US 12,379,732 B2
Remote driving method, remote driving device and computer-readable medium
Kosuke Akatsuka, Mishima (JP); Rio Suda, Toyota (JP); and Hirofumi Momose, Numazu (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 28, 2023, as Appl. No. 18/520,749.
Claims priority of application No. 2022-206112 (JP), filed on Dec. 23, 2022.
Prior Publication US 2024/0210953 A1, Jun. 27, 2024
Int. Cl. G05D 1/65 (2024.01); G05D 1/224 (2024.01); G05D 109/10 (2024.01); G05D 111/50 (2024.01)
CPC G05D 1/2247 (2024.01) [G05D 1/65 (2024.01); G05D 2109/10 (2024.01); G05D 2111/58 (2024.01)] 17 Claims
OG exemplary drawing
 
1. A method for performing remote driving of a mobile vehicle having wheels, the method comprising 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;
before permitting a start of the remote driving after accepting the start request, determining a difference between the target steering angle and the actual steering angle; and
based upon the determination that the difference between the target steering angle and the actual steering angle is less than a threshold, permitting the start of the remote driving including a remote steering of the wheels based on the target steering angle.