Information Processing Apparatus and Information Processing Method

Abstract

An information processing device (vehicle control device (10)) includes: a vehicle information acquisition unit (12) that acquires a first moving speed of a vehicle; a communication unit (11) that acquires an operation amount related to speed of a device for remotely operating the vehicle; a vehicle speed instruction generation unit (13) that generates a second moving speed based on the operation amount; and an output unit (19) that outputs the operation amount as a moving speed control amount when the first moving speed is less than a first threshold, and outputs a control amount obtained by transforming from the second moving speed as the moving speed control amount when the first moving speed is equal to or greater than a second threshold.

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus and an information processing method for remotely operating a moving body. Background Art

[0002] In recent years, the spread of autonomous driving vehicles has been foreseeable, and at the same time, the demand for technology for remotely operating a vehicle in case of an emergency or the like has increased. For example, Patent Document 1 discloses an unmanned moving body system for remotely operating an unmanned moving body. According to this unmanned moving body system, it moves autonomously when the moving speed of the unmanned moving body is high, and can remotely operate the unmanned moving body when the moving speed of the unmanned moving body is low.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2010-152833 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] However, if the moving speed of the moving body becomes slow, there are cases where it is difficult to perform remote operation. In the prior art such as the technology disclosed in Patent Document 1 above, such a situation is not considered.

[0008] Therefore, an object of the present disclosure is to provide an information processing apparatus or the like that can suppress a decrease in the operability of a device for remotely operating a moving body with respect to the moving body even when the moving speed of the moving body decreases.

[0009] Means for Solving the Problems

[0010] The information processing apparatus according to the present disclosure includes: a first acquisition unit that acquires a first moving speed of a moving body; a second acquisition unit that acquires an operation amount related to the moving speed of a device for remotely operating the moving body; a generation unit that generates a second moving speed based on the operation amount; and an output unit that, when the first moving speed is less than a first threshold, outputs the operation amount as a speed control amount, which is a control amount of the moving speed of the moving body, and when the first moving speed is equal to or greater than a second threshold, outputs a control amount obtained by transforming from the second moving speed as the speed control amount.

[0011] In addition, these inclusive or specific technical solutions can also be implemented by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or can be implemented by an arbitrary combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

[0012] Advantages of the Invention

[0013] An information processing device or the like according to an aspect of the present disclosure can suppress a decrease in the operability of a device for remotely operating a moving body even when the moving speed of the moving body decreases. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a diagram showing an example of a remote operation system according to an embodiment.

[0015] Figure 2 It is a block diagram showing an example of a remote control device according to an embodiment.

[0016] Figure 3 It is a flowchart showing an example of the operation of a remote control device according to an embodiment.

[0017] Figure 4A It is a diagram showing an example of a prompt for an accelerator control mode.

[0018] Figure 4B It is a diagram showing an example of a prompt for a speed control mode.

[0019] Figure 5 It is a block diagram showing an example of a vehicle control device according to an embodiment.

[0020] Figure 6 It is a flowchart showing an example of the operation of a vehicle control device according to an embodiment.

[0021] Figure 7 It is a graph showing the correspondence between the depression amount of an operation pedal and the indicated speed of a vehicle.

[0022] Figure 8A It is a diagram for explaining the transition conditions from a speed control mode to an accelerator control mode.

[0023] Figure 8B It is a diagram for explaining the transition conditions from an accelerator control mode to a speed control mode.

[0024] Figure 9 It is a diagram for explaining a specific example of the transition of a control mode.

[0025] Figure 10 It is a flowchart showing an example of the operation of an acceleration continuity correction unit according to an embodiment.

[0026] Figure 11 It is a block diagram showing an example of a server device according to an embodiment.

[0027] Figure 12 It is a flowchart showing an example of the operation of a server device according to an embodiment.

[0028] Figure 13A This is a table showing an example of the history of remote operations.

[0029] Figure 13B This is a diagram showing an example of a method for determining transfer conditions.

[0030] Figure 14A This is a table showing another example of the history of remote operations.

[0031] Figure 14B This is a diagram showing another example of a method for determining transfer conditions. Detailed implementation

[0032] As described above, if the moving speed of the moving body becomes slower, it may be difficult to perform remote operations.

[0033] For example, since the remote operation of the moving body is performed via wireless communication, considering communication delays and the like, it is desirable to first convert the operation amount of a device for remotely operating the moving body (for example, an operation UI (User Interface) such as a pedal for remotely operating a vehicle) into the speed of the moving body and then output it to the moving body. On the other hand, in this method, feedback control is performed to keep the speed constant in the moving body, so the responsiveness of the operation in the operation UI deteriorates. Therefore, when operating a moving body moving at a low speed that is easy to operate finely through the operation UI, there is a problem that the operability of the operation UI deteriorates.

[0034] Therefore, an information processing apparatus according to one aspect of the present disclosure includes: a first acquisition unit that acquires a first moving speed of a moving body; a second acquisition unit that acquires an operation amount related to the moving speed of a device for remotely operating the moving body; a generation unit that generates a second moving speed based on the operation amount; and an output unit that, when the first moving speed is less than a first threshold, outputs the operation amount as a control amount of the moving speed of the moving body, that is, a moving speed control amount, and when the first moving speed is equal to or greater than a second threshold, outputs a control amount obtained by converting from the second moving speed as the moving speed control amount.

[0035] Thus, when the first moving speed of the moving body is equal to or higher than the second threshold (for example, when the moving body moves at medium or high speed), it is difficult to perform fine operations, and even if the responsiveness of the operations in the device for remotely operating the moving body is poor, it is not likely to become a problem. Therefore, when the first moving speed of the moving body is equal to or higher than the second threshold, considering communication delay and the like, a speed control amount of the second moving speed generated based on the operation amount related to the moving speed of the device is output. On the other hand, when the first moving speed of the moving body is less than the first threshold (for example, when the moving body moves at low speed), it is easy to perform fine operations, and if the responsiveness of the operations in the device is poor, it is likely to become a problem. Therefore, when the first moving speed of the moving body is less than the first threshold, the operation amount related to the moving speed of the device is output as the speed control amount as it is. In this way, an optimal speed control amount is output according to the first moving speed of the moving body, so even if the moving speed of the moving body decreases, it is possible to suppress the decrease in the operability of the device for remotely operating the moving body with respect to the moving body.

[0036] In addition, it may also be that a transfer control unit is further provided. When the first moving speed is less than the first threshold and the second moving speed is smaller than the first moving speed, the transfer control unit transfers the control mode of the moving speed of the moving body to the first mode, which is a mode of outputting the operation amount as the speed control amount. When the first moving speed is equal to or higher than the second threshold and the second moving speed is larger than the first moving speed, the transfer control unit transfers the control mode of the moving speed of the moving body to the second mode, which is a mode of outputting the control amount obtained by transforming from the second moving speed as the speed control amount; the output unit outputs the speed control amount according to the first mode or the second mode.

[0037] For example, when the transfer condition to the first mode is only the condition that the first moving speed is less than the first threshold, the transfer of the control mode may occur frequently. Similarly, when the transfer condition to the second mode is only the condition that the first moving speed is equal to or higher than the second threshold, the transfer of the control mode may occur frequently. In contrast, in this technical solution, a condition regarding the second moving speed generated based on the operation amount related to the moving speed of the device is also set, so it is possible to suppress the frequent transfer of the control mode.

[0038] In addition, a setting unit may also be provided. When the control mode of the moving speed of the moving body is transferred and the difference between the first moving speed and the second moving speed is larger than the third threshold, the setting unit sets an upper limit of the speed control amount based on the first moving speed; the output unit may also output the speed control amount according to the upper limit of the speed control amount.

[0039] Therefore, when the control mode is transferred, if the difference between the first moving speed of the moving body and the second moving speed generated according to the operation amount of the device for remotely operating the moving body is greater than the third threshold value, when the speed control amount corresponding to the transferred control mode is output as it is, the moving body may accelerate suddenly and become a dangerous state. In contrast, in the present technical solution, when the above difference is greater than the third threshold value, the upper limit of the speed control amount is set based on the first moving speed. Therefore, when the control mode is transferred, sudden acceleration of the moving body is suppressed, and the continuity of the acceleration of the moving body can be maintained.

[0040] In addition, it may also be that the above generation unit generates the second moving speed according to the operation amount so that the upper limit of the operation amount becomes the upper limit of the moving speed of the moving body.

[0041] When the moving body is remotely operated, there is a case where an upper limit of the moving speed is set on the moving body. Therefore, by generating the second moving speed according to the operation amount so that the upper limit of the operation amount of the device for remotely operating the moving body becomes the upper limit of the moving speed of the moving body, it is possible to prevent the second moving speed from exceeding the upper limit of the moving speed of the moving body during remote operation.

[0042] In addition, it may also be that the above second acquisition unit further acquires the first threshold value and the second threshold value determined based at least on the history of the operation amount related to the moving speed or the history of the moving speed.

[0043] Therefore, the first threshold value and the second threshold value can be determined based on the history of the operation amount related to the moving speed of the device for remotely operating the moving body or the history of the moving speed of the moving body. And by acquiring the first threshold value and the second threshold value determined in this way, it is possible to judge whether to output the operation amount of the device for remotely operating the moving body as the speed control amount as it is, or to output the speed control amount based on the second moving speed.

[0044] In addition, it may also be that the above second acquisition unit acquires the first threshold value and the second threshold value determined based on the history of the operation amount related to the moving direction.

[0045] For example, when the amount of operation related to the moving direction of the moving body is large, it can be inferred that a fine operation has been performed on the moving body and the moving body is moving at a low speed. Therefore, the first threshold can be determined based on the amount of operation related to the moving speed or the moving speed history when the amount of operation related to the moving direction of the moving body is large. In addition, when the amount of operation related to the moving direction of the moving body is small, it can be inferred that no fine operation has been performed on the moving body and the moving body is moving at a medium or high speed. Therefore, the second threshold can be determined based on the amount of operation related to the moving speed or the moving speed history when the amount of operation related to the moving direction of the moving body is small. And by obtaining the first threshold and the second threshold determined in this way, it can be judged whether to output the operation amount of the device for remotely operating the moving body as the moving speed control amount as it is, or to output the moving speed control amount based on the second moving speed.

[0046] In addition, it may be that the second acquisition unit acquires the first threshold and the second threshold determined based on the history of the transfer operation, and the transfer operation indicates the transfer of the control mode of the moving speed of the moving body.

[0047] For example, when it is instructed to transfer the control mode of the moving speed of the moving body to the first mode, it can be inferred that a fine operation has been performed on the moving body and the moving body is moving at a low speed. Therefore, the first threshold can be determined based on the amount of operation related to the moving speed or the moving speed history when the transfer to the first mode is instructed. In addition, when it is instructed to transfer the control mode of the moving speed of the moving body to the second mode, it can be inferred that no fine operation has been performed on the moving body and the moving body is moving at a medium or high speed. Therefore, the second threshold can be determined based on the amount of operation related to the moving speed or the moving speed history when the transfer to the second mode is instructed. And by obtaining the first threshold and the second threshold determined in this way, it can be judged whether to output the operation amount of the device for remotely operating the moving body as the moving speed control amount as it is, or to output the moving speed control amount based on the second moving speed.

[0048] In addition, it may be that the second acquisition unit acquires the first threshold and the second threshold determined based on the operation history corresponding to the operator of the device.

[0049] Thereby, the first threshold and the second threshold can be determined for each operator of the device for remotely operating the moving body. And by obtaining the first threshold and the second threshold determined in this way, for each operator, it can be judged whether to output the operation amount of the device for remotely operating the moving body as the moving speed control amount as it is, or to output the moving speed control amount based on the second moving speed.

[0050] In addition, it may also be that the above-mentioned second acquisition unit further acquires instruction information based on a transfer operation, and the transfer operation indicates the transfer of the control mode of the moving speed of the moving body; the above-mentioned transfer control unit transfers the control mode of the moving speed of the moving body according to the above-mentioned instruction information.

[0051] Thereby, it is possible to manually transfer the control mode of the moving speed of the moving body.

[0052] An information processing method according to an aspect of the present disclosure is an information processing method executed by a computer, which acquires an operation amount related to the moving speed of a device for remotely operating a moving body; outputs the acquired above-mentioned operation amount; acquires mode information indicating which of a first mode and a second mode is the control mode of the moving speed of the moving body, the first mode is a control mode in which when the first moving speed of the moving body is less than a first threshold value, the above-mentioned operation amount is output as a control amount of the moving speed of the moving body, that is, a moving speed control amount, and the second mode is a control mode in which when the first moving speed is equal to or higher than a second threshold value, a control amount obtained by transforming from a second moving speed generated according to the above-mentioned operation amount is output as the above-mentioned moving speed control amount; based on the above-mentioned mode information, the control mode of the moving speed of the moving body is prompted.

[0053] Thereby, it is possible to provide an information processing method that can suppress a decrease in the operability of a device for remotely operating a moving body even when the moving speed of the moving body decreases. Furthermore, for an operator of a device for remotely operating a moving body, it is possible to enable the operator to recognize the control mode of the moving speed of the moving body.

[0054] In addition, it may also be that an operation history including at least a history of an operation amount related to the moving speed or a history of the moving speed is acquired; the above-mentioned first threshold value and the above-mentioned second threshold value are determined based on the above-mentioned operation history or the above-mentioned history of the moving speed; the determined above-mentioned first threshold value and the above-mentioned second threshold value are output.

[0055] Thereby, it is possible to determine the first threshold value and the second threshold value based on a history of an operation amount related to the moving speed of a device for remotely operating a moving body or a history of the moving speed of the moving body. And by outputting the first threshold value and the second threshold value determined in this way, it is possible to determine whether to output the operation amount of the device for remotely operating the moving body as it is as the moving speed control amount or to output the moving speed control amount based on the second moving speed.

[0056] In addition, it may also be that the above-mentioned operation history further includes a history of an operation amount related to the moving direction.

[0057] For example, in a case where the operation amount related to the moving direction of the moving body is large, it can be speculated that a fine operation has been performed on the moving body and the moving body is moving at a low speed. Therefore, the first threshold can be determined based on the operation amount related to the moving speed or the moving speed history when the operation amount related to the moving direction of the moving body is large. In addition, in a case where the operation amount related to the moving direction of the moving body is small, it can be speculated that no fine operation has been performed on the moving body and the moving body is moving at a medium or high speed. Therefore, the second threshold can be determined based on the operation amount related to the moving speed or the moving speed history when the operation amount related to the moving direction of the moving body is small.

[0058] In addition, it may be that the above operation history further includes a history of transfer operations, and the above transfer operation indicates a transfer of the control mode of the moving speed of the above moving body.

[0059] For example, in a case where it is instructed to transfer the control mode of the moving speed of the moving body to the first mode, it can be speculated that a fine operation has been performed on the moving body and the moving body is moving at a low speed. Therefore, the first threshold can be determined based on the operation amount related to the moving speed or the moving speed history when the transfer to the first mode is instructed. In addition, in a case where it is instructed to transfer the control mode of the moving speed of the moving body to the second mode, it can be speculated that no fine operation has been performed on the moving body and the moving body is moving at a medium or high speed. Therefore, the second threshold can be determined based on the operation amount related to the moving speed or the moving speed history when the transfer to the second mode is instructed.

[0060] In addition, it may be to identify the operator of the above device; obtain a specific operation history corresponding to the identified above operator; determine the above first threshold and the above second threshold based on the above specific operation history; output the determined above first threshold and the above second threshold.

[0061] Thereby, the first threshold and the second threshold can be determined for each operator of the device for remotely operating the moving body. And by outputting the first threshold and the second threshold determined in this way, it is possible to judge for each operator whether to output the operation amount of the device for remotely operating the moving body as it is as the moving speed control amount or to output the moving speed control amount based on the second moving speed.

[0062] In addition, it may be to obtain a transfer operation that indicates a transfer of the control mode of the moving speed of the above moving body; generate indication information based on the above transfer operation; output the above indication information.

[0063] Thereby, it is possible to manually transfer the control mode of the moving speed of the moving body.

[0064] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0065] In addition, the embodiments described below are all inclusive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are examples and do not limit the meaning of the present disclosure.

[0066] (Embodiment)

[0067] Hereinafter, an information processing apparatus and an information processing method related to an embodiment will be described.

[0068] Figure 1 It is a diagram showing an example of the remote operation system 1 related to the embodiment.

[0069] The remote operation system 1 includes a vehicle control device 10, a remote control device 100, and a server device 200. The vehicle control device 10 is an example of an information processing apparatus. The vehicle control device 10 is mounted on a vehicle, for example. In addition, the information processing apparatus of the present disclosure can also be applied to a moving body other than a vehicle (such as an unmanned aerial vehicle, etc.). Hereinafter, the moving body is assumed to be a vehicle, and the information processing apparatus is assumed to be the vehicle control device 10 for description. The remote control device 100 and the server device 200 are examples of computers that execute the information processing method. The remote control device 100 and the server device 200 may be provided in different places respectively, may be provided in the same place, or may be integrally provided. Or, the components constituting the remote control device 100 and the server device 200 may be dispersedly arranged. That is, the components constituting the remote control device 100 may not be provided in one housing, and in addition, the components constituting the server device 200 may not be provided in one housing.

[0070] The vehicle control device 10 is a device for controlling a vehicle through remote operation, and controls the vehicle based on the information for remote operation of the vehicle obtained from the remote control device 100. Details of the vehicle control device 10 will be described later.

[0071] The remote control device 100 is a device for remotely operating a vehicle on which the vehicle control device 10 is mounted, and outputs information for remotely operating the vehicle to the vehicle control device 10 to remotely operate the vehicle. Details of the remote control device 100 will be described later.

[0072] The server device 200 is a data management server device that manages data such as the operation history in the remote control device 100. Details of the server device 200 will be described later.

[0073] Next, the components of the remote control device 100 will be described.

[0074] Figure 2 FIG. 1 is a block diagram showing an example of a remote control device 100 according to an embodiment.

[0075] The remote control device 100 includes an operation UI 101, a signal conversion unit 102, a communication unit 103, and a presentation unit 104.

[0076] For example, the remote control device 100 is a computer including a processor, a communication interface, a UI, and a memory. The memory is a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and can store programs executed by the processor. The operation UI 101, the signal conversion unit 102, the communication unit 103, and the presentation unit 104 are implemented by a processor, a communication interface, a UI, etc. that execute programs stored in the memory.

[0077] The operation UI 101 is an example of a device for remotely operating a vehicle. The operation UI 101 is composed of a steering wheel and pedals, for example, in the same way as a normal vehicle. By operating the steering wheel, the accelerator pedal, and the brake pedal in the operation UI 101, the vehicle equipped with the vehicle control device 10 can be controlled. The amount of depression of the accelerator pedal in the operation UI 101 is an example of an operation amount related to the moving speed of a device for remotely operating a moving body. In addition, the moving speed can be either speed or fast / slow. Hereinafter, the expression denoted as speed can be replaced with fast / slow. The operation amount of the steering wheel in the operation UI 101 is an example of an operation amount related to the moving direction of a device for remotely operating a moving body. Hereinafter, the accelerator pedal in the operation UI 101 is denoted as the operation pedal, and the steering wheel in the operation UI 101 is denoted as the operation steering wheel. In addition, the operation UI 101 can also be composed of a joystick or a shift lever, etc.

[0078] The signal conversion unit 102 acquires the operation amount of the operation UI 101 and converts it into a digital value, for example. For example, when the operation pedal is not depressed, the signal conversion unit 102 outputs a digital value representing 0% as the amount of depression of the operation pedal, and when the operation pedal is depressed to the maximum, it outputs a digital value representing 100% as the operation amount of the operation pedal. In addition, since the operation UI 101 may be a joystick or a shift lever, etc. in addition to the operation pedal and the operation steering wheel as described above, the signal conversion unit 102 may also have functions corresponding to various devices. In addition, since there are individual differences depending on the operation UI 101, the signal conversion unit 102 may also have a calibration function.

[0079] The communication unit 103 is a communication interface for communicating with the vehicle control device 10 and the server device 200. Additionally, the remote control device 100 may also be respectively equipped with a communication interface for the vehicle control device 10 and a communication interface for the server device 200. The communication unit 103 outputs the operation amount obtained by the signal conversion unit 102, specifically, the digital value obtained by converting the operation amount obtained by the signal conversion unit 102, to the vehicle control device 10. In addition, the communication unit 103 outputs the operation history of the operation amount obtained by the signal conversion unit 102 to the server device 200. Further, the communication unit 103 obtains from the vehicle control device 10 the mode information indicating which one of the accelerator control mode and the speed control mode is the control mode of the vehicle speed. Details of the accelerator control mode and the speed control mode will be described later. Moreover, the communication unit 103 obtains the instruction information based on the transfer operation from the prompting unit 104 and outputs the instruction information to the vehicle control device 10, and the above-mentioned transfer operation is used to instruct the transfer of the control mode of the vehicle speed.

[0080] The prompting unit 104 is composed of, for example, a display device such as a display, a lamp, or a speaker, etc., and prompts the control mode of the vehicle speed based on the mode information obtained by the communication unit 103. The prompting content of the prompting unit 104 will be described later. In addition, the prompting unit 104 may also have a function of accepting input. For example, it may be a touch panel display, or may have mechanical buttons, etc.

[0081] Next, the operation of the remote control device 100 will be described.

[0082] Figure 3 It is a flowchart showing an example of the operation of the remote control device 100 according to the embodiment. Additionally, since the remote control device 100 is an example of a computer that executes the information processing method according to the embodiment, Figure 3 it is also a flowchart showing an example of the information processing method according to the embodiment.

[0083] First, the remote control device 100 obtains the operation amount regarding the speed of the operation UI 101 for remotely operating the vehicle (i.e., the stepping amount of the operation pedal) (step S11).

[0084] Next, the remote control device 100 outputs the obtained stepping amount of the operation pedal (specifically, the digital value indicating the stepping amount of the operation pedal) to the vehicle control device 10 (step S12).

[0085] Next, the remote control device 100 obtains the mode information indicating which one of the accelerator control mode and the speed control mode is the control mode of the vehicle speed (step S13).

[0086] Further, the remote control device 100 presents a control mode for the speed of the vehicle based on the acquired mode information (step S14). Here, Figure 4A and Figure 4B are used to illustrate examples of presenting the control mode.

[0087] Figure 4A is a diagram showing an example of presenting the accelerator control mode.

[0088] Figure 4B is a diagram showing an example of presenting the speed control mode.

[0089] In Figure 4A and Figure 4B the display device is shown as the presenting unit 104. The display device has an area 104a that emits light when the control mode is the accelerator control mode and an area 104b that emits light when the control mode is the speed control mode.

[0090] As Figure 4A shown, when the remote control device 100 acquires mode information indicating that the control mode is the accelerator control mode, it causes the area 104a in the presenting unit 104 to emit light. In the area 104a, characters such as "accelerator" are recorded, for example. By the area 104a emitting light, a person who sees the presenting unit 104 (such as the operator operating the UI101) can recognize that the control mode for the speed of the remotely operated vehicle is the accelerator control mode. Additionally, the presenting information indicating the accelerator control mode can also be expressed as "amount of movement", etc.

[0091] As Figure 4B shown, when the remote control device 100 acquires mode information indicating that the control mode is the speed control mode, it causes the area 104b in the presenting unit 104 to emit light. In the area 104b, characters such as "speed" are recorded, for example. By the area 104b emitting light, for example, the operator operating the UI101 can recognize that the control mode for the speed of the remotely operated vehicle is the speed control mode.

[0092] In this way, the operator of the operation UI101 for remotely operating the vehicle can be made to recognize the control mode for the speed of the vehicle. Additionally, a presenting unit (such as a lamp, etc.) for recognizing the transfer when the control mode is transferred can also be provided.

[0093] In addition, as described above, the prompting unit 104 may also have a function of accepting input, and the regions 104a and 104b may also be buttons. Such a button may be, for example, an icon of a button displayed on a touch panel display, or a transparent or semi-transparent mechanical button having a light-emitting element or the like inside. For example, the prompting unit 104 may also accept input via such a button or the like, obtain a transfer operation indicating a transfer of the control mode of the vehicle speed, generate an indication information based on the transfer operation, and output the indication information to the vehicle control device 10 via the communication unit 103. Thereby, it is possible to manually transfer the control mode of the vehicle speed. For example, it is effective for each operator according to the control mode that the operator wants to use according to the operation habit.

[0094] Next, the components of the vehicle control device 10 will be described.

[0095] Figure 5 It is a block diagram showing an example of the vehicle control device 10 according to the embodiment.

[0096] The vehicle control device 10 includes a communication unit 11, a vehicle information acquisition unit 12, a vehicle speed indication generation unit 13, a feedback control unit 14, a mode transfer management unit 15, and an output unit 19.

[0097] For example, the vehicle control device 10 is a computer including a processor, a communication interface, a memory, etc. The memory is a ROM (Read Only Memory) and a RAM (Random Access Memory), etc., and can store programs executed by the processor. The communication unit 11, the vehicle information acquisition unit 12, the vehicle speed indication generation unit 13, the feedback control unit 14, the mode transfer management unit 15, and the output unit 19 are implemented by a processor and a communication interface that execute programs stored in the memory.

[0098] The communication unit 11 is a communication interface for communicating with the remote control device 100 and the server device 200. In addition, the vehicle control device 10 may separately include a communication interface for the remote control device 100 and a communication interface for the server device 200. The communication unit 11 is an example of a second acquisition unit that acquires the operation amount regarding the speed of the operation UI 101 for remotely operating the vehicle (i.e., the depression amount of the operation pedal). In addition, the communication unit 11 outputs mode information indicating which of the accelerator control mode and the speed control mode is the control mode of the vehicle speed to the remote control device 100. In addition, the communication unit 11 acquires the transfer condition of the control mode of the vehicle speed from the server device 200. In addition, the communication unit 11 acquires indication information based on a transfer operation indicating a transfer of the control mode from the remote control device 100.

[0099] The vehicle information acquisition unit 12 acquires vehicle information of the vehicle from various ECUs (Electronic Control Units) connected to an in-vehicle network (e.g., CAN (Controller Area Network)) in the vehicle, for example. The vehicle information acquisition unit 12 is an example of a first acquisition unit that acquires a first moving speed, which is the current speed (actual vehicle speed) of the vehicle. In addition, the current speed of the vehicle is the latest vehicle speed acquired by the vehicle information acquisition unit 12 from the in-vehicle network, and it may not be the strict current speed.

[0100] The vehicle speed indication generation unit 13 is an example of a generation unit that generates a second moving speed based on the depression amount of the operation pedal acquired by the communication unit 11. That is, the vehicle speed indication generation unit 13 converts the depression amount of the operation pedal into a second moving speed, which is a speed corresponding to the depression amount (in other words, the indicated speed from the operation UI 101 to the vehicle).

[0101] The feedback control unit 14 acquires the current speed of the vehicle from the vehicle information acquisition unit 12 and performs feedback control to convert the indicated speed to the vehicle generated by the vehicle speed indication generation unit 13 into a control amount of the vehicle speed, so as to maintain the vehicle speed at the indicated speed to the vehicle generated by the vehicle speed indication generation unit 13.

[0102] The mode transfer management unit 15 manages the control mode of the vehicle speed. The transfer conditions of the control mode are thresholds for the current speed of the vehicle, specifically, a first threshold and a second threshold. The control mode is transferred according to the magnitude relationship between the current speed of the vehicle and the first threshold and the second threshold. The detailed situation will be described later, but the transfer conditions of the transfer mode are determined by the server device 200. The mode transfer management unit 15 obtains the transfer conditions of the control mode determined by the server device 200 via the communication unit 11. The mode transfer management unit 15 obtains the current speed of the vehicle from the vehicle information acquisition unit 12, and transfers the control mode to the accelerator control mode or the speed control mode according to the magnitude relationship between the current speed of the vehicle and the first threshold and the second threshold. In addition, the mode transfer management unit 15 obtains the indicated speed for the vehicle from the vehicle speed indication generation unit 13, and transfers the control mode to the accelerator control mode or the speed control mode according to the magnitude relationship between the current speed of the vehicle and the indicated speed for the vehicle. Specifically, the mode transfer management unit 15 is an example of a transfer control unit that transfers the control mode to the accelerator control mode when the current speed of the vehicle is less than the first threshold and the indicated speed for the vehicle is less than the current speed of the vehicle, and transfers the control mode of the vehicle speed to the speed control mode when the current speed of the vehicle is equal to or greater than the second threshold and the indicated speed for the vehicle is greater than the current speed of the vehicle. The accelerator control mode is an example of a first mode that outputs the amount of depression of the operation pedal as a control amount for the vehicle speed, that is, a speed control amount. The speed control mode is an example of a second mode that outputs a control amount obtained by converting the indicated speed for the vehicle as a vehicle speed control amount. In addition, the mode transfer management unit 15 transfers the control mode according to the indication information obtained by the communication unit 11 from the remote control device 100.

[0103] The output unit 19 includes a switch 16, an acceleration continuity correction unit 17, and a limiting unit 18.

[0104] The switch 16 has, for example, a common terminal, a first selection terminal, and a second selection terminal. The common terminal is connected to the in-vehicle network of the vehicle. Here, the common terminal is connected to, for example, the CAN of the vehicle via the acceleration continuity correction unit 17 and the restriction unit 18. The first selection terminal is connected to the communication unit 11, and the second selection terminal is connected to the feedback control unit 14. When the current control mode is the accelerator control mode, in the switch 16, the common terminal is connected to the first selection terminal. When the current control mode is the speed control mode, in the switch 16, the common terminal is connected to the second selection terminal. Additionally, here, an SPDT (Single Pole Double Throw) switch is illustrated as the switch 16, but the configuration example of the switch 16 is not limited thereto as long as it can switch the connection between the in-vehicle network of the vehicle and the communication unit 11 and the connection between the in-vehicle network of the vehicle and the feedback control unit 14. For example, two SPST (Single Pole Single Throw) switches can also be used as the switch 16.

[0105] The acceleration continuity correction unit 17 is an example of a setting unit that sets an upper limit of the vehicle speed control amount based on the current speed of the vehicle when the control mode changes and the difference between the current speed of the vehicle and the indicated speed of the vehicle is greater than the third threshold. Details of the acceleration continuity correction unit 17 will be described later.

[0106] The restriction unit 18 controls to make the vehicle speed control amount not exceed a predetermined upper limit and a lower limit in order to improve the riding comfort of the vehicle, and restricts the vehicle speed control amount and its change amount so that the change amount of the vehicle speed control amount does not become more than a predetermined change amount.

[0107] The output unit 19 outputs, for example, the amount of depression of the operation pedal as the vehicle speed control amount when the current speed of the vehicle is less than the first threshold by switching the connection relationship of the switch 16, and outputs the control amount obtained by converting from the indicated speed of the vehicle as the vehicle speed control amount when the current speed of the vehicle is equal to or greater than the second threshold. Specifically, the output unit 19 outputs the vehicle speed control amount according to the accelerator control mode or the speed control mode managed in the mode transition management unit 15. In addition, the output unit 19 outputs the vehicle speed control amount according to the upper limit of the vehicle speed control amount set by the acceleration continuity correction unit 17.

[0108] Next, the operation of the vehicle control device 10 will be described.

[0109] Figure 6 is a flowchart showing an example of the operation of the vehicle control device 10 according to the embodiment.

[0110] The vehicle information acquisition unit 12 acquires the current speed of the vehicle (step S21).

[0111] Next, the communication unit 11 acquires the depression amount of the operation pedal (step S22). Additionally, when the brake pedal is depressed in the operation UI 101, the communication unit 11 acquires information indicating that the brake pedal is depressed in the operation UI 101.

[0112] Next, the vehicle speed indication generation unit 13 generates an indicated speed for the vehicle based on the depression amount of the operation pedal (step S23). For example, the vehicle speed indication generation unit 13 generates an indicated speed for the vehicle based on the depression amount of the operation pedal such that the upper limit of the depression amount of the operation pedal becomes the upper limit of the speed of the vehicle. Use Figure 7 To illustrate this.

[0113] Figure 7 is a graph showing the correspondence between the depression amount of the operation pedal and the indicated speed for the vehicle. The horizontal axis represents the depression amount of the operation pedal, and the vertical axis represents the indicated speed for the vehicle. For example, the right end of the horizontal axis is set as the upper limit of the depression amount of the operation pedal.

[0114] As Figure 7 shown, it can be seen that as the depression amount of the operation pedal increases, the indicated speed for the vehicle increases, and at the upper limit of the depression amount of the operation pedal, the indicated speed for the vehicle becomes the practically maximum vehicle speed. The practically maximum vehicle speed is, for example, the upper limit of the speed of the vehicle set when the vehicle is remotely operated. In this way, by generating an indicated speed for the vehicle such that the upper limit of the depression amount of the operation pedal becomes the upper limit of the speed of the vehicle, it is possible to ensure that the indicated speed for the vehicle does not exceed the upper limit of the speed of the vehicle during remote operation. Additionally, in Figure 7 it shows an example where the indicated speed for the vehicle becomes the practically maximum vehicle speed before the depression amount of the operation pedal reaches the upper limit, but it is also possible to adjust the correspondence between the depression amount of the operation pedal and the indicated speed for the vehicle so that the indicated speed for the vehicle exactly becomes the practically maximum vehicle speed when the depression amount of the operation pedal reaches the upper limit.

[0115] Returning to Figure 6 the description in, next, the mode transition management unit 15 determines whether the current speed of the vehicle is less than the first threshold value (step S24).

[0116] When the current speed of the vehicle is less than the first threshold value (Yes in step S24), the mode transition management unit 15 determines whether the indicated speed for the vehicle is less than the current speed of the vehicle (step S25).

[0117] When the indicated speed of the vehicle is lower than the current speed of the vehicle (Yes in step S25), the mode transition management unit 15 changes the control mode to the accelerator control mode. Specifically, when the current control mode is the speed control mode, the mode transition management unit 15 changes the control mode to the accelerator control mode, and when the current control mode is already the accelerator control mode, the accelerator control mode is maintained.

[0118] When the indicated speed of the vehicle is equal to or higher than the current speed of the vehicle (No in step S25), when the current control mode is the accelerator control mode, the accelerator control mode is maintained, and when the current control mode is the speed control mode, the speed control mode is maintained.

[0119] Here, regarding the transition conditions from the speed control mode to the accelerator control mode described in steps S24 to S26, Figure 8A it will be described in detail.

[0120] Figure 8A is a diagram for explaining the transition conditions from the speed control mode to the accelerator control mode. The vertical axis represents the current speed of the vehicle, and the horizontal axis represents the indicated speed of the vehicle. v a is the current speed of the vehicle, v s is the indicated speed of the vehicle, v th1 is the first threshold.

[0121] When the current control mode is the speed control mode, the transition condition from the speed control mode to the accelerator control mode is v a < v th1 and v s < v a . That is, in Figure 8A , when the current speed of the vehicle and the indicated speed of the vehicle are in the shaded area, the control mode changes from the speed control mode to the accelerator control mode. In other words, if the current speed of the vehicle is equal to or higher than the first threshold, the control mode does not change from the speed control mode to the accelerator control mode. In addition, even if the current speed of the vehicle is less than the first threshold, if the indicated speed of the vehicle is equal to or higher than the current speed of the vehicle, the control mode also does not change from the speed control mode to the accelerator control mode. Further, when the brake pedal is depressed in the operation UI101, when the current control mode is the speed control mode, the control mode can also change from the speed control mode to the accelerator control mode.

[0122] In the case where the transfer condition to the accelerator control mode is only the condition that the current speed of the vehicle is less than the first threshold, when the speed of the vehicle approaches the first threshold, the transfer of the control mode may occur frequently. However, since there is also a condition that the indicated speed of the vehicle is less than the current speed of the vehicle, it is possible to suppress the frequent occurrence of the transfer of the control mode.

[0123] Return to Figure 6 the description in. When the current speed of the vehicle is equal to or greater than the first threshold (No in step S24), the mode transfer management unit 15 determines whether the current speed of the vehicle is equal to or greater than the second threshold (step S27).

[0124] When the current speed of the vehicle is equal to or greater than the second threshold (Yes in step S27), the mode transfer management unit 15 determines whether the indicated speed of the vehicle is greater than the current speed of the vehicle (step S28).

[0125] When the indicated speed of the vehicle is greater than the current speed of the vehicle (Yes in step S28), the mode transfer management unit 15 changes the control mode to the speed control mode (step S29). Specifically, when the current control mode is the accelerator control mode, the mode transfer management unit 15 changes the control mode to the speed control mode, and when the current control mode is already the speed control mode, the speed control mode is maintained.

[0126] When the current speed of the vehicle is less than the second threshold (No in step S27), or when the indicated speed of the vehicle is less than or equal to the current speed of the vehicle (No in step S28), when the current control mode is the accelerator control mode, the accelerator control mode is maintained, and when the current control mode is the speed control mode, the speed control mode is maintained.

[0127] Here, use Figure 8B to explain in detail the transfer conditions from the accelerator control mode to the speed control mode described in steps S27 to S29.

[0128] Figure 8B is a diagram for explaining the transfer conditions from the accelerator control mode to the speed control mode. The vertical axis represents the current speed of the vehicle, and the horizontal axis represents the indicated speed of the vehicle. v th2 is the second threshold.

[0129] When the current control mode is the accelerator control mode, the transfer condition from the accelerator control mode to the speed control mode is v a >v th2 And v s >v a . That is, in Figure 8BAmong them, when the current speed of the vehicle and the indicated speed of the vehicle are in the shaded area, the control mode transfers from the accelerator control mode to the speed control mode. In other words, if the current speed of the vehicle is less than the second threshold, the control mode does not transfer from the accelerator control mode to the speed control mode. In addition, even if the current speed of the vehicle is above the second threshold, if the indicated speed of the vehicle is less than the current speed of the vehicle, the control mode does not transfer from the accelerator control mode to the speed control mode.

[0130] When the transfer condition to the speed control mode is only the condition that the current speed of the vehicle is above the second threshold, the transfer of the control mode may occur frequently when the vehicle speed is near the second threshold. However, since the condition that the indicated speed of the vehicle is greater than the current speed of the vehicle is also set, the frequent transfer of the control mode can be suppressed.

[0131] The first threshold and the second threshold are not particularly limited. For example, the first threshold is 3 km / h and the second threshold is 2 km / h. In addition, the first threshold and the second threshold may also be the same value.

[0132] Here, use Figure 9 To illustrate a specific example of the transfer of the control mode.

[0133] Figure 9 Is a diagram for illustrating a specific example of the transfer of the control mode. In Figure 9 On the upper side, a graph showing the time change of the vehicle speed is shown. In Figure 9 On the lower side, a graph showing the time change of the depression amount of the operation pedal is shown.

[0134] In Figure 9 In the time region (1) shown, in order to remotely operate the parked vehicle, the operation pedal is depressed with a depression amount corresponding to an indicated speed v th2 greater than the second threshold v s , and the vehicle speed gradually increases. For example, assume that when the vehicle starts, the control mode is the accelerator control mode. Since the time region (1) is the stage of starting the vehicle and increasing the speed from the state of 0 km / h, the indicated speed v s of the vehicle in the time region (1) is greater than the current speed v a of the vehicle that is increasing moment by moment. And when the current speed v a of the vehicle becomes greater than or equal to the second threshold v th2 , since the conditions of v a >v th2 and v s >v a are satisfied, the control mode transfers from the accelerator control mode to the speed control mode.

[0135] exist Figure 9 In the time zone (2) shown in FIG. 1 , the speed of the vehicle reaches the indicated speed for the vehicle, and feedback control based on the speed control mode is performed to maintain the speed of the vehicle at the indicated speed. Then, the operation pedal is suppressed to a value lower than the first threshold value v th1 Small indicated speed v s The speed of the vehicle gradually decreases with the corresponding pedaling amount. Time zone (2) is the stage where the vehicle is driven at a certain speed, so the speed of the vehicle v is decreasing moment by moment in time zone (2). a than the first threshold v th1 And, at the current speed v of the vehicle a becomes less than the first threshold v th1 When v a <v th1 And v s <v a Therefore, the control mode is transferred from the speed control mode to the accelerator control mode.

[0136] And, in Figure 9 In the time zone (3) shown, the operation pedal is released from depression and the vehicle stops.

[0137] In addition, the control mode of the vehicle speed is automatically transferred according to the relationship between the current speed of the vehicle and the first threshold and the second threshold, and the relationship between the indicated speed of the vehicle and the current speed of the vehicle, but it can also be manually transferred according to the control mode indicated by the operator of the operating UI101 as shown in the indication information.

[0138] Back to Figure 6 As described in , the output unit 19 outputs the speed control amount of the vehicle according to the accelerator control mode or the speed control mode (step S30). That is, when the control mode is the accelerator control mode, the output unit 19 outputs the pedal depression amount as the speed control amount of the vehicle, and when the control mode is the speed control mode, the output unit 19 outputs the control amount obtained by converting the indicated speed of the vehicle generated according to the pedal depression amount through feedback control as the speed control amount. In addition, the output unit 19 may also output the speed control amount according to the upper limit of the speed control amount set by the acceleration continuity correction unit 17. Here, the speed control amount is output using Figure 10 The setting of the upper limit of the speed control amount by the acceleration continuity correction unit 17 will be described.

[0139] Figure 10 : is a flowchart showing an example of the operation of the acceleration continuity correction unit 17 according to the embodiment. th3 It is the third threshold.

[0140] First, the acceleration continuity correction unit 17 determines whether a control mode transfer has occurred (step S31). When no control mode transfer has occurred (No in step S31), the process in step S31 is repeated until a control mode transfer occurs.

[0141] When the acceleration continuity correction unit 17 determines that a control mode transfer has occurred (Yes in step S31), it determines whether it is v s −v a >v th3 (step S32). That is, the acceleration continuity correction unit 17 determines whether the indicated speed of the vehicle relative to the current speed of the vehicle is not excessive. In addition, the third threshold value is not particularly limited and can be set appropriately. When the control mode transfers, if the difference between the current speed of the vehicle and the indicated speed of the vehicle is greater than the third threshold value, when the speed control amount corresponding to the transferred control mode is output as it is, it may become a dangerous state due to the vehicle's rapid acceleration, so the determination in step S32 is performed.

[0142] When the acceleration continuity correction unit 17 is in v s −v a >v th3 (Yes in step S32), the upper limit of the output of the vehicle's speed control amount is set to v a +α (step S33). That is, the acceleration continuity correction unit 17 sets the upper limit of the vehicle's speed control amount based on the current speed of the vehicle. α can be set appropriately. When the difference between the current speed of the vehicle and the indicated speed of the vehicle is greater than the third threshold value, since the upper limit of the vehicle's speed control amount is set based on the current speed of the vehicle, when the control mode transfers, the situation of the vehicle's rapid acceleration is suppressed, and the continuity of the vehicle's acceleration can be maintained.

[0143] On the other hand, when the acceleration continuity correction unit 17 is in v s −v a ≤v th3 (No in step S32), the upper limit of the vehicle's speed control amount is not set and the process ends.

[0144] After the acceleration continuity correction unit 17 sets the upper limit of the vehicle's speed control amount in step S33, it determines whether it is v s −v a ≤v th3 (step S34). That is, the acceleration continuity correction unit 17 determines whether the current speed of the vehicle has approached the indicated speed of the vehicle. When the acceleration continuity correction unit 17 is in v s −v a >v th3In the case where it is "No" in step S34, the process in step S34 is repeated until it becomes v s -v a ≤v th3 .

[0145] Further, the acceleration continuity correction unit 17, when v s -v a ≤v th3 (when it is "Yes" in step S34), releases the upper limit of the vehicle speed control amount (step S35). This is because the vehicle speed rises to a certain extent toward the indicated speed of the vehicle, and even if the upper limit of the vehicle speed control amount is released, the vehicle is in a state of not accelerating rapidly.

[0146] Next, the components of the server device 200 will be described.

[0147] Figure 11 is a block diagram showing an example of the server device 200 according to the embodiment.

[0148] The server device 200 includes a communication unit 201, a database 202, and a transfer condition determination unit 203.

[0149] For example, the server device 200 is a computer including a processor, a communication interface, a memory, etc. The memory is a ROM, a RAM, etc., and can store programs executed by the processor. The communication unit 201, the database 202, and the transfer condition determination unit 203 are implemented by a processor, a memory, a communication interface, etc. that execute programs stored in the memory.

[0150] The communication unit 201 is a communication interface for communicating with the vehicle control device 10 and the remote control device 100. In addition, the server device 200 may separately include a communication interface for the vehicle control device 10 and a communication interface for the remote control device 100. The communication unit 201 acquires the operation history output from the remote control device 100. The operation history at least includes the history of the operation amount regarding the speed (i.e., the depression amount of the operation pedal). In addition, the operation history may also include the history of the operation amount related to the moving direction (i.e., the operation amount of the operation steering wheel). In addition, the operation history may also include the history of the transfer operation indicating the transfer of the control mode of the vehicle speed. In addition, the communication unit 201 may also acquire the history of the vehicle speed from the vehicle control device 10. In addition, the communication unit 201 outputs the transfer condition of the control mode determined by the transfer condition determination unit 203 to the vehicle control device 10.

[0151] The database 202 stores the operation history acquired by the communication unit 201, the history of the vehicle speed, etc.

[0152] The transition condition determination unit 203 determines the transition conditions for the control mode based on the operation history stored in the database 202 or the history of the vehicle speed. A specific example of the method for determining the transition conditions will be described later.

[0153] Next, the operation of the server device 200 will be described.

[0154] Figure 12 It is a flowchart showing an example of the operation of the server device 200 according to the embodiment. In addition, the server device 200 is an example of a computer that executes the information processing method according to the embodiment, Figure 12 It is also a flowchart showing an example of the information processing method according to the embodiment.

[0155] First, the server device 200 acquires the operation history of the operation UI 101 or the history of the vehicle speed (step S41). The acquired history is stored in the database 202.

[0156] Next, the server device 200 determines the transition conditions for the control mode based on the operation history of the operation UI 101 or the history of the vehicle speed (step S42). The transition conditions for the control mode are, as described above, thresholds for the current speed of the vehicle, specifically, the first threshold and the second threshold. Here, use Figures 13A to 14B A specific example of the method for determining the transition conditions will be described.

[0157] Figure 13A It is a table showing an example of the remote operation history.

[0158] Figure 13B It is a diagram for explaining an example of the method for determining the transition conditions.

[0159] As Figure 13A shown, the remote operation history includes the history of each operator of the operation UI 101. Specifically, the remote operation history includes the vehicle type of the vehicle for which the operator has performed a remote operation, the remote operation event, and the operation amounts of the accelerator pedal, brake pedal, and steering device (steering wheel) in the operation UI 101 at each fixed cycle, as well as the vehicle speed information and other driving log data.

[0160] As Figure 13B shown, for example, clustering analysis is performed for each event and operator, and grouped into a low-speed operation category and a medium-high speed operation category. And, the first threshold can be obtained by v th1 = μ 1 + σ 1 μ 1 is the average value of the speeds of the low-speed operation category, and σ 1 is the standard deviation of the speeds of the low-speed operation category. In addition, it is possible to pass vth2 = μ 2 - σ 2 Find the second threshold. μ 2 is the average value of the medium- and high-speed operation categories, and σ 2 is the standard deviation of the medium- and high-speed operation categories.

[0161] Figure 14A It is a table showing another example of the history of remote operations.

[0162] Figure 14B It is a diagram for explaining another example of the method for determining transfer conditions.

[0163] As Figure 14A shown, the history of remote operations includes the history of each operator who operates the operation UI101. Specifically, the history of remote operations contains the vehicle type of the vehicle for which the operator has performed remote operations, remote operation events, and transfer operation data such as the operation amounts of the accelerator pedal and the steering device (steering wheel) in the operation UI101 and the vehicle speed information at the time of the transfer operation for which the instruction control mode has been transferred.

[0164] As Figure 14B shown, for example, statistical analysis of the transfer operations is performed for each event and operator, and together with the calculations described in Figure 13B , the first threshold and the second threshold are updated. Specifically, the first threshold can be obtained by v th1 =(w 1 (μ 1 + σ 1 ) + w 2 (μ s1 )) / (w 1 + w 2 ). μ s1 is the average value of the speed at the time of the speed control mode transfer operation, w 1 is the weight of the method described in Figure 13B , and w2 is the weight of the analysis result of the transfer operation. In addition, the second threshold can be obtained by v th2 =(w 1 (μ 2 - σ 2 ) + w 2 (μ s2 )) / (w 1 + w 2 ). μ s2 is the average value of the speed at the time of the accelerator control mode transfer operation.

[0165] In addition, the server device 200 can also identify the operator of the operation UI 101, obtain a specific operation history corresponding to the identified operator, and determine the first threshold value and the second threshold value based on the specific operation history. Thereby, the first threshold value and the second threshold value can be determined for each operator of the operation UI 101.

[0166] Returning Figure 12 to the description in, next, the server device 200 outputs the determined transfer condition to the vehicle control device 10 (step S43). Specifically, the server device 200 outputs the first threshold value and the second threshold value determined based on the operation history or the vehicle speed history to the vehicle control device 10. Thereby, the communication unit 11 of the vehicle control device 10 can obtain the first threshold value and the second threshold value determined at least based on the operation history of the operation pedal depression amount or the vehicle speed history. Specifically, the communication unit 11 can obtain the first threshold value and the second threshold value determined based on the operation history of the operation amount of the operation steering wheel, or determined based on the operation history of the transfer operation indicating the transfer of the control mode, or determined based on the operation history corresponding to the operator of the operation UI 101. In addition, the server device 200 can also output the first threshold value and the second threshold value determined based on the specific operation history corresponding to the operator of the operation UI 101, and the communication unit 11 obtains the first threshold value and the second threshold value determined based on the operation history corresponding to the operator of the operation UI 101.

[0167] In this way, the server device 200 can determine the first threshold value and the second threshold value based on the operation history. And by outputting the first threshold value and the second threshold value determined in this way to the vehicle control device 10, the server device 200 can determine whether to output the operation pedal depression amount as the speed control amount as it is, or to output the control amount obtained by transforming from the indicated speed of the vehicle as the speed control amount.

[0168] For example, when the operation amount of the operation steering wheel is large, it can be inferred that the vehicle has been finely operated and the vehicle is moving at a low speed. Therefore, the first threshold value can be determined based on the operation pedal depression amount or the vehicle speed history when the operation amount of the operation steering wheel is large. In addition, when the operation amount of the operation steering wheel is small, it can be inferred that the vehicle has not been finely operated and the vehicle is moving at a medium to high speed. Therefore, the second threshold value can be determined based on the operation pedal depression amount or the vehicle speed history when the operation amount of the operation steering wheel is small.

[0169] In addition, for example, when it is indicated to transfer the control mode of the vehicle speed to the accelerator control mode, it can be inferred that a fine operation of the vehicle is to be performed and the vehicle is to be moved at a low speed. Therefore, the first threshold can be determined based on the amount of depression of the operation pedal or the vehicle speed history when the transfer to the accelerator control mode is indicated. In addition, when it is indicated to transfer the control mode to the speed control mode, it can be inferred that no fine operation of the vehicle is to be performed and the vehicle is to be moved at a medium or high speed. Therefore, the second threshold can be determined based on the amount of depression of the operation pedal or the vehicle speed history when the transfer to the speed control mode is indicated.

[0170] As described above, when the current speed of the vehicle is equal to or higher than the second threshold (for example, when the vehicle is moving at a medium or high speed), it is difficult to perform a fine operation, and even if the responsiveness to the operation on the operation UI 101 is poor, it is not likely to become a problem. Therefore, when the current speed of the vehicle is equal to or higher than the second threshold, a speed control amount for the indicated speed of the vehicle generated based on the amount of depression of the operation pedal in consideration of communication delay or the like is output. On the other hand, when the current speed of the vehicle is less than the first threshold (for example, when the vehicle is moving at a low speed), it is easy to perform a fine operation, and if the responsiveness to the operation on the operation UI 101 is poor, it is likely to become a problem. Therefore, when the current speed of the vehicle is less than the first threshold, the amount of depression of the operation pedal is output as the speed control amount as it is. In this way, since the optimal speed control amount is output according to the current speed of the vehicle, even if the speed of the vehicle decreases, it is possible to suppress the deterioration of the operability of the operation UI 101 for the vehicle.

[0171] (Other embodiments)

[0172] As described above, based on the embodiments, the information processing apparatus (vehicle control apparatus 10) and the information processing method related to one or more technical solutions of the present disclosure have been described, but the present disclosure is not limited to these embodiments. As long as it does not deviate from the gist of the present disclosure, various modified forms conceived by those skilled in the art for each embodiment, or forms constructed by combining the constituent elements of different embodiments can also be included within the scope of one or more technical solutions of the present disclosure.

[0173] For example, in the above embodiment, an example in which the mode transfer management unit 15 has both a function of transferring the control mode according to the magnitude relationship between the current speed of the vehicle and the first threshold and the second threshold, and the magnitude relationship between the indicated speed of the vehicle and the current speed of the vehicle, and a function of transferring the control mode according to the instruction information based on the transfer operation has been described, but it is not limited thereto. For example, the mode transfer management unit 15 may not have a function of transferring the control mode according to the instruction information.

[0174] For example, in the above-described embodiment, an example in which the vehicle control device 10 includes the mode transition management unit 15 has been described, but the mode transition management unit 15 may not be provided. In this case, the output unit 19 may not output the vehicle speed control amount according to the control mode. For example, the output unit 19 may also determine the magnitude relationship between the current speed of the vehicle and the first threshold value and the second threshold value, and based on the determination result, determine whether to output the depression amount of the operation pedal as the speed change control amount or output the control amount obtained by changing to the indicated speed of the vehicle as the speed change control amount.

[0175] For example, in the above-described embodiment, an example in which the vehicle control device 10 includes the acceleration continuity correction unit 17 has been described, but the acceleration continuity correction unit 17 may not be provided.

[0176] For example, in the above-described embodiment, an example in which the vehicle control device 10 includes the restriction unit 18 has been described, but the restriction unit 18 may not be provided.

[0177] For example, in the above-described embodiment, an example in which the first threshold value and the second threshold value are determined based on the operation history or the speed history of the vehicle has been described, but the first threshold value and the second threshold value may not be determined based on these histories, and may be manually set by a person or the like.

[0178] For example, in the above-described embodiment, an example in which the operator of the operation UI 101 can give an instruction to transfer the control mode of the vehicle speed has been described, but the operator of the operation UI 101 may not be able to give an instruction to transfer the control mode.

[0179] For example, in the above-described embodiment, the accelerator pedal in the operation UI 101 has been described as the operation pedal, but the present disclosure can also be applied to the brake pedal in the operation UI 101. For example, the place where the operation pedal is described in the above description can be replaced with the brake pedal in the operation UI 101.

[0180] For example, the present disclosure can also be implemented as a program for causing a processor to execute the steps included in the information processing method. Furthermore, the present disclosure can be implemented as a non-transitory computer-readable recording medium such as a CD-ROM on which the program is recorded.

[0181] For example, in the case where the present disclosure is implemented by a program (software), each step is executed by executing the program by using the hardware resources such as the CPU, memory, and input / output circuit of the computer. That is, each step is executed by the CPU obtaining data from the memory or the input / output circuit or the like and performing arithmetic operations, or outputting the arithmetic operation result to the memory or the input / output circuit or the like.

[0182] In addition, in the above-described embodiment, each component included in the vehicle control device 10 may be constituted by dedicated hardware or may be implemented by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU or a processor reading out and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.

[0183] Part or all of the functions of the vehicle control device 10 according to the above-described embodiment are typically implemented as an integrated circuit, i.e., an LSI. They may be formed as one chip individually, or may be formed as one chip including part or all of them. In addition, the integration into an integrated circuit is not limited to an LSI, and may be implemented by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after manufacturing the LSI, or a reconfigurable processor that can reconfigure the connection or setting of circuit units inside the LSI may also be used.

[0184] Furthermore, as long as it does not depart from the gist of the present disclosure, various modified examples obtained by making changes within the scope conceivable to those skilled in the art to each embodiment of the present disclosure are also included in the present disclosure.

[0185] Industrial Applicability

[0186] The present disclosure can be applied to a moving body such as a vehicle that can be remotely operated.

[0187] Reference Numeral Explanation

[0188] 1 Remote operation system

[0189] 10 Vehicle control device

[0190] 11, 103, 201 Communication unit

[0191] 12 Vehicle information acquisition unit

[0192] 13 Vehicle speed instruction generation unit

[0193] 14 Feedback control unit

[0194] 15 Mode transition management unit

[0195] 16 Switch

[0196] 17 Acceleration continuity correction unit

[0197] 18 Limiting unit

[0198] 19 Output unit

[0199] 100 Remote control device

[0200] 101 Operation UI

[0201] 102 Signal conversion unit

[0202] 104 Prompt unit

[0203] 104a, 104b Areas

[0204] 200 Server device

[0205] 202 Database

[0206] 203 Transfer condition determination unit

Claims

1. An information processing apparatus, wherein, it includes: a first acquisition unit that acquires a first moving speed of a moving body; a second acquisition unit that acquires an operation amount related to a moving speed of a device for remotely operating the moving body; a generation unit that generates a second moving speed based on the operation amount; and an output unit that, when the first moving speed is less than a first threshold, outputs the operation amount as a control amount of the moving speed of the moving body, that is, a moving speed control amount, and when the first moving speed is equal to or greater than a second threshold, outputs a control amount obtained by transforming from the second moving speed as the moving speed control amount; the information processing apparatus further includes a transfer control unit, when the first moving speed is less than the first threshold and the second moving speed is less than the first moving speed, the transfer control unit causes the control mode of the moving speed of the moving body to transfer to a first mode, which is a mode of outputting the operation amount as the moving speed control amount; when the first moving speed is equal to or greater than the second threshold and the second moving speed is greater than the first moving speed, the transfer control unit causes the control mode of the moving speed of the moving body to transfer to a second mode, which is a mode of outputting a control amount obtained by transforming from the second moving speed as the moving speed control amount; the output unit outputs the moving speed control amount according to the first mode or the second mode.

2. The information processing apparatus according to claim 1, wherein, it further includes a setting unit that, when the control mode of the moving speed of the moving body transfers and the difference between the first moving speed and the second moving speed is greater than a third threshold, sets an upper limit of the moving speed control amount based on the first moving speed; the output unit further outputs the moving speed control amount according to the upper limit of the moving speed control amount.

3. The information processing apparatus according to claim 1, wherein, the generation unit generates the second moving speed based on the operation amount so that the upper limit of the operation amount becomes the upper limit of the moving speed of the moving body.

4. The information processing apparatus according to claim 1, wherein, the second acquisition unit further acquires the first threshold and the second threshold determined based on at least a history of an operation amount related to a moving speed or a history of a moving speed.

5. The information processing apparatus according to claim 4, wherein, the second acquisition unit acquires the first threshold and the second threshold determined based on a history of an operation amount related to a moving direction.

6. The information processing apparatus according to claim 4, wherein, the second acquisition unit acquires the first threshold and the second threshold determined based on a history of a transfer operation that indicates a transfer of the control mode of the moving speed of the moving body.

7. The information processing apparatus according to any one of claims 4 to 6, wherein, the second acquisition unit acquires the first threshold and the second threshold determined based on an operation history corresponding to an operator of the device.

8. The information processing apparatus according to claim 1 or 2, wherein, the second acquisition unit further acquires indication information of a transfer operation that indicates a transfer of the control mode of the moving speed of the moving body; The above transfer control unit transfers the control mode of the moving speed of the above moving body according to the above instruction information.

9. An information processing method, executed by a computer, wherein, obtain an operation amount related to the moving speed of a device for remotely operating a moving body; output the obtained above operation amount; obtain mode information indicating which of a first mode and a second mode is the control mode of the moving speed of the above moving body, the first mode being a control mode in which when the first moving speed of the above moving body is less than a first threshold value and a second moving speed generated according to the above operation amount is less than the first moving speed, the above operation amount is output as a control amount of the moving speed of the above moving body, that is, a moving speed control amount, and the second mode being a control mode in which when the first moving speed is equal to or greater than a second threshold value and the second moving speed is greater than the first moving speed, a control amount obtained by transforming from the second moving speed is output as the above moving speed control amount; prompt the control mode of the moving speed of the above moving body based on the above mode information.

10. The information processing method according to claim 9, wherein, obtain an operation history or a moving speed history that includes at least a history of an operation amount related to the moving speed; determine the above first threshold value and the above second threshold value based on the above operation history or the above moving speed history; output the determined above first threshold value and the above second threshold value.

11. The information processing method according to claim 10, wherein, the above operation history further includes a history of an operation amount related to the moving direction.

12. The information processing method according to claim 10, wherein, the above operation history further includes a history of a transfer operation that instructs a transfer of the control mode of the moving speed of the above moving body.

13. The information processing method according to claim 10, wherein, identify an operator of the above device; obtain an operation history corresponding to the identified above operator; determine the above first threshold value and the above second threshold value based on the above operation history; output the determined above first threshold value and the above second threshold value.

14. The information processing method according to any one of claims 10 to 13, wherein, obtain a transfer operation that instructs a transfer of the control mode of the moving speed of the above moving body; generate instruction information based on the above transfer operation; output the above instruction information.

15. An information processing apparatus, wherein, comprises: a first acquisition unit that acquires a first moving speed of a moving body; a second acquisition unit that acquires an operation amount related to the moving speed of a device for remotely operating the above moving body; a generation unit that generates a second moving speed according to the above operation amount; and an output unit that, when the above first moving speed is less than a first threshold value, outputs the above operation amount as a control amount of the moving speed of the above moving body, that is, a moving speed control amount, and when the above first moving speed is equal to or greater than a second threshold value, outputs a control amount obtained by transforming from the above second moving speed as the above moving speed control amount, the above second acquisition unit further acquires the above first threshold value and the above second threshold value determined at least based on a history of an operation amount related to the moving speed or a history of the moving speed, The second acquisition unit acquires the first threshold value and the second threshold value determined based on a history of an operation amount related to a moving direction.

16. An information processing apparatus, wherein, it includes: a first acquisition unit that acquires a first moving speed of a moving body; a second acquisition unit that acquires an operation amount related to a moving speed of a device for remotely operating the moving body; a generation unit that generates a second moving speed based on the operation amount; and an output unit that outputs the operation amount as a control amount of the moving speed of the moving body, i.e., a moving speed control amount, when the first moving speed is less than a first threshold value, and outputs a control amount obtained by transforming from the second moving speed as the moving speed control amount when the first moving speed is equal to or greater than a second threshold value, the second acquisition unit further acquires the first threshold value and the second threshold value determined based on at least a history of an operation amount related to a moving speed or a history of a moving speed, the second acquisition unit acquires the first threshold value and the second threshold value determined based on a history of a transfer operation, and the transfer operation indicates a transfer of a control mode of the moving speed of the moving body.

17. An information processing apparatus, wherein, it includes: a first acquisition unit that acquires a first moving speed of a moving body; a second acquisition unit that acquires an operation amount related to a moving speed of a device for remotely operating the moving body; a generation unit that generates a second moving speed based on the operation amount; and an output unit that outputs the operation amount as a control amount of the moving speed of the moving body, i.e., a moving speed control amount, when the first moving speed is less than a first threshold value, and outputs a control amount obtained by transforming from the second moving speed as the moving speed control amount when the first moving speed is equal to or greater than a second threshold value, the second acquisition unit further acquires the first threshold value and the second threshold value determined based on at least a history of an operation amount related to a moving speed or a history of a moving speed, the second acquisition unit acquires the first threshold value and the second threshold value determined based on an operation history corresponding to an operator of the device.

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