Abstract: An object of the present disclosure is to provide a technique that enables a remote operator to operate a vehicle in the same manner as a driver who gets in the vehicle. A vehicle control system that controls a vehicle based on an operation amount input by a remote operator includes one or more processors. When a vehicle stop hold function for holding a vehicle stop state is operated, the one or more processors continue the operation of the vehicle stop holding function when there is no input of an accelerator operation by a remote operator, and cancel the operation of the vehicle stop holding function when the input of the accelerator operation by the remote operator is received.

Abstract: A remote operation control method for controlling a remote operation of a moving body is provided. A video captured by a camera mounted on the moving body is transmitted to a remote operator terminal on a side of a remote operator remotely operating the moving body. The remote operation control method includes: setting an upper limit speed of the moving body during the remote operation to be lower as a quality of the video transmitted from the moving body to the remote operator terminal becomes lower or as an encoding and decoding time of the video becomes longer; and limiting a speed of the moving body during the remote operation to the upper limit speed or less regardless of an operation amount input by the remote operator.

Abstract: The vehicle includes a driving operation member that is operated by an operator to perform steering, acceleration, and deceleration, a stop maintaining device that maintains a stop state, and a control device. In the remote control mode, the control device communicates with the remote operation target vehicle, transmits information reflecting the operation amount of the driving operation member to the remote operation target vehicle, and presents information received from the remote operation target vehicle to the operator. When the stop state of the vehicle is not maintained by the stop maintaining device, the control device prohibits the remote control mode.

Abstract: A moving body control system determines, during execution of a remote operation of a moving body, whether a predetermined condition is satisfied based on driving environment information indicating the driving environment for the moving body. When the predetermined condition is satisfied, the moving body control system issues a notification to rearward of the moving body, the notification prompting to pass the moving body. Meanwhile, when the predetermined condition is not satisfied, the moving body control system prohibit issuance of the notification. The predetermined condition includes at least a first condition that “the moving body is in an environment where passing is legally permitted”, and a second condition that “safety when the moving body is passed is ensured”.

Abstract: A remote driving device configured to remotely operate a vehicle includes a remote operation device, a reaction force unit, a receiver, and a processor. The remote operation device is operated by an operator in order to remotely operate the vehicle. The reaction force unit is configured to generate an operation reaction force to be applied to the remote operation device. The receiver is configured to receive a parameter affecting vehicle characteristics of the vehicle from the vehicle. The processor is configured to control the reaction force unit so as to generate a magnitude of the operation reaction force according to the received parameter.

Abstract: A remote driving system includes: an acquisition unit for acquiring operation information related to an operation of a steering wheel by a user who remotely drives the target vehicle; and a control unit for controlling a resolution and a frame rate of each camera mounted on the target vehicle. When an operation amount of the steering wheel is relatively small, at least one of the resolution and the frame rate of a camera that captures an image of a front region of the target vehicle in a traveling direction is maintained or improved. When the steering wheel has been rotated to one of right and left and the operation amount is relatively large, at least one of the resolution and the frame rate of a camera that captures an image of a region of the one of right and left of the target vehicle is maintained or improved.

Abstract: Remote monitoring and remote driving are selectively provided for a plurality of vehicles including a first vehicle. In remote monitoring for a plurality of vehicles, a server distributes monitoring information received from each of a plurality of vehicles to a plurality of remote cockpits including a remote cockpit. In remote driving for the first vehicle, the server establishes a one-to-one communication between the vehicle and the remote cockpit.

Abstract: A vehicle is operated in accordance with a second operation amount corresponding to a first operation amount of a remote operation member by an operator. A first maximum operation range is a maximum operation range of the remote operation member. A second maximum operation range is a maximum operation range of an operation member of the vehicle. When the first maximum operation range is smaller than the second maximum operation range, a correspondence relationship between the first and second operation amounts is adjusted such that the second operation amount becomes larger than the first operation amount. When the first maximum operation range is larger than the second maximum operation range, an operable range of the remote operation member is restricted or the correspondence relationship is adjusted such that the second operation amount becomes smaller than the first operation amount.

Abstract: A vehicle steering system is applied to a vehicle including wheels including at least turning wheels and includes a steering member, a reaction actuator, a turning device, and an electronic control unit. The electronic control unit is configured to: control the turning device based on a target turning angle corresponding to an amount of steering of the steering member; control the reaction actuator such that a steering reaction force based on a first turning axial force corresponding to the target turning angle and a second turning axial force corresponding to an output current or an output torque of the turning device is generated; and change a first proportion of the first turning axial force distributed to the steering reaction force and a second proportion of the second turning axial force distributed to the steering reaction force based on a slip rate of the wheels.

Abstract: Provided is a control method for controlling a movable body by a remote operation performed by a remote operator. The control method includes: receiving information including an operation amount by the remote operator via communication; calculating a corrected operation amount by applying at least either one of linear interpolation and lowpass filtering to the received operation amount; and controlling the movable body based on the corrected operation amount. The control method further includes setting a period for the linear interpolation to be longer and decreasing a cut-off frequency in the lowpass filtering as a communication period for the operation amount is longer, or setting the period for the linear interpolation to be longer or decreasing the cut-off frequency in the lowpass filtering as the communication period for the operation amount is longer.

Abstract: A display system according to the present disclosure includes a camera that captures a traveling image of a vehicle in a traveling direction, a display device, one or more storage devices that store a reference deceleration indicating a predetermined deceleration, and one or more processors. The one or more processors are configured to execute a process of acquiring a vehicle speed of the vehicle, a process of an estimated stop position indicating a stop position when braking is applied at the reference deceleration from the vehicle speed, and a process of displaying the estimated stop position to be superimposed on the traveling image on the display device.

Abstract: The vehicle steering system includes a controller for controlling the reaction device for applying reaction torque to a steering wheel. The controller sets a virtual end angle corresponding to a turning limit of a turning device with respect to a steering angle. When the steering angle approaches the virtual end angle, the controller gradually increases the reaction torque as the steering angle approaches the virtual end angle. On the other hand, when the steering angle deviates from the virtual end angle, the controller decreases the reaction torque with respect to the change in the steering angle at a steeper gradient than the gradient of the change in the reaction torque with respect to the change in the steering angle when the steering angle approaches the virtual end angle.

Abstract: A display system comprises a camera for capturing traveling video of a vehicle. a sensor for detecting traveling state information of the vehicle, a display device, and one or more processors. The one or more processors execute calculating a steady circular turning trajectory of the vehicle based on the traveling state information, estimating a slip angle of the vehicle based on the traveling state information, rotating the steady circular turning trajectory in accordance with the slip angle to calculate a predicted trajectory, and displaying the traveling video and the predicted trajectory on the display device in a superimposed manner.

Abstract: A vehicular display device includes: a processor, wherein the processor is configured to: acquire vehicle speed information regarding a vehicle; and display a line image extending toward a vehicle front side and having a base end in a vicinity of the vehicle by displaying the line image in a predetermined display region so as to appear in front of the vehicle, and perform emphasized display further toward a leading end side of the line image as the vehicle speed increases.

Abstract: A notification system includes at least one memory in which a program is stored and at least one processor combined with the at least one memory. The at least one processor is configured to execute, by executing the program, an acquisition process of acquiring at least one physical quantity from among acceleration, lateral acceleration, jerk, and vibration amplitude of a truck bed, and a notification process of sending a notification to a remote driving operator in response to a fact that the physical quantity exceeds a first threshold value set for each type of physical quantity.

Abstract: A steer-by-wire steering system for a vehicle, comprising: an operation member operable by a vehicle driver; an urging device configured to generate an urging force to urge the operation member; a steering device configured to steer a wheel; and a controller configured to control the urging device and the steering device. In a normal operation, the controller enables the wheel to be steered in accordance with an operation of the operation member and causes the urging force to function as an operation reaction force against the operation of the operation member. In an automatic steering operation in which the wheel is steered without depending on the operation of the operation member, the controller enables the operation member to be moved in accordance with steering of the wheel by the urging force and causes at least part of the urging force generated in the normal operation not to be generated.

Abstract: A driving handover system according to the present disclosure is configured to execute a detection process of detecting an obstructive article that causes an obstruction of handover to manual driving when the obstructive article is present in a vehicle, and a determination process of determining whether the handover to the manual driving is allowed or disallowed upon receipt of a request for the handover to the manual driving. The driving handover system is configured to, in the determination process, disallow the handover to the manual driving when the obstructive article is detected in the detection process.

Abstract: A remote driver support method according to the present disclosure includes: acquiring vehicle dimension information related to a dimension of a vehicle that is remotely driven by a remote driver, and acquiring road structure information related to a structure of a road ahead to which the vehicle is heading. The remote driver support method according to the present disclosure further includes: generating passability information related to a possibility that the vehicle is able to pass through the road ahead based on the vehicle dimension information and the road structure information; and notifying the remote driver of the passability information.

Abstract: A remote driving system includes: an acquisition unit for acquiring operation information related to an operation of a steering wheel by a user who remotely drives the target vehicle; and a control unit for controlling a resolution and a frame rate of each camera mounted on the target vehicle. When an operation amount of the steering wheel is relatively small, at least one of the resolution and the frame rate of a camera that captures an image of a front region of the target vehicle in a traveling direction is maintained or improved. When the steering wheel has been rotated to one of right and left and the operation amount is relatively large, at least one of the resolution and the frame rate of a camera that captures an image of a region of the one of right and left of the target vehicle is maintained or improved.

Abstract: A method according to the present disclosure comprises acquiring a plurality sets of traveling video recorded by a plurality of cameras capturing a plurality of directions equipped in a remote driving vehicle, acquiring information regarding at least one of driving operation by a remote driving operator, a traveling state of the remote driving vehicle, and motion of the remote driving operator, specifying an attention direction or an attention scope of the remote driving operator for a situation around the remote driving vehicle based on acquired information, displaying at least one of the plurality sets of traveling video reflecting the attention direction or the attention scope on a display device, and performing display based on the attention direction or the attention scope.