door and it is difficult to get on and off the vehicle, the driver etc. Is to leave the parking place by remote control. In addition, the vehicle remote control system and the vehicle-mounted device of the present embodiment are for drivers to leave a vehicle from a parking place by remote control from a portable terminal when it is raining or when there is heavy luggage. It is.

  As shown in FIG. 1, the in-vehicle device 100 mounted on the vehicle in the remote operation system of the present embodiment includes a communication unit 101, a GPS 102, a radar sensor 103, an ultrasonic sensor 104, a vehicle speed detection unit 105, and a steering angle detection unit 106. , ECU 110, steering control unit 122, driving force control unit 124, and braking force control unit 126 are provided.

  The communication unit 101 is a part for transmitting and receiving wireless signals to and from the mobile terminal. Moreover, the communication part 101 is a site | part for acquiring the information regarding a surrounding road and traffic condition by road-to-vehicle communication with roadside facilities, such as an optical beacon, and vehicle-to-vehicle communication with another vehicle.

  A GPS (Global Positioning System) 102 is a part for measuring the position of the host vehicle. The GPS 102 is also used to acquire information on road shapes and facilities around the host vehicle from map information in the database and the position of the host vehicle.

  The radar sensor 103 and the ultrasonic sensor 104 are sensors for detecting obstacles around the host vehicle. The radar sensor 103 and the ultrasonic sensor 104 are also used to acquire information related to the road shape around the host vehicle. The radar sensor 103 and the ultrasonic sensor 104 are also used to detect the position of a user who is scheduled to board the own vehicle.

  The vehicle speed detection unit 108 is a part for detecting the vehicle speed of the vehicle from the rotational speed of the wheels. The rudder angle detector 110 is a part for detecting the rudder angle of the vehicle.

  The ECU (Electronic Control Unit) 110 includes a main control unit 112 and setting information 114. This is a part for comprehensively controlling each component of the in-vehicle device 100. The main control unit 112 parks and unloads the vehicle by remote operation according to a predetermined parking program or unloading program according to a communication signal from the mobile terminal. The setting information storage unit 114 stores information related to the previous parking position and the leaving position of the host vehicle. The setting information storage unit 114 stores information set by the user regarding parking and leaving.

  The steering control unit 122 is a part for performing steering without changing the steering operation input to the steering wheel in accordance with a command signal from the main control unit 112 of the ECU 110 and changing the traveling direction of the vehicle. The driving force control unit 124 is a part for changing the driving force of the vehicle by opening and closing the throttle valve in accordance with the command signal from the main control unit 112 without depending on the acceleration operation input to the accelerator pedal. The braking force control unit 126 is a part for changing the braking force of the vehicle by controlling the brake hydraulic pressure without depending on the braking operation input to the brake pedal in accordance with the command signal from the main control unit 112.

  On the other hand, as shown in FIG. 2, a mobile terminal 200 for a user to remotely operate a vehicle outside a vehicle compartment includes a communication unit 202, a GPS 204, and a user input unit 206.

  The communication unit 202 is a part for transmitting and receiving radio signals to and from the in-vehicle device 100. The GPS 204 is a part for measuring the position of the user. The user input unit 206 is a part for a user who operates the vehicle remotely to input information for operation. The user input unit 206 includes operation keys and buttons that cause the in-vehicle device 100 to execute a parking program and a delivery program and change the setting information.

  Hereinafter, operations of the vehicle remote control system and the in-vehicle device will be described. As shown in FIG. 6, in the vehicle remote control system of this embodiment, the parking place P is narrow, and it is difficult to open the door greatly when the host vehicle VM is parked, and the user U can get on from the host vehicle VM. Assume a difficult situation. In the vehicle remote operation system according to the present embodiment, the user U leaves the parking place P and issues the own vehicle VM on which the in-vehicle device 100 is mounted from the portable terminal 200 to the position of the user U by remote operation according to a predetermined exit program. Used in situations where

  Moreover, the vehicle remote control system of this embodiment is applicable also when the user U does not want to move to the parking position P because it gets wet in the rain. Further, the vehicle remote control system of the present embodiment can be applied when the user does not want to move to the parking position P because he / she has a heavy and large luggage. In the present embodiment, the user U who is scheduled to board the own vehicle VM does not necessarily need to operate the mobile terminal 200, and another person may operate the mobile terminal 200.

  In the following description, the dimensions of each part are defined as shown in FIG. These data can be acquired by the communication unit 101 or the GPS 102 or detected by the radar sensor 103 or the ultrasonic sensor 104 when the in-vehicle device 100 executes the delivery program. Further, when the host vehicle enters the parking place P, the vehicle-mounted device 100 can detect the radar sensor 103 or the ultrasonic sensor 104. Alternatively, the user U may input data from the mobile terminal 200 through the user input unit 206 and transmit the data to the in-vehicle device 100 side through the communication unit 202.

  In the following description, it is assumed that the host vehicle is parked with its front facing a road extending in the left-right direction and the driver's seat of the host vehicle VM is located on the right side of the vehicle. To do. When the host vehicle is parked with the front facing the road, or when the driver's seat of the host vehicle VM is located on the left side of the vehicle, the following description is reversed.

  When the user U operates the user input unit 206 of the mobile terminal 200, the communication unit 202 transmits a command signal to the in-vehicle device 100, and the delivery program is executed. In the delivery program executed below, it is assumed that a delivery position at which the host vehicle VM can reach the parking place P without switching forward and backward is set. Once the user U operates the user input unit 206 of the portable terminal 200 and the own vehicle VM starts, the vehicle-mounted device 100 automatically moves the own vehicle VM to the delivery position without requiring an operation on the portable terminal 200. To run.

  When the exit program is executed, as shown in FIG. 3, the main control unit 112 of the in-vehicle device 100 determines the distance S to the obstacle ahead of the host vehicle VM and the obstacle of the user U. The distance a is compared (S101). In the example of FIG. 6, obstacles are wall surfaces and facilities at both ends of the road, and the distance S is the width of the road. When a> S (S101), as shown in FIG. 7, the main control unit 112 moves the host vehicle VM to a position where the door can be opened to the right and left (S102).

  The main control unit 112 determines whether or not the user U is located on the right side of the host vehicle VM (S103). When the user U is located on the right side (S103), the main control unit 112 compares the distance c between the user U and the parked host vehicle VM with the total length e of the host vehicle VM (S104). When c> e (S104), that is, when the user U is far from the parking position P and the vehicle body can be directed parallel to the road, the main control unit 112 automatically The distance a of the user U from the obstacle in front facing the vehicle VM is compared with the full width d of the host vehicle VM (S105).

  When d / 2 ≦ a ≦ d (S105), as shown in FIG. 8, the main control unit 112 moves the host vehicle VM to a position where the user U faces the bonnet (S106). When a> d (S105), that is, when the distance a between the user U and the nearby obstacle is larger than the entire width d of the host vehicle VM, as shown in FIG. The host vehicle VM is moved to a position where U faces the driver's seat (S107). When a <d / 2 (S105), as shown in FIG. 10, the main control unit 112 moves the host vehicle VM to a position where the user U faces the left rear seat (S109).

  In S104, when c> e is not satisfied, that is, when the own vehicle VM is out of the parking position P because the user U is close and the vehicle body cannot be directed parallel to the road, the distance between the user U and the nearby obstacle It is compared whether a is larger than the full width d of the host vehicle VM (S109). When a> d (S109), as shown in FIG. 11, the main control unit 112 moves the host vehicle VM to a position where the user U faces the driver's seat (S110). When a> d is not satisfied (S109), as shown in FIG. 12, the main control unit 112 moves the host vehicle VM to a position where the user U faces the left seat (S111).

  When the user U is located on the left side in S103, when c> e (S112), that is, because the user U is far away, the own vehicle VM leaves the parking position P, and the vehicle body is directed parallel to the road. When it is possible, the main control unit 112 compares the distance b of the user U from the obstacle present on the side where the host vehicle VM is parked with the full width d of the host vehicle VM (S113).

  When d / 2 ≦ b ≦ d (S113), as shown in FIG. 13, the main control unit 112 moves the host vehicle VM to a position where the user U faces the bonnet (S114). When b> d (S113), that is, when the distance b between the user U and the nearby obstacle is larger than the total width d of the host vehicle VM, as shown in FIG. The host vehicle VM is moved to a position where U faces the driver's seat (S115). When b <d / 2 (S113), as shown in FIG. 15, the main control unit 112 moves the host vehicle VM to a position where the user U faces the left rear seat (S116).

  In S112, when c> e is not satisfied, that is, when the host vehicle VM is out of the parking position P and the vehicle body cannot be directed parallel to the road because the user U is near, the distance between the user U and the nearby obstacle It is compared whether or not b is larger than the full width d of the host vehicle VM (S117). When b> d (S117), as shown in FIG. 17, the main control unit 112 moves the host vehicle VM to a position where the user U faces the driver's seat (S118). When b> d is not satisfied (S117), as shown in FIG. 16, the main control unit 112 moves the host vehicle VM to a position where the user U faces the left seat (S119).

  As shown in FIG. 5, the main control unit 112 determines the traffic volume around the user U based on information obtained from the communication unit 101 and the GPS 102 and information on objects detected by the radar sensor 103 and the ultrasonic sensor 104. Is determined (S120). When the traffic volume around the user U is larger than the predetermined threshold (S120), the main control unit 112 determines whether or not the road around the user U can pass on both sides (S121). When the road around the user U can pass on both sides (S121), as shown in FIG. 18, the main control unit 112 corrects the stop position so that the subsequent other vehicle VO can pass the road (S122). ). When the road around the user U is not allowed to pass on both sides (S121), as shown in FIG. 19, the main control unit 112 corrects the stop position to the position where the door of the host vehicle VM is opened (S122). In the above process, when an operation for temporarily stopping the host vehicle VM is performed by a remote operation from the mobile terminal 200, the hand control unit 112 stops the host vehicle VM.

  The vehicle remote control system of the present embodiment described above can be used as follows in a parking place that is used daily or frequently. As shown in FIG. 20, the driver U or the user U who performs a remote operation with the mobile terminal 200 parks the host vehicle VM in the parking place P as shown in FIG. 6 (S <b> 201). The main control unit 112 stores the parking position in the setting information storage unit 114 (S202). Next, the driver or the user U who performs a remote operation with the mobile terminal 200 as described above causes the host vehicle VM to leave (S203). The main control unit 112 stores the delivery position where the user U is greeted in the setting information storage unit 114 (S204). Thereby, in a parking place used every day or frequently, parking and delivery can be performed without repeating operations such as setting the delivery position.

  Further, when leaving the vehicle by remote operation as described above, there is a possibility that an obstacle exists on the track on which the host vehicle VM travels, and the following measures are taken for the obstacle. As shown in FIG. 21, the user U operates an exit switch or the like of the user input unit 206 of the mobile terminal 200 (S301). The main control unit 112 of the in-vehicle device 100 sets a delivery position as described above from the current position of the user U and the host vehicle VM, and generates a track for running the host vehicle VM (S302). The main control unit 112 automatically drives the host vehicle VM along the generated track without requiring an operation on the mobile terminal 200 or the host vehicle VM (S303).

  When the laser sensor 103 or the ultrasonic sensor 104 detects an obstacle on the orbit (S304) and the obstacle is a stationary object (S305), the main control unit 112 avoids the obstacle. The trajectory that can reach the delivery position is reset (S306). When the obstacle is not a stationary object (S305), the main control unit 112 stops the host vehicle VM until the obstacle no longer exists on the track (S307, S304). The above operation is executed until the host vehicle VM reaches the leaving position (S308). Similarly to the first embodiment, when an operation for temporarily stopping the host vehicle VM is performed by a remote operation from the mobile terminal 200, the hand control unit 112 can stop the host vehicle VM.

  According to the present embodiment, in the vehicle remote control system that remotely controls the host vehicle VM from the mobile terminal 200, the main control unit 112 of the ECU 110 of the in-vehicle device 100 is scheduled to board the parking position of the host vehicle VM and the host vehicle VM. The delivery position of the host vehicle VM is determined based on the position of the user U. Thereby, it becomes possible to make the own vehicle VM go out according to the parking position of the own vehicle VM and the position of the user U, and the convenience in leaving operation and boarding into the own vehicle VM is improved.

  Further, the main control unit 112 determines a delivery position of the host vehicle VM based on obstacles around the user U. As a result, in addition to the parking position of the host vehicle VM and the position of the user U, the host vehicle VM can be dispatched according to obstacles around the user U, and the unloading operation and boarding of the host vehicle VM can be performed. Convenience is further improved.

  Further, the main control unit 112 determines the delivery position of the host vehicle VM based on the distance S that is the width of the road around the user U. Thereby, in addition to the parking position of the own vehicle VM and the position of the user U, the own vehicle VM can be issued according to the width of the road around the user U, and in the exit operation and boarding of the own vehicle VM Convenience is further improved.

  The main control unit 112 also determines that the distances a and b between the obstacles such as walls and facilities existing around the user U and the user U are larger than the vehicle width d of the vehicle, and the host vehicle VM moves forward from the parking position. And when it can move to the position which stops the driver's seat of the own vehicle VM toward the user U, without switching backwards, the position which stops the driver's seat of the own vehicle VM toward the user U is determined as the delivery position. As a result, when the situation permits, it is possible to let the user U leave the vehicle U at a position where the user U faces the driver's seat, and the convenience in boarding the host vehicle VM is further improved. .

  The main control unit 112 also parks the host vehicle VM when the distances a and b between the user U and obstacles such as walls and facilities existing around the user U are equal to or less than the vehicle width d of the host vehicle VM. If it is not possible to move to a position where the driver's seat of the own vehicle VM is directed toward the user U without switching forward and backward from the position, any one other than the driver's seat of the own vehicle VM is given to the user U One of the position where the vehicle stops with its seat and the position where it stops with the bonnet of the host vehicle VM facing the user is determined as the delivery position. As a result, even if it is impossible for the user U to leave the host vehicle VM at a position where the driver's seat of the host vehicle VM is stopped at the user U, the user U can easily get on the host vehicle VM. The VM can be issued, and convenience in boarding the host vehicle VM is further improved.

  In addition, the main control unit 112 determines the delivery position of the host vehicle VM based on the traffic volume on the road around the user U. As a result, in addition to the parking position of the host vehicle VM and the position of the user U, the host vehicle VM can be issued according to the traffic volume of the road around the user U, and more harmonized with the surrounding road traffic. Can be planned.

  In addition, when the traffic volume on the road around the user U is equal to or greater than a predetermined threshold, the main control unit 112 determines the position where the other vehicle VO can pass on the road around the user U as the delivery position. As a result, even when the traffic volume on the road around the user U is high, the host vehicle VM can be issued at a position where the other vehicle VO is not obstructed to pass, thereby further harmonizing with the surrounding road traffic. Can do.

  Moreover, according to this embodiment, after the own vehicle VM starts from the position where the own vehicle VM is parked, the main control unit 112 does not depend on the operation on the mobile terminal 200 and reaches the determined delivery position. The own vehicle VM is moved. Therefore, during the movement of the host vehicle VM, an operation on the mobile terminal 200 is not necessary, and the exit operation is further facilitated.

  In addition, according to the present embodiment, the main control unit 112 temporarily stops the moving vehicle VM by an operation from the mobile terminal 200. Therefore, for safety, parking assistance or the host vehicle VM can be temporarily stopped by an operation from the mobile terminal 200.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made.

DESCRIPTION OF SYMBOLS 100 ... Vehicle equipment, 101 ... Communication part, 102 ... GPS, 103 ... Radar sensor, 104 ... Ultrasonic sensor, 105 ... Vehicle speed detection part, 106 ... Steering angle detection part, 110 ... ECU, 112 ... Main control part, 114 ... Setting information storage unit 122 ... Steering control unit 124 ... Driving force control unit 126 ... Braking force control unit 200 ... Portable terminal 202 ... Communication unit 204 ... GPS 206 206 User input unit

Claims (8)

A communication terminal communication unit that transmits and receives radio signals to and from the vehicle, a passenger positioning unit that measures the position of a passenger who is scheduled to board the vehicle, and an input unit that inputs information for remote operation by the passenger the vehicles from the communication terminal has a vehicle remote control system for remotely controlling,
And unloading position determining unit for determining one of the position, which stops towards the front end of the vehicle position and the passenger stops toward one of the seats of the vehicle to the occupant in the unloading position of the vehicle,
After the vehicle starts from the parked position of the vehicle, the automatic movement of the vehicle to the unloading position determined by the unloading position determining unit is not performed by operating the input unit of the communication terminal. A shipping unit,
With
The delivery position determination unit is
A vehicle communication unit that transmits and receives radio signals to and from the communication terminal; a vehicle positioning unit that acquires information on a road shape and facilities around the vehicle while measuring the position of the vehicle; and for detecting obstacles around the vehicle With a sensor of
When information for the remote operation is input to the input unit, information on the position of the passenger measured by the rider positioning unit and information for the remote operation input to the input unit Obtained via the communication terminal communication unit and the vehicle communication unit,
Information on the position of the passenger acquired through the communication terminal communication unit and the vehicle communication unit and information for the remote operation, information on the position of the vehicle acquired by the vehicle positioning unit, the vehicle positioning Based on information about road shapes and facilities around the vehicle acquired by the vehicle and information about obstacles around the vehicle detected by the sensor, Information on the distance of the vehicle, information on the position where the driver's seat of the vehicle is stopped toward the passenger, information on the position where the vehicle stops at the front end of the vehicle, and driving of the vehicle to the passenger Get information about where to stop with any seat other than seats,
When the distance between the obstacle present around the rider and the rider is larger than the full width of the vehicle, the position at which the driver's seat of the vehicle is stopped toward the rider is determined as the exit position,
When the distance between the obstacle present around the rider and the rider is equal to or less than the full width of the vehicle and equal to or greater than a distance threshold smaller than the full width of the vehicle, the front end of the vehicle is Determine the position to stop at the said delivery position,
When the distance between the obstacle present around the rider and the rider is smaller than the distance threshold, a position where the rider stops at a seat other than the driver's seat of the vehicle is set to the rider. A vehicle remote control system that determines the delivery position. A communication terminal communication unit that transmits and receives radio signals to and from the vehicle, a passenger positioning unit that measures the position of a passenger who is scheduled to board the vehicle, and an input unit that inputs information for remote operation by the passenger the vehicles from the communication terminal has a vehicle remote control system for remotely controlling,
And unloading position determining unit for determining one of the position, which stops towards the front end of the vehicle position and the passenger stops toward one of the seats of the vehicle to the occupant in the unloading position of the vehicle,
After the vehicle starts from the parked position of the vehicle, the automatic movement of the vehicle to the unloading position determined by the unloading position determining unit is not performed by operating the input unit of the communication terminal. A shipping unit,
With
The delivery position determination unit is
A vehicle communication unit that transmits and receives radio signals to and from the communication terminal; a vehicle positioning unit that acquires information on a road shape and facilities around the vehicle while measuring the position of the vehicle; and for detecting obstacles around the vehicle With a sensor of
When information for the remote operation is input to the input unit, information on the position of the passenger measured by the rider positioning unit and information for the remote operation input to the input unit Obtained via the communication terminal communication unit and the vehicle communication unit,
Information on the position of the passenger acquired through the communication terminal communication unit and the vehicle communication unit and information for the remote operation, information on the position of the vehicle acquired by the vehicle positioning unit, the vehicle positioning Based on information about road shapes and facilities around the vehicle acquired by the unit, and information about obstacles around the vehicle detected by the sensor, the wall surface of the side edge of the front road that the vehicle faces Information about the distance between the vehicle and the vehicle, information about the distance between the wall surface and the occupant, information about the position where the vehicle can be released to the right or left and the door of any seat of the vehicle opens, Information on the distance between the obstacle present around the passenger and the rider, information on the position where the vehicle stops at the driver's seat, and the vehicle on the rider Information about the position of stop toward the front end, and to obtain information about the position, which stops toward one of the seats other than the driver's seat of the vehicle to the occupant,
When the distance between the wall surface and the vehicle is smaller than the distance between the wall surface and the occupant, the vehicle can be left or right and the position at which the door of any seat of the vehicle opens is Determine the delivery location,
When the distance between the wall surface and the vehicle is not smaller than the distance between the wall surface and the passenger,
When the distance between the obstacle present around the rider and the rider is larger than the full width of the vehicle, the position at which the driver's seat of the vehicle is stopped toward the rider is determined as the exit position,
When the distance between the obstacle present around the rider and the rider is equal to or less than the full width of the vehicle and equal to or greater than a distance threshold smaller than the full width of the vehicle, the front end of the vehicle is Determine the position to stop at the said delivery position,
When the distance between the obstacle present around the rider and the rider is smaller than the distance threshold, a position where the rider stops at a seat other than the driver's seat of the vehicle is set to the rider. A vehicle remote control system that determines the delivery position. A communication terminal communication unit that transmits and receives radio signals to and from the vehicle, a passenger positioning unit that measures the position of a passenger who is scheduled to board the vehicle, and an input unit that inputs information for remote operation by the passenger the vehicles from the communication terminal has a vehicle remote control system for remotely controlling,
And unloading position determining unit for determining one of the position, which stops towards the front end of the vehicle position and the passenger stops toward one of the seats of the vehicle to the occupant in the unloading position of the vehicle,
After the vehicle starts from the parked position of the vehicle, the automatic movement of the vehicle to the unloading position determined by the unloading position determining unit is not performed by operating the input unit of the communication terminal. A shipping unit,
With
The delivery position determination unit is
A vehicle communication unit that acquires information on traffic conditions around the vehicle while transmitting and receiving radio signals to and from the communication terminal, and a vehicle positioning unit that acquires information on road shapes and facilities around the vehicle while measuring the position of the vehicle And a sensor for detecting obstacles around the vehicle,
When information for the remote operation is input to the input unit, information on the position of the passenger measured by the rider positioning unit and information for the remote operation input to the input unit Obtained via the communication terminal communication unit and the vehicle communication unit,
Information on the position of the passenger acquired through the communication terminal communication unit and the vehicle communication unit and information for the remote operation, information on the position of the vehicle acquired by the vehicle positioning unit, the vehicle positioning The position where other vehicles can pass on the road around the passenger based on the information on the road shape and facilities around the vehicle acquired by the section and the information on the obstacle around the vehicle detected by the sensor Information on the distance between the obstacles present around the rider and the rider, information on the position of the vehicle with the driver's seat facing the rider, and the front end of the vehicle on the rider. Information on a position where the vehicle stops and information on a position where the vehicle stops at any seat other than the driver's seat of the vehicle toward the passenger,
Information about the position of the passenger acquired via the communication terminal communication unit and the vehicle communication unit, information about the traffic situation around the vehicle acquired via the vehicle communication unit, and the sensor detected by the sensor Based on information about obstacles around the vehicle, obtain information on the traffic volume of the road around the passenger,
When the traffic volume of the road around the rider is equal to or greater than the traffic volume threshold, a position where other vehicles can pass through the road around the rider is determined as the exit position,
When the traffic volume on the road around the passenger is less than the traffic threshold,
When the distance between the obstacle present around the rider and the rider is larger than the full width of the vehicle, the position at which the driver's seat of the vehicle is stopped toward the rider is determined as the exit position,
When the distance between the obstacle present around the rider and the rider is equal to or less than the full width of the vehicle and equal to or greater than a distance threshold smaller than the full width of the vehicle, the front end of the vehicle is Determine the position to stop at the said delivery position,
When the distance between the obstacle present around the rider and the rider is smaller than the distance threshold, a position where the rider stops at a seat other than the driver's seat of the vehicle is set to the rider. A vehicle remote control system that determines the delivery position.   The vehicle remote control system according to any one of claims 1 to 3, further comprising a pause unit that temporarily stops the moving vehicle by a remote operation from the communication terminal. A communication terminal communication unit that transmits and receives radio signals to and from the vehicle, a passenger positioning unit that measures the position of a passenger who is scheduled to board the vehicle, and an input unit that inputs information for remote operation by the passenger the vehicles from the communication terminal has a vehicle-mounted device mounted on the vehicle in the vehicle remote control system for remotely controlling,
And unloading position determining unit for determining one of the position, which stops towards the front end of the vehicle position and the passenger stops toward one of the seats of the vehicle to the occupant in the unloading position of the vehicle,
After the vehicle has started from a position where the vehicle is parked, an automatic unloading unit that moves the vehicle to the unloading position determined by the unloading position determining unit without operation to the communication terminal;
With
The delivery position determination unit is
A vehicle communication unit that transmits and receives radio signals to and from the communication terminal; a vehicle positioning unit that acquires information on a road shape and facilities around the vehicle while measuring the position of the vehicle; and for detecting obstacles around the vehicle With a sensor of
When information for the remote operation is input to the input unit, information on the position of the passenger measured by the rider positioning unit and information for the remote operation input to the input unit Obtained via the communication terminal communication unit and the vehicle communication unit,
Information on the position of the passenger acquired through the communication terminal communication unit and the vehicle communication unit and information for the remote operation, information on the position of the vehicle acquired by the vehicle positioning unit, the vehicle positioning Based on information about road shapes and facilities around the vehicle acquired by the vehicle and information about obstacles around the vehicle detected by the sensor, Information on the distance of the vehicle, information on the position where the driver's seat of the vehicle is stopped toward the passenger, information on the position where the vehicle stops at the front end of the vehicle, and driving of the vehicle to the passenger Get information about where to stop with any seat other than seats,
When the distance between the obstacle present around the rider and the rider is larger than the full width of the vehicle, the position at which the driver's seat of the vehicle is stopped toward the rider is determined as the exit position,
When the distance between the obstacle present around the rider and the rider is equal to or less than the full width of the vehicle and equal to or greater than a distance threshold smaller than the full width of the vehicle, the front end of the vehicle is Determine the position to stop at the said delivery position,
When the distance between the obstacle present around the rider and the rider is smaller than the distance threshold, a position where the rider stops at a seat other than the driver's seat of the vehicle is set to the rider. In-vehicle device that determines the delivery position. A communication terminal communication unit that transmits and receives radio signals to and from the vehicle, a passenger positioning unit that measures the position of a passenger who is scheduled to board the vehicle, and an input unit that inputs information for remote operation by the passenger the vehicles from the communication terminal has a vehicle-mounted device mounted on the vehicle in the vehicle remote control system for remotely controlling,
And unloading position determining unit for determining one of the position, which stops towards the front end of the vehicle position and the passenger stops toward one of the seats of the vehicle to the occupant in the unloading position of the vehicle,
After the vehicle has started from a position where the vehicle is parked, an automatic unloading unit that moves the vehicle to the unloading position determined by the unloading position determining unit without operation to the communication terminal;
With
The delivery position determination unit is
A vehicle communication unit that transmits and receives radio signals to and from the communication terminal; a vehicle positioning unit that acquires information on a road shape and facilities around the vehicle while measuring the position of the vehicle; and for detecting obstacles around the vehicle With a sensor of
When information for the remote operation is input to the input unit, information on the position of the passenger measured by the rider positioning unit and information for the remote operation input to the input unit Obtained via the communication terminal communication unit and the vehicle communication unit,
Information on the position of the passenger acquired through the communication terminal communication unit and the vehicle communication unit and information for the remote operation, information on the position of the vehicle acquired by the vehicle positioning unit, the vehicle positioning Based on information about road shapes and facilities around the vehicle acquired by the unit, and information about obstacles around the vehicle detected by the sensor, the wall surface of the side edge of the front road that the vehicle faces Information about the distance between the vehicle and the vehicle, information about the distance between the wall surface and the occupant, information about the position where the vehicle can be released to the right or left and the door of any seat of the vehicle opens, Information on the distance between the obstacle present around the passenger and the rider, information on the position where the vehicle stops at the driver's seat, and the vehicle on the rider Information about the position of stop toward the front end, and to obtain information about the position, which stops toward one of the seats other than the driver's seat of the vehicle to the occupant,
When the distance between the wall surface and the vehicle is smaller than the distance between the wall surface and the occupant, the vehicle can be left or right and the position at which the door of any seat of the vehicle opens is Determine the delivery location,
When the distance between the wall surface and the vehicle is not smaller than the distance between the wall surface and the passenger,
When the distance between the obstacle present around the rider and the rider is larger than the full width of the vehicle, the position at which the driver's seat of the vehicle is stopped toward the rider is determined as the exit position,
When the distance between the obstacle present around the rider and the rider is equal to or less than the full width of the vehicle and equal to or greater than a distance threshold smaller than the full width of the vehicle, the front end of the vehicle is Determine the position to stop at the said delivery position,
When the distance between the obstacle present around the rider and the rider is smaller than the distance threshold, a position where the rider stops at a seat other than the driver's seat of the vehicle is set to the rider. In-vehicle device that determines the delivery position. A communication terminal communication unit that transmits and receives radio signals to and from the vehicle, a passenger positioning unit that measures the position of a passenger who is scheduled to board the vehicle, and an input unit that inputs information for remote operation by the passenger the vehicles from the communication terminal has a vehicle-mounted device mounted on the vehicle in the vehicle remote control system for remotely controlling,
The vehicle exit position is determined as one of a position where the vehicle that is scheduled to board the vehicle stops with any seat of the vehicle and a position where the vehicle stops with the front end of the vehicle facing the passenger. A delivery position determination unit to perform,
After the vehicle has started from a position where the vehicle is parked, an automatic unloading unit that moves the vehicle to the unloading position determined by the unloading position determining unit without operation to the communication terminal;
With
The delivery position determination unit is
A vehicle communication unit that acquires information on traffic conditions around the vehicle while transmitting and receiving radio signals to and from the communication terminal, and a vehicle positioning unit that acquires information on road shapes and facilities around the vehicle while measuring the position of the vehicle And a sensor for detecting obstacles around the vehicle,
When information for the remote operation is input to the input unit, information on the position of the passenger measured by the rider positioning unit and information for the remote operation input to the input unit Obtained via the communication terminal communication unit and the vehicle communication unit,
Information on the position of the passenger acquired through the communication terminal communication unit and the vehicle communication unit and information for the remote operation, information on the position of the vehicle acquired by the vehicle positioning unit, the vehicle positioning The position where other vehicles can pass on the road around the passenger based on the information on the road shape and facilities around the vehicle acquired by the section and the information on the obstacle around the vehicle detected by the sensor Information on the distance between the obstacles present around the rider and the rider, information on the position of the vehicle with the driver's seat facing the rider, and the front end of the vehicle on the rider. Information on a position where the vehicle stops and information on a position where the vehicle stops at any seat other than the driver's seat of the vehicle toward the passenger,
Information about the position of the passenger acquired via the communication terminal communication unit and the vehicle communication unit, information about the traffic situation around the vehicle acquired via the vehicle communication unit, and the sensor detected by the sensor Based on information about obstacles around the vehicle, obtain information on the traffic volume of the road around the passenger,
When the traffic volume of the road around the rider is equal to or greater than the traffic volume threshold, a position where other vehicles can pass through the road around the rider is determined as the exit position,
When the traffic volume on the road around the passenger is less than the traffic threshold,
When the distance between the obstacle present around the rider and the rider is larger than the full width of the vehicle, the position at which the driver's seat of the vehicle is stopped toward the rider is determined as the exit position,
When the distance between the obstacle present around the rider and the rider is equal to or less than the full width of the vehicle and equal to or greater than a distance threshold smaller than the full width of the vehicle, the front end of the vehicle is Determine the position to stop at the said delivery position,
When the distance between the obstacle present around the rider and the rider is smaller than the distance threshold, a position where the rider stops at a seat other than the driver's seat of the vehicle is set to the rider. In-vehicle device that determines the delivery position.   The in-vehicle device according to any one of claims 5 to 7, further comprising a pause unit that temporarily stops the moving vehicle by a remote operation from the communication terminal.

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