# US 12,602,051 B2 · Remote support system and mobile body > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,602,051 B2 - Document ID: US12602051B2 - Status: Granted - Kind: B2 - Application number: 18/619,561 - Filed: 2024-03-28 - Published: 2025-01-30 - Granted: 2026-04-14 - Earliest claimed: 2023-07-24 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Kosuke Akatsuka; Hirofumi Momose - Web page: https://patentgrep.com/patent/US12602051B2 ## CPC - G05D 1/221: Remote-control arrangements - G05D 1/226: Communication links with the remote-control arrangements - G05D 1/2232: {Touch screens} - G05D 1/86: Monitoring the performance of the system, e.g. alarm or diagnosis modules - G05D 2109/10: Land vehicles - G05D 2111/30: Radio signals - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract The remote support system includes a mobile body, a mobile terminal, and a safety device. The mobile terminal wirelessly transmits a control signal based on an operation input from an operator who remotely supports the mobile body to the mobile body. The safety device is physically connected to the mobile terminal and exchanges diagnostic signals with the mobile body via the mobile terminal. The mobile body executes the traveling control of the mobile body based on the control signal from the mobile terminal when the abnormality is not detected in the diagnostic signal received from the safety device via the mobile terminal, and does not execute the traveling control when the abnormality is detected. ## Claims ### Claim 1 A remote support system, comprising: a mobile body; a mobile terminal, the mobile terminal wirelessly transmitting a control signal to the mobile body based on an operation input from an operator performing remote support of the mobile body; and a safety device that is detachable from the mobile terminal, is physically connected to the mobile terminal during the remote support of the mobile body, and exchanges diagnostic signals with the mobile body via the mobile terminal, wherein the safety device generates a first diagnostic signal among the diagnostic signals, and transmits the first diagnostic signal to the mobile body via the mobile terminal, and wherein the mobile body receives the first diagnostic signal from the safety device via the mobile terminal, determines whether an abnormality is present based on the first diagnostic signal, executes traveling control based on the control signal from the mobile terminal in response to the abnormality not being detected from the first diagnostic signal, and does not execute the traveling control in response to the abnormality being detected. ### Claim 2 (depends on 1) The remote support system according to claim 1, wherein the mobile body does not execute the traveling control in a case where the first diagnostic signal is not received from the safety device via the mobile terminal. ### Claim 3 (depends on 1) The remote support system according to claim 1, wherein: the diagnostic signals further include a second diagnostic signal that is transmitted from the mobile body to the safety device via the mobile terminal; the first diagnostic signal is generated in response to receipt of the second diagnostic signal by performing predetermined computation on the second diagnostic signal that is received; and the mobile body verifies the first diagnostic signal that is received, and detects whether the abnormality is present based on a result of the verification. ### Claim 4 (depends on 1) The remote support system according to claim 1, wherein the mobile terminal generates the control signal based on an operation directly input from the operator to the mobile terminal. ### Claim 5 A mobile body that is remotely supported based on a control signal that is wirelessly transmitted from a mobile terminal operated by an operator, wherein: a safety device detachable from the mobile terminal, being physically connected to the mobile terminal during remote support of the mobile body and exchanging diagnostic signals with the mobile body via the mobile terminal, the safety device receiving a first diagnostic signal among the diagnostic signals from the mobile body via the mobile terminal, generating a second diagnostic signal among the diagnostic signals in response to receipt of the first diagnostic signal, and transmitting the second diagnostic signal to the mobile body via the mobile terminal; the mobile body includes one or more processors; and the one or more processors are configured to transmit the first diagnostic signal to the safety device via the mobile terminal, receive the second diagnostic signal from the safety device via the mobile terminal, determine whether an abnormality is present based on the second diagnostic signal, execute traveling control based on the control signal from the mobile terminal in response to the abnormality not being detected from the second diagnostic signal, and not execute the traveling control in response to the abnormality being detected. ### Claim 6 (depends on 1) The remote support system according to claim 1, wherein the mobile body is a vehicle, the safety device is a dongle, the remote support is remote driving, the dongle is mounted on the vehicle in a case where the remote driving is not performed, and the dongle is physically connected to the mobile terminal during the remote driving. ### Claim 7 (depends on 1) The remote support system according to claim 1, wherein the control signal is a target control amount, which is a target value of a control amount of movement in at least one of a front-rear direction or a lateral direction of the mobile body, and the diagnostic signals are signals used for abnormality diagnosis on the operation using the mobile terminal. ### Claim 8 (depends on 1) The remote support system according to claim 1, wherein the safety device is associated with an ECU of the mobile body on a one-to-one basis. ### Claim 9 (depends on 1) The remote support system according to claim 1, wherein the diagnostic signals are exchanged between the mobile body and the safety device at a certain frequency. ### Claim 10 (depends on 3) The remote support system according to claim 3, wherein the predetermined computation is determined before the remote support of the mobile body between the safety device and the mobile body. ### Claim 11 (depends on 3) The remote support system according to claim 3, wherein the safety device is associated with an ECU of the mobile body on a one-to-one basis, and the predetermined computation is determined before the remote support of the mobile body between the safety device and the mobile body. ### Claim 12 (depends on 5) The mobile body according to claim 5, wherein the one or more processors are further configured to stop the mobile body in an emergency in response to the abnormality being detected.