Vehicle control device, system, method, and non-transitory storage medium

Abstract

The present disclosure provides a vehicle control device, system, method, and non-transitory storage medium. The vehicle control device includes one or more processors configured to communicate with multiple vehicles, transmit and receive data with the multiple vehicles, obtain a communication delay time between a controlled vehicle, one of the multiple vehicles being the subject of remote control, and the vehicle control device based on the transmitted and received data, and generate a control signal for remote control to the controlled vehicle based on the communication delay time.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control device, system, method, and non-transitory storage medium. Background Art

[0002] Japanese Patent Application Laid-Open No. 2019-505059 discloses an autonomous vehicle service platform that is communicatively connected to multiple autonomous vehicles operating autonomously on a road network via a network. This autonomous vehicle service platform remotely controls the multiple autonomous vehicles, providing users with a variety of services utilizing the vehicles.

[0003] Furthermore, Japanese Patent Application Laid-Open No. 2020-013557 discloses a system that uses a digital twin formed on the cloud based on data collected from a plurality of vehicles via a network to evaluate risks associated with vehicle travel. Summary of the Invention

[0004] In a system where a vehicle and a control device located in the cloud are connected via a network, communication delay occurs between the vehicle and the cloud. Therefore, it is desirable to minimize the impact of communication delay between the vehicle and the cloud when the control device controls the vehicle.

[0005] The present disclosure provides a vehicle control device and the like that can reduce the influence of communication delay generated between a vehicle and a cloud when a vehicle is remotely controlled using a control device provided on a cloud.

[0006] A first aspect of the disclosed technology relates to a vehicle control device. The vehicle control device includes one or more processors configured to communicate with multiple vehicles, transmit and receive data with the multiple vehicles, obtain a communication delay time between a controlled vehicle, one of the multiple vehicles being the subject of remote control, and the vehicle control device based on the transmitted and received data, and generate a control signal to be transmitted to the controlled vehicle for the remote control based on the obtained communication delay time.

[0007] A second aspect of the disclosed technology relates to a system. The system includes multiple vehicles and a vehicle control device. The vehicle control device includes one or more processors configured to communicate with the multiple vehicles; send and receive data with the multiple vehicles; obtain, based on the sent and received data, a communication delay time between a controlled vehicle, one of the multiple vehicles, that is the subject of remote control, and the vehicle control device; and generate, based on the obtained communication delay time, a control signal to be sent to the controlled vehicle for the purpose of remote control.

[0008] A third aspect of the disclosed technology relates to a method executed by a computer of a vehicle control device, wherein the vehicle control device includes one or more processors and one or more memories and is configured to communicate with multiple vehicles. The method includes the following processing: transmitting and receiving data with the multiple vehicles; obtaining, based on the transmitted and received data, a communication delay time between a controlled vehicle, one of the multiple vehicles, that is the subject of remote control, and the vehicle control device; and generating, based on the communication delay time, a control signal to be sent to the controlled vehicle for the remote control.

[0009] A fourth aspect of the disclosed technology relates to a non-transitory storage medium storing instructions for execution by a computer of a vehicle control device, the computer performing the following functions. The vehicle control device includes one or more processors and one or more memories, and communicates with multiple vehicles. The functions include processing for transmitting and receiving data with the multiple vehicles; obtaining, based on the transmitted and received data, a communication delay time between a controlled vehicle, one of the multiple vehicles, that is the subject of remote control, and the vehicle control device; and generating, based on the communication delay time, a control signal to be transmitted to the controlled vehicle for the purpose of the remote control.

[0010] According to the above aspect, when a vehicle is remotely controlled using a control device provided on the cloud, the influence of a communication delay generated between the vehicle and the cloud can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like symbols represent like elements, and wherein:

[0012] Figure 1 This is a schematic structural diagram of a network system including a vehicle control device according to one embodiment of the present disclosure.

[0013] Figure 2 This is a block diagram showing the schematic structure of the vehicle control device.

[0014] Figure 3 This is a functional block diagram of the vehicle control device.

[0015] Figure 4 This is a processing flow chart of the data correction control executed by the vehicle control device.

[0016] Figure 5 This is a flowchart of the communication delay time prediction process executed by the vehicle control device.

[0017] Figure 6 This is a flowchart of the control signal generation process performed by the vehicle control device.

[0018] Figure 7A A diagram illustrating transmission of a control signal performed by a conventional device.

[0019] Figure 7B This is a diagram for explaining an example of transmission of a control signal for synchronizing time, which is executed by the vehicle control device.

[0020] Figure 7C This is a diagram for explaining an example of transmission of another control signal for synchronizing the time, which is executed by the vehicle control device.

[0021] Figure 8 This is a functional block diagram of the vehicle control device that utilizes an external device. DETAILED DESCRIPTION

[0022] When remotely controlling a vehicle, the vehicle control device disclosed herein uses a database storing past statistical communication quality data corresponding to a road map to predict the communication delay at the future vehicle location where remote control will be implemented. Based on this predicted communication delay and a digital twin, the device generates and transmits a control signal suitable for the vehicle, ensuring time synchronization between the virtual space formed on the cloud and the real space. This reduces the impact of communication delay between the vehicle and the cloud.

[0023] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0024] Implementation Method

[0025] structure

[0026] Figure 1 1 is a block diagram showing an example of the overall configuration of a digital twin system 10 including a vehicle control device 100 according to an embodiment of the present disclosure. Figure 1 The illustrated digital twin system 10 is a vehicle system comprising a vehicle control device 100 and a communication device group 200 comprising a plurality of vehicles, and is configured to remotely control at least one vehicle included in the communication device group 200 via the vehicle control device 100. The vehicle control device 100 and the communication device group 200 are connected to each other via a communication line 500 such as the Internet so as to enable mutual communication.

[0027] (1) Communication equipment group

[0028] The communication device group 200 constituting the digital twin system 10 includes a control target vehicle 210, an information providing vehicle 220, and an information terminal 230. The control target vehicle 210 is a controlled vehicle that is remotely controlled by the vehicle control device 100 by flexibly utilizing a large amount of data collected by the vehicle control device 100. The control target vehicle 210 provides at least data related to the vehicle status described later to the vehicle control device 100. The information providing vehicle 220 is a vehicle that will not be the subject of remote control and only provides data related to the communication quality described later to the vehicle control device 100. The information terminal 230 is, for example, a smartphone or a tablet terminal, and is a communication device that provides data related to the communication quality to the vehicle control device 100 in the same way as the information providing vehicle 220.

[0029] Examples of information included in the data related to communication quality (or radio wave quality) provided to the vehicle control device 100 by the information providing vehicle 220 and the information terminal 230 include: "time / position information" including the time (time stamp) when the information was measured, detected, or acquired, and the latitude / longitude of the GPS (Global Positioning System) used to identify the vehicle's location; "communication information" including the name of the service provider providing the communication line 500 and the Cell ID (Identification Code) used to identify the wireless base station; and "communication quality information" including the execution speed (average and peak throughput), communication delay time, packet loss, and radio wave strength RSSI. The time / position information can be acquired using a clock function or GPS reception function installed in the information providing vehicle 220 or the information terminal 230. Communication information can be acquired using a communication function installed in the information providing vehicle 220 or the information terminal 230. As an example, communication quality information can be calculated based on the results of executing a pre-installed information measurement tool or information measurement application software on the information providing vehicle 220 or information terminal 230, and sending a predetermined test signal to the vehicle control device 100 (or its measurement server, etc.) at a predetermined period. Furthermore, for the control target vehicle 210, in addition to the above-described method, to reduce processing load, highly accurate communication quality information can be provided based on, for example, a ping value obtained by basic software that measures communication reachability or network round-trip time, or the response speed obtained by transmitting and receiving data via the communication line 500 using actual control signals.

[0030] In addition to the aforementioned time and location information, "trajectory information" can be included in the vehicle status data provided by the control target vehicle 210 to the vehicle control device 100. This information includes at least the vehicle's speed (time-series history) and vehicle heading (current state), which are information related to the vehicle's travel trajectory. Trajectory information may also include navigation (route setting) information, turn signal operation information (current state), accelerator opening / brake application information (time-series history), acceleration / deceleration information (time-series history), shift position (D / B / R) information (current state), steering angle information (time-series history), lane information (current state), traffic light information for the oncoming lane (current state), and road information including traffic congestion information (current state). This trajectory information can be obtained via an electronic control unit (ECU) that controls sensor devices and other equipment onboard the control target vehicle 210.

[0031] In addition, if the communication delay time prediction in the vehicle control device 100 can be performed only based on the data related to the communication quality provided by the information providing vehicle 220 and the information terminal 230 (to be described later), the control object vehicle 210 may not provide the data related to the communication quality to the vehicle control device 100. In addition, since the information providing vehicle 220 and the information terminal 230 are communication devices that participate in the system for the purpose of realizing the communication delay time prediction with high accuracy and high efficiency, they may not be a necessary structure for the digital twin system 10. However, in order to predict the communication delay time with high accuracy and high efficiency, it is considered to provide data related to the communication quality from a large number of control object vehicles 210, information providing vehicles 220 and information terminals 230.

[0032] (2) Vehicle control device

[0033] The vehicle control device 100 is configured to communicate with communication equipment (not shown) mounted on the control target vehicle 210, the information providing vehicle 220, and the information terminal 230 via a communication line 500. Furthermore, the vehicle control device 100 can appropriately remotely control the control target vehicle 210 by receiving (collecting) data related to communication quality and vehicle status from the control target vehicle 210, the information providing vehicle 220, and the information terminal 230, or by transmitting predetermined control signals to the control target vehicle 210. The vehicle control device 100 is configured, for example, on a cloud (e.g., a cloud server).

[0034] Figure 2 To express Figure 1 A block diagram showing the schematic structure of the vehicle control device 100. Figure 2 As shown, the vehicle control device 100 includes a CPU (Central Processing Unit) 101, RAM (Random Access Memory) 102, a storage device 103, and a communication device 104. The number of CPU 101, RAM 102, storage device 103, and communication device 104 is not limited to one; multiple devices may be used. The storage device 103 is a device equipped with a readable storage medium such as a hard disk drive (HDD) or a solid-state drive (SSD). It stores programs for measuring communication quality, collected data related to communication quality, data used to generate a digital twin 160 (described later), and programs for predicting communication delays. In the vehicle control device 100, the CPU 101 uses the RAM 102 as a workspace to execute the programs read from the storage device 103, thereby performing predetermined processing related to communication delay time prediction. The communication device 104 is a device used to communicate with the controlled vehicle 210, the information providing vehicle 220, and the information terminal 230 via the communication line 500.

[0035] Figure 3 for Figure 2 The functional block diagram of the vehicle control device 100 is shown in FIG. Figure 3 The vehicle control device 100 shown in FIG includes a communication unit 110, a collection unit 120, an estimation / prediction unit 130, a generation unit 140, a communication quality map database (DB) 150, and a digital twin 160. The communication quality map database 150 and the digital twin 160 are connected by Figure 2 The communication unit 110, the collection unit 120, the inference / prediction unit 130 and the generation unit 140 are implemented by Figure 2 The CPU 101 shown in FIG is implemented by executing a program stored in the storage device 103 using the RAM 102 .

[0036] The communication unit 110 communicates with the controlled vehicle 210, the information providing vehicle 220 and the information terminal 230, thereby implementing the reception of predetermined data (data related to the vehicle status, data related to the communication quality, etc.), the sending and reception of predetermined test signals (signals for confirming the communication quality, etc.), the sending of predetermined control signals (signals for remote control, etc.), etc.

[0037] The collection unit 120 collects data related to vehicle status and communication quality, which is provided from time to time via the communication unit 110 from the controlled vehicle 210, the information providing vehicle 220, and the information terminal 230. The collection unit 120 then utilizes the vehicle status data to generate the digital twin 160 and utilizes the communication quality data to create the communication quality map database 150.

[0038] The inference / prediction unit 130 uses vehicle status data provided by the control target vehicle 210, the information providing vehicle 220, and the information terminal 230, as well as data stored in the digital twin 160, to estimate the future position (future position) of the control target vehicle 210 after a predetermined time. More specifically, the inference / prediction unit 130 estimates the future position of the control target vehicle 210 based on driving information (such as vehicle speed, direction of travel, and navigation route) received from the control target vehicle 210 via the communication unit 110. This estimated future position of the control target vehicle 210 is used to generate the digital twin 160.

[0039] Furthermore, the inference / prediction unit 130 uses data related to communication quality stored in the communication quality map database 150 to predict the communication delay time (or amount of communication delay) at the future location where the control target vehicle 210 is estimated to be traveling. More specifically, the inference / prediction unit 130 predicts the communication delay time at the future location of the control target vehicle 210 based on the route information (measurement time, GPS latitude / longitude, communication line service provider name, etc.) provided by the control target vehicle 210 via the communication unit 110, and based on the communication quality (execution speed, communication delay time, packet loss / radio signal strength RSSI, etc.) obtained from the communication quality map database 150. The execution speed includes the upper and lower average / peak throughput of the amount of information that can be received per unit time, which is required to calculate the time until information reception is completed. The packet loss / radio signal strength RSSI, which indicates the possibility of information not arriving, is used while taking into account the time it takes to retransmit information.

[0040] In this way, the collection unit 120 and the inference / prediction unit 130 can function as an acquisition unit that infers the future position to which the control object vehicle 210 will travel and can obtain the communication delay time generated between the control object vehicle 210 and the vehicle control device 100 at the inferred future position.

[0041] The generator 140 generates a control signal related to vehicle remote control to be transmitted to the control target vehicle 210 based on the communication delay time at the future position of the control target vehicle 210 predicted by the estimation / prediction unit 130. The method for generating the control signal based on the communication delay time will be described later.

[0042] The communication quality map database 150 is a storage unit that stores a plurality of data related to communication quality, provided from the control target vehicle 210, the information providing vehicle 220, and the information terminal 230 via the communication unit 110. The communication quality map database 150 statistically stores the past communication quality data required for predicting the communication delay time at the future location estimated by the estimation / prediction unit 130 as the vehicle's future travel location, in the form of a map associated with road map information. Examples of information included in the communication quality data stored in the communication quality map database 150 include data measurement time, GPS latitude / longitude, communication line service provider name, wireless base station Cell ID, execution speed (average / peak throughput), communication delay time, packet loss, and radio frequency strength RSSI.

[0043] The digital twin 160 is a storage function unit for reproducing a virtual world synchronized with the real world on a cloud computer by updating and storing the current and past vehicle status data (vehicle location, driving time, etc.) collected about the control target vehicle 210 in real time. In addition, the digital twin 160 can generate future prediction data related to the control target vehicle 210 based on current and past data and information upon request. The information contained in the data stored by the digital twin 160 can include vehicle information (VIN, etc.), information related to other vehicle traffic (including bicycles, pedestrians, etc.), map information, time information, location information (GPS latitude / longitude), and trajectory information (vehicle speed, etc.) as a driving trajectory.

[0044] In addition, if Figure 8As shown, a device other than the vehicle control device 100, such as an external device 300, may also be configured to have a system configuration that holds a communication quality map database (DB) 350, wherein the communication quality map database (DB) 350 holds communication quality information equivalent to the communication quality map database 150. When this system configuration is employed, the vehicle control device 100 may not directly receive communication quality-related data from the information providing vehicle 220 or the information terminal 230, but may instead obtain (implement functionality of) the communication quality map database 150 by referring to the communication quality map database 350 held by the external device 300. Examples of the external device 300 include a telecommunications carrier or an information providing service company.

[0045] control

[0046] Next, refer to Figures 4 to 6 The following describes the processing executed by the vehicle control device 100 according to this embodiment. The processing executed by the vehicle control device 100 includes data correction control, communication delay time prediction, and control signal generation.

[0047] (1) Data correction control

[0048] Figure 4 Flowchart for explaining the processing procedure of the data correction control executed by the vehicle control device 100. Figure 4 The illustrated data correction control is a process for correcting the data of the digital twin 160 and is executed each time data related to the vehicle state is received from the control target vehicle 210 .

[0049] Step S401

[0050] The vehicle control device 100 determines whether data related to the vehicle status is received from the control target vehicle 210. The data related to the vehicle status received from the control target vehicle 210 includes information related to the vehicle's position at the time the data is sent (or when the data is created), information (timestamp), and information related to the vehicle's driving trajectory (trajectory information). The trajectory information includes at least the vehicle's speed and the vehicle's direction. The trajectory information may also further include navigation information, direction indicator information, accelerator opening amount / brake braking amount information, acceleration and deceleration information, gear shift position (D / B / R) information, steering angle information, road information, driving lane, information on traffic lights in the opposite lane, traffic congestion information, etc.

[0051] In step S401 , when data related to the vehicle state is received from the control target vehicle 210 ( S401 , Yes), the process proceeds to step S402 .

[0052] Step S402

[0053] The vehicle control device 100 calculates the actual delay time (actual communication delay time) that occurs in the communication between the control target vehicle 210 and the vehicle control device 100. The actual communication delay time can be calculated based on the difference between the time information (time stamp) included in the data related to the vehicle state received from the control target vehicle 210 and the time when the vehicle control device 100 receives the data.

[0054] In this step S402 , when the actual communication delay time is calculated, the process proceeds to step S403 .

[0055] Step S403

[0056] The vehicle control device 100 derives the probability of the vehicle speed at the location of the target vehicle 210 at the time the target vehicle 210 transmits vehicle status data (or generates the data). The probability of the vehicle speed at this location can be derived based on information such as road information, traffic congestion information, and past vehicle speeds included in the vehicle status data received from the target vehicle 210 or stored in the digital twin 160. The probability of the vehicle speed at this location is stored in a database, for example, in the form of a map.

[0057] In step S403 , when the occurrence probability of the vehicle speed at the vehicle position of the control target vehicle 210 at the time of data transmission is derived, the process proceeds to step S404 .

[0058] Step S404

[0059] The vehicle control device 100 derives the probability of the position of the target vehicle 210, estimated at the time the vehicle control device 100 receives data related to the vehicle state. More specifically, based on the actual communication delay time generated between the vehicle control device 100 and the target vehicle 210, the probability of the vehicle speed at the target vehicle 210's position at the time the data was transmitted, and the trajectory information included in the vehicle state data received from the target vehicle 210, the vehicle control device 100 derives the probability of the vehicle position estimated as the moving position of the target vehicle 210 at the time the vehicle control device 100 receives the data transmitted from the target vehicle 210 after the actual communication delay time. This vehicle position probability can be derived, for example, as follows.

[0060] a: The vehicle is traveling at a high speed (with no tendency to slow down)

[0061] In this case, since it is expected that the vehicle is less likely to turn left or right or move backward and will probably go straight, the occurrence probability of the vehicle's front position is derived with a high probability.

[0062] b: The vehicle's direction indicator is working in the left turn state

[0063] In this case, since it is expected that the vehicle will probably turn left, the leftward position of the vehicle is derived with a high probability of occurrence.

[0064] c: The vehicle is traveling in the right-turn lane of a multi-lane road (while decelerating)

[0065] In this case, since it is expected that the vehicle will probably turn right, the rightward position of the vehicle is derived with a high probability of occurrence.

[0066] d: The vehicle's shift position is reverse (R)

[0067] In this case, since it is expected that the vehicle will probably move backward, the rear position of the vehicle is derived with a high probability of occurrence.

[0068] Alternatively, the vehicle control device 100 may derive the probability of occurrence of the vehicle position of the control target vehicle 210 at arbitrary intervals (e.g., one second) from the time the vehicle control device 100 receives current data until the next new data is received from the control target vehicle 210. This arbitrary interval is determined to be an optimal value based on the intended use of the control signal, the required accuracy of the vehicle position, and the like.

[0069] In step S404 , when the occurrence probability of the vehicle position of the control target vehicle 210 estimated at the data reception time is derived, the process proceeds to step S405 .

[0070] Step S405

[0071] The vehicle control device 100 generates (updates) the digital twin 160 based on the derived probability of occurrence of the vehicle position of the control target vehicle 210. This allows the digital twin 160 to be obtained in which corrections are made to the communication delay and transmission cycle of the data.

[0072] In addition, as in the example above, when the occurrence probability of the vehicle position of the controlled object vehicle 210 is derived at arbitrary time intervals (for example, 1 second) from the moment when data related to the vehicle state is received from the vehicle control device 100, the digital twin 160 is generated for each time corresponding to the derivation of the occurrence probability in a manner synchronized with the current moment.

[0073] In step S405 , when the digital twin 160 is generated, the process proceeds to step S401 and the data correction control is repeatedly implemented.

[0074] (2) Communication delay time prediction

[0075] Figure 5 FIG. 1 is a flowchart illustrating the processing procedure of the communication delay time prediction executed by the vehicle control device 100. Figure 5 The communication delay time prediction illustrated is a process for predicting the communication delay time at the future position of the control target vehicle 210 , and the communication delay time prediction is performed at a necessary predetermined timing.

[0076] Step S501

[0077] The vehicle control device 100 determines whether the prediction of the communication delay time becomes necessary. For example, this determination is made when an explicit request related to remote control is made from the control target vehicle 210, or when a response to a test signal for confirming communication quality is received from the control target vehicle 210.

[0078] In this step S501 , when prediction of the communication delay time becomes necessary ( S501 , Yes), the process proceeds to step S502 .

[0079] Step S502

[0080] The vehicle control device 100 obtains the communication quality at the future location of the control target vehicle 210. More specifically, the vehicle control device 100 obtains (extracts) information on the most expected communication quality for the future location of the control target vehicle 210 from the communication quality map database 150 based on the route information (measurement time, GPS latitude / longitude, communication line service provider name, etc.) provided by the control target vehicle 210. Whether this information is the most expected communication quality can be determined based on conditions such as whether it is strict information, highly probable information, or information based on recent actual results.

[0081] In step S502 , when the communication quality at the future position of the control target vehicle 210 is acquired, the process proceeds to step S503 .

[0082] Step S503

[0083] Based on the communication quality information obtained in step S502, the vehicle control device 100 calculates the delay time (predicted communication delay time) predicted to occur in communication at the future position of the control target vehicle 210. As an example, when the communication quality is good, a shorter time is calculated as the predicted communication delay time, and when the communication quality is poor, a longer time is calculated as the predicted communication delay time.

[0084] In step S503 , when the predicted communication delay time at the future position of the control target vehicle 210 is calculated, the process proceeds to step S501 , and the present communication delay time prediction is repeatedly performed.

[0085] (3) Control signal generation

[0086] Figure 6 1 is a flowchart for explaining the processing procedure for generating a control signal executed by the vehicle control device 100. Figure 6 The control signal generation illustrated is a process for generating a control signal related to remote control at a future position of the control target vehicle 210 , and the control signal generation is executed at a necessary predetermined timing.

[0087] Step S601

[0088] The vehicle control device 100 determines whether it is necessary to generate a control signal for the control target vehicle 210. For example, this determination is made when the control target vehicle 210 receives an explicit request for remote control, or when the vehicle control device 100 detects a situation requiring remote control of the control target vehicle 210.

[0089] In step S601 , when generation of a control signal becomes necessary ( S601 , Yes), the process proceeds to step S602 .

[0090] Step S602

[0091] The vehicle control device 100 acquires the predicted communication delay time that will occur in communication at the future position of the control target vehicle 210. The predicted communication delay time is the value calculated in the process of step S503 in the above-mentioned communication delay time prediction.

[0092] In step S602 , when the predicted communication delay time that will occur in communication at the future position of the control target vehicle 210 is acquired, the process proceeds to step S603 .

[0093] Step S603

[0094] The vehicle control device 100 generates and transmits a control signal for the target vehicle 210 at its future location. In other words, the control signal is based on control details synchronized with the time at which the target vehicle 210 is expected to receive the signal at its future location. More specifically, at this synchronized time in virtual space, the control signal required for remotely controlling the target vehicle 210 traveling to the future location at the actual time in real space is generated. This generated control signal is then transmitted to the target vehicle 210 at a timing that synchronizes the control at the virtual and real time locations, based on the predicted communication delay time obtained in step S602.

[0095] For example, consider a scenario where vehicle X, traveling straight south, is in danger of colliding with vehicle Y, traveling straight east, at an intersection 40 seconds later (time T). In this scenario, one method for remotely controlling vehicle X is to slow down vehicle X and allow vehicle Y to pass through the intersection first. Assume, for example, that the predicted communication delay time in the area near the intersection for vehicle X is 10 seconds. In this case, even if a control signal indicating "pass the intersection in 10 seconds" is sent to vehicle X 20 seconds before time T, because vehicle X receives the control signal 10 seconds later in real time, it will actually pass the intersection in 20 seconds (= 10 seconds instruction + 10 seconds delay), making the collision between vehicle X and vehicle Y unavoidable.

[0096] Therefore, in the method of this embodiment, a control signal is sent to vehicle X back in time (advanced) by the predicted communication delay time, so that the time when the control content is considered in virtual space is synchronized with the time when the vehicle receives the control signal in real space. Specifically, in the scenario described above, considering a predicted communication delay time of 10 seconds, rather than generating a control signal to send vehicle X "pass the intersection in 20 seconds" 20 seconds before time T, a control signal is generated to send vehicle X "pass the intersection in 20 seconds" 30 seconds before time T, which is 10 seconds back in time (advanced).

[0097] In step S603 , when the control signal for the control target vehicle 210 at the future position is generated and transmitted, the process proceeds to step S601 , and the generation of the control signal is repeatedly performed.

[0098] Further use Figure 7A 、 Figure 7B as well as Figure 7C, the transmission of the control signal for synchronizing the time executed by the vehicle control device 100 will be described. Figure 7A A diagram showing a control signal transmission state executed by a conventional device. Figure 7B as well as Figure 7C 1 and 2 are diagrams each showing an example of a transmission state of a control signal executed by the vehicle control device 100 according to the present embodiment.

[0099] like Figure 7A As shown, in processing performed by conventional devices that do not take communication delay time into account, control content determined at time T in virtual space will arrive at the vehicle in real space at a time delayed by the communication delay time from time T. Therefore, for example, even if control signal A and control signal B are assumed to be executed simultaneously in virtual space (control plan determination), the control of the two signals will deviate in real space.

[0100] In contrast, in Figure 7B In the processing performed by the vehicle control device 100 according to the illustrated embodiment, the transmission timing (transmission time) of control signal A and control signal B is advanced by the respective predicted communication delay times. This processing enables control signal A and control signal B to be executed simultaneously in real space, as imagined in virtual space.

[0101] In addition, if Figure 7C As in the processing implemented by the vehicle control device 100 involved in the illustrated embodiment, it can also be set to send control signal A and control signal B at the same sending timing (sending time) at one time, and for control signal A with a shorter predicted communication delay time, the execution of control is started to wait (queue processing) by the amount of the time difference between the predicted communication delay time of control signal A and the predicted communication delay time of control signal B.

[0102] Functions and effects, etc.

[0103] As described above, the vehicle control device 100 according to one embodiment of the present disclosure stores historical statistical communication quality data corresponding to a road map in a storage unit (communication quality map database 150) based on communication quality data transmitted and received between the vehicle control device group 200 (controlled vehicle 210, information providing vehicle 220, and information terminal 230). Based on this communication quality data, the vehicle control device 100 can predict the communication delay time at the future vehicle position where remote control will be implemented when instructing the controlled vehicle 210 to remotely control the vehicle. Based on this predicted communication delay time, the vehicle control device 100 can generate and transmit a control signal suitable for implementing remote control using the digital twin 160.

[0104] This process enables remote control of the target vehicle 210 using a control signal that is corrected based on the predicted communication delay time and synchronizes the time in the virtual space created on the cloud using the digital twin 160 with the actual time in the real space (ensuring time synchronization). This reduces the impact of communication delays between the vehicle and the cloud.

[0105] Although one embodiment of the present disclosure has been described above, the present disclosure can be understood as a vehicle control device, a method executed by a vehicle control device having one or more processors and one or more memories, a control program for executing the method, a computer-readable non-temporary storage medium storing the control program, and a system having a vehicle control device and a vehicle.

[0106] The present disclosure is useful for situations where it is desired to reduce the influence of communication delay occurring between the vehicle and the cloud when remotely controlling a vehicle using a vehicle control device provided on the cloud.

Claims

1. A vehicle control device, characterized in that: comprising one or more processors, The one or more processors are configured to: Communicate with multiple vehicles; Sending and receiving data with the plurality of vehicles; obtaining a communication delay time between a controlled vehicle that is a target of remote control among the plurality of vehicles and the vehicle control device based on the transmitted and received data; and generating the control signal to be transmitted to the controlled vehicle for the remote control based on the acquired communication delay time and in accordance with control details synchronized with a time at which the controlled vehicle is expected to receive the control signal; When executing remote control of the controlled vehicle, transmitting the control signal to the controlled vehicle at a time that is later than the time when the controlled vehicle is expected to receive the control signal by the communication delay time; When remote control of the two controlled vehicles is performed simultaneously, an instruction to wait for the start of control execution is added to the controlled vehicle with the shorter communication delay time by the amount of the time difference between the two communication delay times, and the two control signals are sent to the two controlled vehicles at the same time.

2. The vehicle control device according to claim 1, wherein: The one or more processors are configured to: collecting information related to the positions of the plurality of vehicles and information related to communication quality at the respective positions of the plurality of vehicles based on the data received from the plurality of vehicles; and Based on the information, a communication delay time between the controlled vehicle and the vehicle control device at a future position where the controlled vehicle is estimated to travel is predicted.

3. The vehicle control device according to claim 2, wherein: The one or more processors are configured to: Sending and receiving data with one or more information terminals other than the plurality of vehicles; and Based on the data received from the one or more information terminals, information related to the positions of the one or more information terminals and information related to the communication quality at the respective positions of the one or more information terminals are collected.

4. The vehicle control device according to claim 2 or 3, wherein: The one or more processors are configured to: collecting information related to the positions of the plurality of vehicles and trajectory information related to the speed and direction of each of the plurality of vehicles based on the data received from the plurality of vehicles; and Based on the trajectory information, the future position of the controlled vehicle is estimated.

5. The vehicle control device according to any one of claims 1 to 3, wherein: By using the communication delay time, a digital twin that is synchronized with the real space is formed in the virtual space.

6. A system, characterized in that: have: Multiple vehicles; and Vehicle control devices, The vehicle control device includes one or more processors. The one or more processors are configured to: communicating with the plurality of vehicles; Sending and receiving data with the plurality of vehicles; obtaining a communication delay time between a controlled vehicle that is a target of remote control among the plurality of vehicles and the vehicle control device based on the transmitted and received data; and generating the control signal to be transmitted to the controlled vehicle for the remote control based on the acquired communication delay time and in accordance with control details synchronized with a time at which the controlled vehicle is expected to receive the control signal; When executing remote control of the controlled vehicle, transmitting the control signal to the controlled vehicle at a time that is later than the time when the controlled vehicle is expected to receive the control signal by the communication delay time; When remote control of the two controlled vehicles is performed simultaneously, an instruction to wait for the start of control execution is added to the controlled vehicle with the shorter communication delay time by the amount of the time difference between the two communication delay times, and the two control signals are sent to the two controlled vehicles at the same time.

7. A method executed by a computer of a vehicle control device, the vehicle control device comprising one or more processors and one or more memories, and configured to communicate with a plurality of vehicles, The method is characterized in that it includes the following processing, namely: Sending and receiving data with the plurality of vehicles; obtaining a communication delay time between a controlled vehicle that is a target of remote control among the plurality of vehicles and the vehicle control device based on the transmitted and received data; and generating the control signal to be transmitted to the controlled vehicle for the remote control based on the communication delay time and in accordance with control content synchronized with a time at which the controlled vehicle is expected to receive the control signal; When executing remote control of the controlled vehicle, transmitting the control signal to the controlled vehicle at a time that is later than the time when the controlled vehicle is expected to receive the control signal by the communication delay time; When remote control of the two controlled vehicles is performed simultaneously, an instruction to wait for the start of control execution is added to the controlled vehicle with the shorter communication delay time by the amount of the time difference between the two communication delay times, and the two control signals are sent to the two controlled vehicles at the same time.

8. A non-transitory storage medium storing instructions for execution by a computer of a vehicle control device, the computer of the vehicle control device comprising one or more processors and one or more memories and communicating with a plurality of vehicles, to cause the computer to perform the following functions: The non-transitory storage medium is characterized in that the functions include: Sending and receiving data with the plurality of vehicles; obtaining, based on the transmitted and received data, a communication delay time between a controlled vehicle that is a target of remote control among the plurality of vehicles and the vehicle control device; and generating the control signal to be transmitted to the controlled vehicle for the remote control based on the communication delay time and in accordance with control details synchronized with a time at which the controlled vehicle is expected to receive the control signal; When executing remote control of the controlled vehicle, transmitting the control signal to the controlled vehicle at a time that is later than the time when the controlled vehicle is expected to receive the control signal by the communication delay time; When remote control of the two controlled vehicles is performed simultaneously, an instruction to wait for the start of control execution is added to the controlled vehicle with the shorter communication delay time by the amount of the time difference between the two communication delay times, and the two control signals are sent to the two controlled vehicles at the same time.

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