Abstract: The present disclosure relates to a remote driving system that performs remote driving of a vehicle based on an operation amount input to a remote driving terminal. The remote driving system includes at least one processor. The at least one processor detects a first situation in which the remote driving of the vehicle is required. The at least one processor acquires an urgency level of the first situation. The at least one processor performs an initial check for checking that the remote driving can be started at the remote driving terminal when the first situation is detected. The at least one processor omits a part of the initial check according to the urgency level.

Abstract: A remote support apparatus remotely supports a travelling of a vehicle. The remote support apparatus communicates wirelessly with the vehicle. The remote support apparatus wirelessly acquires an image of a view in a travelling direction of the vehicle and display the acquired image by a displaying device of the remote support apparatus. The image is taken by an imaging device of the vehicle. The remote support apparatus displays an inner rear wheel line in the image displayed by the displaying device while the vehicle is turning. The inner rear wheel line is a line along which an inner rear wheel of the vehicle during vehicle turning is predicted to move.

Abstract: A moving body operation system including a mobile terminal communicatively connected to a moving body that a user can ride in, the mobile operation system comprising: an inclination detection unit that detects an inclination direction and an inclination angle of the mobile terminal; a movement setting unit that sets a traveling direction of the moving body based on an inclination direction of the mobile terminal, and sets a target speed or a target acceleration of the moving body based on an inclination angle of the mobile terminal; and a movement control unit that performs steering control of the moving body based on the traveling direction, and performs speed control of the moving body based on the target speed or the target acceleration.

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 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: A remote operator terminal to be used by a remote operator for a remote operation of a target mobility is provided. The remote operator terminal includes a plurality of types of operation systems, a user interface, and a processing circuitry configured to perform calibration of a target operation system among the plurality of types of operation systems. In the calibration, the processing circuitry presents a first notification to the remote operator through the user interface, the first notification prompting the remote operator to perform a first action on the target operation system. Then, the processing circuitry sets a zero point of the target operation system based on a content of the first action or a state of the target operation system during the first action.

Abstract: A remote operator terminal to be used by a remote operator for a remote operation of a target mobility is provided. The remote operator terminal includes: a plurality of types of operation systems; and a notification device configured to notify the remote operator of information. A first operation system is one of the plurality of types of operation systems. The information indicates a relationship between a maximum operation amount of the first operation system and a current operation amount of the first operation system input by the remote operator, or the information indicates that the current operation amount reaches the maximum operation amount.

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 movement amount of a mobile vehicle at an image delay time indicating a timing difference D1 between a timing T1 at which an image IMG1 is acquired by a camera CAM and a timing T3 at which a remote operator terminal 200 decodes the image IMG1 is predicted. Then, when a predicted movement amount Lv of the mobile vehicle exceeds a movement threshold THLv, the image IMG1 is projection-transformed to a future image IMG2 obtained at a camera viewpoint at a timing T2 ahead of the timing T1 by a mobile vehicle adjustment time ? based on information regarding a movement of the mobile vehicle, and a synthetic image SIMG1 output from the display device 220 is generated.

Abstract: When an object to be noted in an image IMG1 is a moving body, projection transformation of a partial image OBJ1 of the moving body included in the image IMG1 used for a recognition of the moving body is performed. According to the projection transformation of the partial image OBJ1, a partial image OBJ2 obtained at a camera viewpoint ahead of an acquisition timing T1 of the image IMG1 including the partial image OBJ1 by an object movement adjustment time a is generated. A synthetic image SIMG1 is generated based on the partial image OBJ2, the image IMG1 in which the partial image OBJ1 is included and recognition information OR of the moving body in the image IMG1, and is output from a display device.

Abstract: An image delay compensation time ? is set to be equal to or less than an image delay time indicating a timing difference D1 between the timing T1 at which an image IMG1 is acquired by a camera CAM and a timing T3 at which a remote operator terminal 200 decodes the image IMG1. Based on information on a movement of a mobile vehicle, projection transformation is performed in which the image IMG1 is transformed into a future image IMG2 obtained at a camera viewpoint at a timing T2 that is later than the timing T1by the image delay compensation time ?. A synthetic image SIMG1 is generated based on the future image IMG2 and recognition information OR on the object in the image IMG1 and is output from a display device.

Abstract: A remote operator terminal is used by a remote operator for a remote operation of a moving body. A first image is captured at a first timing by a camera mounted on the moving body from a first point of view. A second point of view is one at a second timing later than the first timing. A homography process converts the first image viewed from the first point of view into a second image viewed from the second point of view. The remote operator terminal acquires a plurality of second images by applying the homography process to a plurality of first images, respectively. The remote operator system displays the plurality of second images side-by-side on a display such that a priority second image corresponding to a gaze direction of the remote operator appears to be in front of the other second images.

Abstract: A remote operator terminal is used by a remote operator for a remote operation of a moving body. A first image is captured at a first timing by a camera mounted on the moving body from a first point of view. A second point of view is one at a second timing later than the first timing. A homography process converts the first image viewed from the first point of view into a second image viewed from the second point of view based on perspective projection transformation using a projection plane associated with the camera. The remote operator terminal acquires a combination of a plurality of second images by applying the homography process using a common projection plane to a combination of a plurality of first images, and displays the combination of the plurality of second images on a display.

Abstract: A method for a remote driving of a mobile vehicle having wheels is provided. The method comprises the steps of: accepting a start request for the remote driving; acquiring information on a target steering angle of the wheels generated in a remote driving device and information on an actual steering angle of the wheels; and permitting a start of the remote driving including a remote steering of the wheels based on the target steering angle when the start request is accepted and the target steering angle and the actual steering angle match.

Abstract: In a steering system including a steering operation mechanism, a second actuator, a steering angle sensor, a steering torque sensor, and a steering operation control device and a control method for the steering system, only a drive assist target steered angle (first target steered angle) is reflected in a final target steered angle when a torque sensor value (actual steering torque) detected by the steering torque sensor is equal to or less than an intervention threshold. When the magnitude of the torque sensor value is more than the intervention threshold, the rate of reflection (distribution ratio) of a driver target steered angle (second target steered angle) in the final target steered angle is raised as the torque sensor value is increased, and the rate of reflection of the driver target steered angle in the final target steered angle is lowered as the magnitude of the torque sensor value is decreased.

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: 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: A remote support system performs a remote support of a moving body. The remote support system includes processing circuitry. The processing circuitry is configured to acquire, via communication, a first video shot with a first infrastructure camera installed in a target area in which the moving body moves. The processing circuitry is configured to present the first video to a remote supporter to perform the remote support for the moving body. When an abnormality occurs in the first video, the processing circuitry is configured to execute an abnormality handling process to resolve the abnormality in the first video or to present a substitute video to the remote supporter instead of the first video.

Abstract: A processor of a first terminal generates composite image data, in which main and sub image data are composited together, based on the main image data, the sub image data, and data about layout of a screen of a second terminal. The main image data are image data which are obtained by a main camera and are to be displayed on a main screen of a display of the second terminal. The sub image data are image data which are obtained by a sub camera and are to be displayed on a sub-screen of the display. A processor of the first terminal transmits the composite image data from the first terminal to the second terminal. A processor of the second terminal displays the composite image data received from the first terminal on the display.

Abstract: Video information including a plurality of frames acquired by a camera of a mobile body and reference times of the frames is received from the mobile body. A plurality of future frames is generated from each of the plurality of frames by performing alteration processing using prediction information of a set time destination from each reference time of the plurality of frames. The display control of the camera video including the plurality of future frames is performed so that the plurality of future frames is displayed on the display of the terminal operated by the operator at the time when the set time has elapsed from each reference time of the plurality of frames.