Remote control device

Abstract

The remote control device (6) is a remote control device (6) that controls one or more mobile bodies (2) via a network (1), and includes: a receiving unit (62) that receives mobile body information consisting of a first state quantity in the state quantity of the mobile body (2) and surrounding information around the mobile body; a track generation unit (63) that generates a target track (T1, T11, T12) for the mobile body (2) based on the surrounding information; a mobile body estimation unit (64a) that estimates the transmission delay of the network (1); a gain setting unit (64b) that sets a control gain based on the transmission delay; a control quantity calculation unit (64c) that calculates a control quantity for causing the mobile body (2) to follow the target track (T1, T11, T12) based on the mobile body information and the control gain; and a transmitting unit (65) that transmits the control quantity to the mobile body (2).

Description

Technical Field

[0001] This disclosure relates to a remote control device for controlling one or more mobile bodies via a network. Background Technology

[0002] In recent years, there has been a push for the development of remote control devices for autonomous driving and automated transportation, enabling data transmission and reception between the remote control device and a mobile vehicle located at a remote location. These devices utilize wireless communication networks for data transmission and reception. However, when using networks, transmission delays occur due to distance between the remote control device and the mobile vehicle, or obstacles. In such an environment, controlling the mobile vehicle could lead to instability.

[0003] Patent document 1 discloses a driving control method and driving control device for autonomous vehicles that reduces the impact of transmission delay by centrally managing multiple vehicles.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-46013

[0007] Non-patent literature

[0008] Non-Patent Literature 1: "Control of Systems with Random Parameters", Measurement and Control Publication, Vol. 59, No. 3, 2020, pp. 212-217

[0009] Non-patent literature 2: Yohei Hosoe et al. "Equivalent Stability Notions, LyapunovInequality, and Its Application in Discrete–Time Linear Systems withStochastic Dynamics Determined by an iidProcess" IEEE Trans.AutomaticControl, 2019

[0010] Non-Patent Document 3: "Aperiodic Control of Network Systems Using Exponential Distribution to Represent Communication Delay", 63rd Joint Lectures on Automatic Control, 2020, pp. 488-492 Summary of the Invention

[0011] The problem that the invention aims to solve

[0012] In Patent Document 1, a driving priority order is determined for multiple vehicles identified as entering an intersection, and vehicles are controlled based on this driving priority order. However, since the driving priority order is determined after the vehicles have entered the intersection, vehicles with a low driving priority order may be immediately required to stop, for example. Therefore, smooth vehicle movement may not be possible.

[0013] This disclosure was made to solve the above-mentioned problems, and its purpose is to provide a remote control device that enables smooth movement of a mobile body.

[0014] Methods for solving problems

[0015] The remote control device disclosed herein is a remote control device for controlling one or more mobile bodies via a network, comprising: a receiving unit that receives mobile body information consisting of a first state quantity of the mobile body's state quantities and surrounding information related to the mobile body's surroundings; a track generation unit that generates a target track for the mobile body based on the surrounding information; a mobile body estimation unit that estimates the transmission delay of the network; a gain setting unit that sets a control gain based on the transmission delay; a control quantity calculation unit that calculates a control quantity for causing the mobile body to follow the target track based on the mobile body information and the control gain; and a transmitting unit that transmits the control quantity to the mobile body.

[0016] The effects of the invention

[0017] According to this disclosure, the remote control device generates a target track for the mobile body based on surrounding information and controls the mobile body to follow the target track, thus enabling smooth travel. Attached Figure Description

[0018] Figure 1 This is a block diagram illustrating an example of the structure of a remote control device for controlling a mobile body in an embodiment of this disclosure.

[0019] Figure 2 This is a block diagram illustrating an example of the structure of a remote control device in an embodiment of this disclosure, where two or more moving bodies are controlled.

[0020] Figure 3 This is a block diagram illustrating an example of the structure of the first moving body control arithmetic unit in an embodiment of the present disclosure.

[0021] Figure 4 This is a block diagram illustrating another example of the structure of the first moving body control arithmetic unit in an embodiment of the present disclosure.

[0022] Figure 5This is a block diagram illustrating an example of the structure of the first movable body in an embodiment of the present disclosure.

[0023] Figure 6 This is a diagram illustrating an example of the structure in an embodiment of this disclosure where the moving body is a vehicle.

[0024] Figure 7 This is a diagram illustrating an example of a target trajectory generation method in an embodiment of this disclosure.

[0025] Figure 8 This is a diagram illustrating another example of the target trajectory generation method in the embodiments of this disclosure.

[0026] Figure 9 This diagram illustrates an example of a method for generating target orbits for two or more moving bodies according to an embodiment of this disclosure.

[0027] Figure 10 This is a diagram illustrating another example of a method for generating target orbits for two or more moving bodies according to an embodiment of this disclosure.

[0028] Figure 11 This is a block diagram illustrating an example of the structure of a remote control device controlling a moving body in an embodiment of this disclosure.

[0029] Figure 12 This is a schematic diagram illustrating an example of a vehicle model in an embodiment of the present disclosure.

[0030] Figure 13 This is a flowchart illustrating an example of the remote control steps in an embodiment of the present disclosure.

[0031] Figure 14 This is a diagram illustrating the hardware structure of the remote control device in an embodiment of this disclosure. Detailed Implementation

[0032] Figure 1 This is a block diagram illustrating an example of the structure of the remote control device 6 in the case of controlling a mobile body 2 in this embodiment. Figure 1 It is a block diagram consisting of network 1, mobile body 2, object information acquisition unit 4, environmental information acquisition unit 5, remote control device 6, and map database 7. Figure 1 This is a block diagram of a remote control device 6 that controls a mobile body 2 (first mobile body 21) via network 1.

[0033] Network 1 can interconnect multiple components and transmit and receive data via cables or radio waves. Networks can be of various types, including LAN (Local Area Network), WAN (Wide Area Network), the Internet, telephone lines, and wireless communication. In this disclosure, the network is not limited to these; any medium capable of transmitting and receiving data between the remote control device 6 and the mobile body 2 located at a remote location is acceptable.

[0034] Mobile body 2 is the first mobile body 21. The first mobile body 21 moves based on control signals from the transmitter 65 of the remote control device 6. The structure of the first mobile body 21 will be discussed later. Figure 5 Detailed explanation.

[0035] The object information acquisition unit 4 is composed of one or more sensors installed around the moving body 2. The object information acquisition unit 4 acquires the positions and speeds of other obstacles such as vehicles, bicycles, and pedestrians around the moving body 2 as ambient information. Additionally, the object information acquisition unit 4 can acquire the position and speed of the moving body 2 itself as moving body information. If an internal sensor 2b is installed in the moving body 2, this moving body information can also be acquired from that internal sensor 2b. The object information acquisition unit 4 transmits the moving body information and ambient information to the receiving unit 62 within the remote control device 6 via the network 1. Furthermore, the object information acquisition unit 4 has a time synchronization unit 41. The time synchronization unit 41 has the function of cooperating with the time synchronization unit 2a within the moving body 2, the time synchronization unit 51 within the environmental information acquisition unit 5, and the time synchronization unit 61 within the remote control device 6 to synchronize data transmission and reception.

[0036] Similar to the object information acquisition unit 4, the environmental information acquisition unit 5 is composed of one or more sensors installed at a remote location. The environmental information acquisition unit 5 acquires environmental information such as traffic lights and parking lines. The environmental information acquisition unit 5 transmits the environmental information to the receiving unit 62 within the remote control device 6 via the network 1. Furthermore, the environmental information may also be included in the surrounding information acquired by the object information acquisition unit 4. From now on, the environmental information will be set to be included in the surrounding information, and the terminology will be unified as "surrounding information." Additionally, the sensors used in the environmental information acquisition unit 5 may also be installed on the moving body 2 itself. Furthermore, the environmental information acquisition unit 5 has a timing synchronization unit 51. The timing synchronization unit 51 has the function of cooperating with the timing synchronization units 2a, 41, and 61 to synchronize the timing of data transmission and reception.

[0037] The sensors used in the object information acquisition unit 4 and the environment information acquisition unit 5 are, for example, cameras, LiDAR (Light Detection and Ranging), and radar.

[0038] The camera captures images of the surroundings and outputs them as image data.

[0039] LiDAR illuminates the surrounding area with laser light and detects the time difference until the light reflects off a nearby object and returns, thus detecting the object's position.

[0040] The radar illuminates the surrounding area, detects the reflected waves, and thus determines the relative distance and relative speed of obstacles in the surrounding area relative to the radar, and outputs the measurement results.

[0041] Furthermore, if a GNSS (Global Navigation Satellite System) sensor capable of detecting the absolute position of obstacles such as those around the moving body 2 is installed on the moving body 2 or other obstacles such as vehicles, and if the GNSS sensor can send absolute position information to the remote control device 6 via the network 1, object information can be detected by the GNSS sensor. Therefore, the object information acquisition unit 4 is not required.

[0042] Map database 7 stores map data around the moving object 2. Figure 1 In this system, the track generation unit 63 is connected to the map database 7, but is not limited to the track generation unit 63. Various components within the remote control device 6 can access the map database 7. When the moving body 2 is a vehicle, the map database 7 typically contains driving-related data such as the center coordinates of the road, parking line information, white line information, and drivable areas.

[0043] The remote control device 6 includes a time synchronization unit 61, a receiving unit 62, a track generation unit 63, a moving body control calculation unit 64, and a transmitting unit 65.

[0044] The timing synchronization unit 61 has the function of cooperating with the timing synchronization unit 2a, the timing synchronization unit 41 and the timing synchronization unit 51 to synchronize the timing of data transmission and reception.

[0045] The receiving unit 62 receives moving body information and surrounding information from the object information acquisition unit 4, surrounding information from the environment information acquisition unit 5, and moving body information from the moving body 2. The moving body information consists of first state quantities such as the position and velocity of the moving body 2. That is, the first state quantities are state quantities acquired by the sensors. The receiving unit 62 receives the moving body information composed of the first state quantities from the state quantities of the moving body 2 and the surrounding information of the moving body 2.

[0046] The trajectory generation unit 63 generates a target trajectory for the moving body 2 based on map data from the map database 7 and surrounding information from the receiving unit 62. Here, the target trajectory is obtained by combining the target path and the target speed. Alternatively, the target trajectory may be obtained by combining the target path and the target position. Furthermore, the target speed or target position is not limited; any state variable of the moving body 2 is acceptable. Additionally, the trajectory generation unit 63 may also generate the target trajectory for the moving body 2 based solely on the surrounding information. The method by which the trajectory generation unit 63 generates the target trajectory will be discussed later. Figure 7 and Figure 8 Detailed explanation.

[0047] The mobile body control calculation unit 64 includes a first mobile body control calculation unit 641. Based on mobile body information from the receiving unit 62 and a target track from the track generation unit 63, the first mobile body control calculation unit 641 calculates control quantities for causing the first mobile body 21 to follow the target track. In the case that the mobile body 2 is a vehicle, the control quantities are, for example, a target steering amount and a target acceleration / deceleration amount. The first mobile body control calculation unit 641 will be discussed later. Figure 3 Detailed explanation.

[0048] The transmitting unit 65 transmits control quantities from the first mobile body control and calculation unit 641 to the first mobile body 21 via the network 1.

[0049] Figure 2 This is a block diagram illustrating an example of the structure of the remote control device 6 in the case of controlling two or more moving bodies 2 in this embodiment. Figure 2 and Figure 1 The differences are: the mobile body 2 is a first mobile body 21 and a second mobile body 22, etc.; and the mobile body control calculation unit 64 includes a first mobile body control calculation unit 641 and a second mobile body control calculation unit 642, etc. Other than that... Figure 1 Since they are the same, the explanation is omitted.

[0050] The receiving unit 62 receives moving body information and surrounding information from the object information acquisition unit 4, surrounding information from the environment information acquisition unit 5, and moving body information from each moving body 2.

[0051] The trajectory generation unit 63 generates target trajectories for two or more moving bodies 2 based on map data from the map database 7 and surrounding information from the receiving unit 62. The method by which the trajectory generation unit 63 generates target trajectories for two or more moving bodies 2 will be explained later. Figure 9 and Figure 10 Detailed explanation.

[0052] The first mobile body control calculation unit 641 in the mobile body control calculation unit 64 calculates the control quantity for the first mobile body 21 based on the mobile body information of the first mobile body 21 and the target trajectory of the first mobile body 21. Similarly, the second mobile body control calculation unit 642 calculates the control quantity for the second mobile body 22 based on the mobile body information of the second mobile body 22 and the target trajectory of the second mobile body 22. Furthermore, when there are three or more mobile bodies 2, the mobile body control calculation unit 64 is supplemented with a third mobile body control calculation unit, etc., corresponding to the increase in the number of mobile bodies 2.

[0053] The transmitting unit 65 transmits control values ​​from the first mobile body control calculation unit 641 and the second mobile body control calculation unit 642 to the mobile body 2 via the network 1. The control values ​​from the first mobile body control calculation unit 641 are transmitted to the first mobile body 21. Similarly, the control values ​​from the second mobile body control calculation unit 642 are transmitted to the second mobile body 22.

[0054] Figure 3 This is a block diagram illustrating an example of the structure of the first mobile body control calculation unit 641 in this embodiment. The first mobile body control calculation unit 641 includes a mobile body estimation unit 64a, a gain setting unit 64b, a control quantity calculation unit 64c, and a controllability determination unit 64d. When the remote control device 6 remotely controls two or more mobile bodies 2, the second mobile body control calculation unit 642, etc., also includes the mobile body estimation unit 64a, gain setting unit 64b, control quantity calculation unit 64c, and controllability determination unit 64d.

[0055] The mobile body estimation unit 64a estimates the transmission delay of network 1. However, since the transmission delay of network 1 may vary, the mobile body estimation unit 64a can also estimate the distribution of the transmission delay of network 1. Distribution refers to, for example, a probability distribution, but is not limited to a probability distribution. The mobile body estimation unit 64a can estimate the distribution of the transmission delay based on the transmission delay acquired in advance before the remote control device 6 remotely controls the mobile body 2, or it can perform the estimation online while remote control is being performed. Furthermore, the mobile body estimation unit 64a can also estimate the distribution of coefficients of state variables relative to the mobile body 2 based on mobile body information from the receiving unit 62. Coefficients refer to the mass and moment of inertia of the mobile body 2. Especially in the case where the mobile body 2 is a vehicle, lateral stiffness, etc., are also included. These coefficients, like the transmission delay of network 1, also affect control stability and may vary. The coefficients are estimated based on the state equations and state variables associated with the mobile body 2.

[0056] The gain setting unit 64b sets the control gain based on the transmission delay of network 1. Alternatively, the gain setting unit 64b sets the control gain based on the distribution of transmission delay. Alternatively, the gain setting unit 64b sets the control gain based on the distribution of transmission delay and the distribution of coefficients of state variables relative to the moving body 2. When only the transmission delay of network 1 is set to a fixed value, or to an assumed maximum value, the gain setting unit 64b also considers transmission delays with low probability of occurrence when setting the control gain, thus achieving conservative control. On the other hand, when using the distribution of transmission delay of network 1, the gain setting unit 64b considers the probability of transmission delay occurrence when setting the control gain, thereby improving the tracking performance of the moving body 2 on the target trajectory.

[0057] The control quantity calculation unit 64c calculates the control quantity used to make the moving body 2 follow the target trajectory based on the moving body information and control gain from the receiving unit 62. The method for setting the control gain by the gain setting unit 64b and the method for calculating the control quantity by the control quantity calculation unit 64c will be discussed later. Figure 11 Detailed descriptions are provided in Non-Patent Literature 1 to 3.

[0058] The controllability determination unit 64d determines whether to continue or stop control of the mobile body 2 based on the transmission delay of network 1. Alternatively, the controllability determination unit 64d determines whether to continue or stop control of the mobile body 2 based on the distribution of the transmission delay. Alternatively, the controllability determination unit 64d determines whether to continue or stop control of the mobile body 2 based on the distribution of the transmission delay and the distribution of the coefficients of the state variables relative to the mobile body 2. If the determination result is to continue control, the controllability determination unit 64d outputs the control quantity controlling the mobile body 2, i.e., the control quantity from the control quantity calculation unit 64c, to the transmission unit 65. If the determination result is to stop control, the controllability determination unit 64d sets the value that will stop the mobile body 2 as the control quantity and outputs the control quantity to the transmission unit 65. The method for determining whether to continue or stop control will be described in detail later.

[0059] Figure 4 This is a block diagram illustrating another example of the structure of the first moving body control calculation unit 641 in this embodiment. The first moving body control calculation unit 641 includes a moving body estimation unit 64a, a gain setting unit 64b, a control quantity calculation unit 64c, a controllability determination unit 64d, and a state quantity estimation unit 64e. Figure 3 The difference lies in that the first mobile body control calculation unit 641 includes a state quantity estimation unit 64e. When the remote control device 6 remotely controls two or more mobile bodies 2, the second mobile body control calculation unit 642, etc., also includes a mobile body estimation unit 64a, a gain setting unit 64b, a control quantity calculation unit 64c, a controllability determination unit 64d, and a state quantity estimation unit 64e. Except for the state quantity estimation unit 64e, it is similar to... Figure 3 The same applies as shown, therefore the explanation is omitted.

[0060] The state quantity estimation unit 64e estimates a second state quantity in the state quantities of the mobile body 2 that differs from the first state quantity, based on the mobile body information received from the receiving unit 62. This second state quantity is one not acquired by the sensors. The state quantity estimation unit 64e estimates the second state quantity by applying an observer or Kalman filter, etc., based on the state equations and mobile body information related to the mobile body 2. The remote control device 6 also uses this second state quantity, which is not acquired by the sensors, to control the mobile body 2, thus enabling more precise remote control of the mobile body 2.

[0061] When estimating the distribution of coefficients of state quantities relative to the mobile body 2, the mobile body estimation unit 64a can use not only the mobile body information from the receiving unit 62, but also the second state quantity from the state quantity estimation unit 64e.

[0062] The control quantity calculation unit 64c calculates the control quantity based on the moving body information from the receiving unit 62, the second state quantity from the moving body estimation unit 64a, and the control gain from the gain setting unit 64b.

[0063] Figure 5 This is a block diagram illustrating an example of the structure of the first mobile body 21 in this embodiment. The first mobile body 21 includes a timing synchronization unit 2a, an internal sensor 2b, a transmitting unit 2c, a receiving unit 2d, an instruction value calculation unit 2e, and an actuator 2f. When the remote control device 6 remotely controls two or more mobile bodies 2, the second mobile body 22, etc., also includes a timing synchronization unit 2a, an internal sensor 2b, a transmitting unit 2c, a receiving unit 2d, an instruction value calculation unit 2e, and an actuator 2f.

[0064] The timing synchronization unit 2a works in conjunction with the timing synchronization units 41, 51 and 61 to achieve timing synchronization of data transmission and reception.

[0065] An internal sensor 2b is installed on the moving body 2 and outputs information about the moving body. When the moving body 2 is a vehicle, the internal sensor 2b may be, for example, a vehicle speed sensor 21b, an IMU (Inertial Measurement Unit) sensor 22b, a steering angle sensor 23b, and a steering torque sensor 24b.

[0066] The transmitting unit 2c transmits the moving body information from the internal sensor 2b to the receiving unit 62 of the remote control device 6 via the network 1.

[0067] The receiving unit 2d receives control signals from the transmitting unit 65 of the remote control device 6.

[0068] The command value calculation unit 2e, based on the moving body information from the internal sensor 2b and the control quantity from the receiving unit 2d, converts the control quantity into a current value, etc., and outputs it to the actuator 2f. When the moving body 2 is a vehicle, the actuator 2f is an electric motor 2i, a vehicle drive unit 2n, and a braking control device 2q, etc. In this case, the command value calculation unit 2e calculates the current value to be supplied to the electric motor 2i in order to make the vehicle's steering follow the target steering amount, and outputs the calculation result to the electric motor 2i. Furthermore, the command value calculation unit 2e calculates the driving force and braking force of the vehicle required to make the vehicle's acceleration follow the target acceleration / deceleration amount, and outputs the calculation result to the vehicle drive unit 2n and the braking control device 2q. The electric motor 2i, the vehicle drive unit 2n, and the braking control device 2q will be discussed later. Figure 6 Detailed explanation.

[0069] Mobile bodies 2 include, for example, vehicles, aircraft, and agricultural machinery. Figure 6 This diagram illustrates an example of the structure when the moving body 2 is a vehicle in this embodiment.

[0070] The steering wheel 2g, designed for driver operation, is coupled to the steering shaft 2h. The steering shaft 2h is connected to the gear shaft 2t of the rack and pinion mechanism 2j. The rack shaft 2u of the rack and pinion mechanism 2j reciprocates freely according to the rotation of the gear shaft 2t, and is connected to the front steering knuckle 2m at its left and right ends via steering tie rods 2k. The front steering knuckle 2m supports the front wheel 2v, which serves as the steering wheel, allowing it to rotate freely and be steered freely, and is supported on the vehicle body frame.

[0071] The torque generated by the driver operating the steering wheel 2g causes the steering shaft 2h to rotate. The rack and pinion mechanism 2j, in turn, moves the rack shaft 2u to the left and right according to the rotation of the steering shaft 2h. Through the movement of the rack shaft 2u, the front steering knuckle 2m rotates around a kingpin (not shown), causing the front wheel 2v to steer left and right. Therefore, by operating the steering wheel 2g while the vehicle is moving forward or backward, the driver can change the lateral movement of the vehicle.

[0072] In the vehicle, internal sensors 2b used to identify the vehicle's driving status include a vehicle speed sensor 21b, an IMU sensor 22b, a steering angle sensor 23b, and a steering torque sensor 24b.

[0073] In addition, the vehicle is equipped with actuators such as an electric motor 2i for realizing the lateral movement of the vehicle, a vehicle drive unit 2n for controlling the forward and backward movement of the vehicle, and a braking control unit 2q.

[0074] An electric motor 2i typically consists of a motor and gears. By applying torque to the steering shaft 2h, it enables the steering shaft 2h to rotate freely. In other words, the electric motor 2i can steer the front wheels 2v freely independently of the driver's steering wheel 2g.

[0075] The vehicle drive unit 2n is an actuator 2f used to drive the vehicle in the longitudinal direction. The vehicle drive unit 2n rotates the front wheel 2v and the rear wheel 2w via a transmission (not shown) and a shaft 2o, using driving force obtained from a drive source such as an engine or motor. Thus, the vehicle drive unit 2n can freely control the driving force of the vehicle.

[0076] On the other hand, the brake control device 2q is an actuator 2f used to brake the vehicle, controlling the braking amount of the brakes 2r respectively installed on the front wheels 2v and the rear wheels 2w of the vehicle. The conventional brakes 2r generate braking force by using hydraulic pressure to press the brake pads onto the brake discs that rotate together with the front wheels 2v and the rear wheels 2w.

[0077] The internal sensor 2b and the various devices described above are configured to form a network using a vehicle-mounted CAN (Controller Area Network) or LAN (Local Area Network). The devices can acquire various information via network 1. Furthermore, the internal sensor 2b can send and receive data with each other via network 1.

[0078] Although using Figure 6 The structure is described for the case where the moving body 2 is a vehicle, but the same structure applies to the case where the moving body 2 is a moving body other than a vehicle.

[0079] Next, use Figure 7 and Figure 8 The method for generating the target orbit by the orbit generation unit 63 is explained. Figure 7 (a) and Figure 7 (b) is a diagram illustrating an example of the target trajectory generation method of this embodiment. Figure 7 (a) is a schematic diagram of the movement of the moving body 2 when there is an obstacle 40 in front of it. Figure 7 (b) is a diagram showing the target path T1 of the target track of the moving body 2 when there is an obstacle 40 in front. Figure 8 (a) and Figure 8 (b) is a diagram illustrating another example of the target orbit generation method in this embodiment. Figure 8 (a) is a schematic diagram of the movement of the moving body 2 when there is a stop line 50a and a traffic light 50b in front. Figure 8(b) is a diagram showing the target velocity AY1 of the target track used to generate the moving body 2 when a stop line 50a and a traffic light 50b are present ahead. Figure 8 In (b), the horizontal axis is the distance AX1 that the moving body 2 travels towards the parking line 50a, and the vertical axis is the target speed AY1.

[0080] like Figure 7 As shown in (a), multiple sensors (here, sensors 42 and 43 within the object information acquisition unit 4) are arranged around the moving body 2, with each sensor having a detection range of R42 and R43. Furthermore, sensor 42 detects the relative position and relative velocity of the moving body 2 relative to sensor 42, and sensor 43 detects the relative position and relative velocity of the obstacle 40 relative to sensor 43. Based on this information, the track generation unit 63 generates a trajectory as shown in (a). Figure 7 (b) shows the target path T1. This target path T1 is the path that allows the moving body 2 to avoid the obstacle 40, and it is a path that travels within the drivable area S1. Although not shown here, the track generation unit 63 also generates a target speed for the moving body 2. As an example, the track generation unit 63 generates a target speed to reduce the speed of the moving body 2 when avoiding the obstacle 40. The track generation unit 63 generates a target track (avoidance track) that combines the target path T1 and the target speed.

[0081] like Figure 8 As shown in (a), multiple sensors (here, sensor 42 in the object information acquisition unit 4 and sensor 52 in the environment information acquisition unit 5) are arranged around the moving body 2, and the detection range of each sensor is R42 and R52. Furthermore, the relative position and relative speed of the moving body 2 relative to sensor 42 are detected by sensor 42, and the relative positions of the stop line 50a and the traffic light 50b relative to sensor 52 are detected by sensor 52. Additionally, it is assumed that sensor 52 detects that the traffic light 50b is a red signal. Based on this information, the track generation unit 63 generates a target path (not shown). This target path is a path that causes the moving body 2 to travel straight toward the stop line 50a. Furthermore, as... Figure 8 As shown in (b), the track generation unit 63 generates a target speed so that the target speed AY1 of the moving body 2 becomes a single-dot line L1. This target speed AY1 is the speed at which the speed of the moving body 2 gradually decreases and becomes zero at the stop line 50a. The track generation unit 63 generates a target track (stop track) by combining the target path and the target speed AY1.

[0082] like Figure 7 and Figure 8As shown, the target track is both the obstacle avoidance track relative to obstacle 40 and the stopping track before the moving body 2 stops. The target track is not limited to these two tracks; various tracks exist depending on the path the moving body 2 travels on. Thus, the track generation unit 63 generates the target track relative to the moving body 2, allowing monitoring at an earlier stage to ensure the moving body 2 travels along the target track, thus enabling smooth movement of the moving body 2. While it is also possible for the moving body 2 to generate its own target track, it is preferable for the track generation unit 63 to generate the target track to make the moving body 2 more versatile. This also simplifies the structure of the moving body 2. Furthermore, in Figure 7 and Figure 8 The medium-speed vehicle 2 is a single unit, but even if there are two or more units, the target orbits are generated using the same method.

[0083] Next, use Figure 9 and Figure 10 This describes the method by which the orbit generation unit 63 generates the target orbits of two or more moving bodies 2. Figure 9 This diagram illustrates an example of a method for generating target orbits for two or more moving bodies 2 in this embodiment. Figure 10 This diagram illustrates another example of a target trajectory generation method for two or more moving bodies 2 in this embodiment.

[0084] Figure 9 This diagram illustrates a method for generating a target trajectory for a moving body 2 (here, the first moving body 21 and the second moving body 22) traveling at an intersection. Multiple sensors (here, sensor 42 in the object information acquisition unit 4 and sensor 52 in the environment information acquisition unit 5) are arranged around the moving body 2, with each sensor having a detection range of R42 and R52. Furthermore, the relative position and relative speed of the first moving body 21 and the second moving body 22 relative to sensor 42 are detected by sensor 42, and the relative position of the stop line 50a relative to sensor 52 is detected by sensor 52. Based on this information, the trajectory generation unit 63 generates a target path T11 for the first moving body 21. Although not shown here, the trajectory generation unit 63 also generates a target speed for the first moving body 21. The trajectory generation unit 63 generates the target speed so that the first moving body 21 reaches a constant speed along the target path T11. Additionally, the trajectory generation unit 63 generates a target path T12 for the second moving body 22. Although not shown here, the trajectory generation unit 63 also generates a target speed for the second moving body 22. The target speed relative to the second moving body 22 is a speed that gradually decreases as it approaches the stop line 50a and becomes zero at the stop line 50a. The track generation unit 63 generates a target track for the first moving body 21 by combining the target path T11 and the target speed. Similarly, the track generation unit 63 generates a target track for the second moving body 22 by combining the target path T12 and the target speed.

[0085] exist Figure 9 In this process, the track generation unit 63 generates a target track in a manner that takes into account the travel priority of the moving body 2. In this case, based on the stop line 50a detected by the sensor 52, a target track relative to the first moving body 21 and the second moving body 22 is generated in a manner that increases the travel priority of the first moving body 21.

[0086] Figure 10 This diagram illustrates a method for generating a target trajectory when two mobile bodies (here, the first mobile body 21 and the second mobile body 22) are traveling in a queue. Assume that a sensor (here, sensor 42 within the object information acquisition unit 4) is provided around each mobile body 2, and the detection range of sensor 42 is R42. Furthermore, the relative position and relative velocity of the first mobile body 21 and the second mobile body 22 relative to sensor 42 are detected by sensor 42. Based on this information, the trajectory generation unit 63 generates a target path T11 for the first mobile body 21. Although not shown here, the trajectory generation unit 63 also generates a target velocity for the first mobile body 21. As an example, the trajectory generation unit 63 generates a target velocity so that the first mobile body 21 reaches a constant velocity along the target path T11. Additionally, the trajectory generation unit 63 generates a target path T12 for the second mobile body 22. Although not shown here, the trajectory generation unit 63 also generates a target velocity for the second mobile body 22. The target velocity relative to the second mobile body 22 is the same as the target velocity relative to the first mobile body 21. The track generation unit 63 generates a target track for the first moving body 21 by combining the target path T11 and the target speed. Similarly, the track generation unit 63 generates a target track for the second moving body 22 by combining the target path T12 and the target speed.

[0087] exist Figure 10 In this process, the track generation unit 63 generates a target track that forms a queue of second mobile bodies 22 other than the leader of the first mobile body 21 in the mobile body 2.

[0088] If used Figure 9 and Figure 10 As explained, the track generation unit 63 generates target tracks for multiple moving bodies 2. Therefore, even with large transmission delays, it is possible to monitor whether the moving bodies 2 are traveling along the target tracks at an earlier stage, enabling smooth movement of the moving bodies 2. While it is possible to generate target tracks for each moving body 2 individually, generating target tracks uniformly by the track generation unit 63 achieves higher efficiency and reduced computational load.

[0089] Next, use Figure 11The method for setting the control gain by the gain setting unit 64b and the method for calculating the control quantity by the control quantity calculation unit 64c are described in Non-Patent Documents 1 to 3.

[0090] Figure 11 This is a block diagram illustrating an example of the structure of the remote control device 6 controlling the moving body 2 in this embodiment. Figure 11 In the diagram, solid lines represent the input and output of signals expressed as continuous systems, while dashed lines represent the input and output of signals expressed as discrete systems.

[0091] Since the movement information of the moving body 2 acquired by the sensor is a discrete value, the movement information is equivalent to the output value of the sampler 6d. Because the movement information is transmitted to the remote control device 6 via network 1, a transmission delay (here, upload transmission delay 6b) occurs. The movement information is input to the controller 6a by the amount of this upload transmission delay. Based on the movement information, the controller 6a outputs a control quantity calculated using control gain. This control quantity is equivalent to the control quantity output by the control quantity calculation unit 64c. Because the control quantity is transmitted to the moving body 2 via network 1, a transmission delay (here, download transmission delay 6c) occurs. The control quantity input to the moving body 2 at a certain moment becomes a constant value through the hold 6e until the next input. That is, the hold 6e has a zero-order hold function. The zero-order held control quantity is input to the moving body 2.

[0092] Figure 11 Since this is a closed-loop system, to ensure control stability, the transmission delays (upload transmission delay 6b and download transmission delay 6c) need to be considered when setting the control gain and calculating the control quantity. The following explains the control design that utilizes a probability distribution to represent this situation using the transmission delay. In this case, the control gain and control quantity are set considering the control stability related to the probability distribution of the transmission delay.

[0093] The discrete-time state equation of the moving body 2 is determined by random variables, as shown in the following mathematical formula (1).

[0094] [Mathematical Expression 1]

[0095] x k+1 =A k (ξ k )x k +B k (ξ k )u k …(1)

[0096] In mathematical expression (1), k is an integer greater than or equal to 0, and x k It is time t k The state quantity of the moving body 2 at that time, u kThe control variable ξ is for moving body 2. k It is time t k The value of the random variable A at time k (ξ k ) and B k (ξ k ) is composed of ξ k A deterministic random matrix.

[0097] According to non-patent documents 1 to 3, when there exist a and λ that satisfy the following mathematical expression (2) for any positive integer k and any real vector x0, the closed-loop system is second-moment exponentially stable, that is, stable with respect to the probability distribution.

[0098] [Mathematical Expression 2]

[0099]

[0100] In mathematical expression (2), a is a positive real number, λ is a real number greater than 0 and less than 1, and ||x k || is the vector x k The Euclidean norm of the random variable is given, where E is the expected value of the random variable. Furthermore, the control variable u... k Using the control gain F, we get the following mathematical expression (3).

[0101] [Mathematical Expression 3]

[0102] u k =Fx k …(3)

[0103] At this point, the condition for the existence of a control gain F that satisfies the second-order moment exponential stability is the existence of a positive definite matrix V, a real matrix W, and λ that satisfy the following mathematical expression (3).

[0104] [Mathematical Expression 4]

[0105]

[0106] In mathematical expression (4), T is the transpose, and I is the identity matrix. H A and H B It is a matrix defined by the following mathematical expressions (5) to (7).

[0107] [Mathematical Expression 5]

[0108]

[0109] [Mathematical Expression 6]

[0110]

[0111] [Mathematical Expression 7]

[0112] HAB =[H A1 H An H B1 H Bn ...(7)

[0113] In mathematical expressions (5) to (7), n is a natural number, H Ai (i = 1, ..., n) and H Bi It is a real matrix. H AB It is relative to the matrix G defined by the following mathematical expression (8). AB A real matrix that satisfies mathematical expression (9).

[0114] [Mathematical Expression 8]

[0115] G AB (ξ o ) = [row(A k (ξ0)), row(B) k (ξ0))]·[row(A k (ξ0)), row(B) k (ξ0))]...(8)

[0116] [Mathematical Expression 9]

[0117]

[0118] In mathematical expression (8), row(A) k (ξ0)) is the matrix A k The elements of (ξ0) are arranged in order starting from the first row.

[0119] Under the condition that the closed-loop system satisfies the second-order moment exponential stability, the control gain F is given by the following mathematical expression (10).

[0120] [Mathematical Expression 10]

[0121] F = WV -1 ...(10)

[0122] Using mathematical formulas (3) and (10), the control gain F and control quantity u can be calculated. k In the above, the closed-loop system is expressed as a stochastic system containing random variables, but this can be integrated with a control system expressed as a deterministic system (hereinafter referred to as "deterministic system control"). In this case, the control gain F is set considering not only the second-order moment exponential stability but also the stability of the deterministic system control. Deterministic system control is, for example, H... ∞ This section discusses well-known control methods, including H2 control. Using H2 control as an example, it introduces the method for setting the control gain F in the entire system.

[0123] When considering the control stability of the system, the stochastic system is first replaced with a deterministic system. Therefore, the discrete-time state equations of the moving body 2 are determined as follows: mathematical equations (11) and (12).

[0124] [Mathematical Expression 11]

[0125] x k+1 =A(ξ) e )x k +B(ξ e )u k ...(11)

[0126] [Mathematical Expression 12]

[0127] z k =Cx k +Dw k ...(12)

[0128] In mathematical expressions (11) and (12), ξ e It is the value ξ of a certain random variable. k ξ is a fixed value that does not change over time. e It can also be caused by ξ k The mean or median is obtained from the distribution of z. k It is time t k The evaluation output at that time, w k It is time t k Interference input at that time. A(ξ) e ), B(ξ) e C and D are time-invariant matrices. Additionally, the interference input w will be... k To the evaluation output z k Let the transfer function matrix be G(s). s is the Laplace operator. Also, let D = 0. In this case, the system requires that the real parts of all eigenvalues ​​of matrix A are negative, and that the norm of G(s) ||G(s)||2<α (α>0) holds. This condition is equivalent to the existence of a positive semi-definite matrix P and a positive definite matrix Z that satisfy the following mathematical expressions (13) to (15).

[0129] [Mathematical Expression 13]

[0130] PA+A T P+C T C>0...(13)

[0131] [Mathematical Expression 14]

[0132] ZB T PB>0...(14)

[0133] [Mathematical Expression 15]

[0134] trace(Z)<α 2 ...(15)

[0135] In equation (15), trace(Z) is the sum of the diagonal components of matrix Z. When applying H2 control to a stochastic system, the second-moment exponential stability of equations (2) and (4) and the linear matrix inequalities from equation (13) to (15) need to be considered to set the control gain F. H2 control is given as an example here, but for H... ∞ The same applies to control. Therefore, the gain setting unit 64b sets the control gain F by considering the control stability related to the distribution of transmission delay and the system performance conditions expressed by linear matrix inequalities.

[0136] Furthermore, for stochastic systems, the control gain F can be set by considering not only the probability distribution of the transmission delay but also the probability distribution of the coefficients of the state variables relative to the moving body 2. In this case, the second-moment exponential stability of mathematical equations (2) and (4) is applied to the probability distribution of the transmission delay and the probability distribution of the coefficients. In addition, the gain setting unit 64b sets the control gain F by considering the control stability related to the distribution of the transmission delay, the control stability related to the distribution of the coefficients, and the system performance conditions expressed by linear matrix inequalities.

[0137] Furthermore, there may be cases where the control gain F does not satisfy the second-order moment exponential stability. Therefore, the controllability determination unit 64d determines whether to stop the moving body 2 in such cases. To determine whether the closed-loop system is second-order moment exponentially stable, the eigenvalues ​​of the matrix on the left side of mathematical formula (4) are calculated, and it is determined whether the smallest eigenvalue is positive. Alternatively, the controllability determination unit 64d may also determine whether to stop the moving body 2 if the absolute value of the difference between the cumulative amount of the transmission delay distribution estimated by the moving body estimation unit 64a and the cumulative amount of the transmission delay distribution when the control gain F is designed is above a predetermined value. Here, the cumulative amount refers to the value representing the characteristic of the distribution. The cumulative amount may also be obtained by combining the distribution of the transmission delay and the distribution of the coefficients of the state variables relative to the moving body 2. Alternatively, the controllability determination unit 64d may also determine whether to stop the moving body 2 if a transmission delay larger than the transmission delay with a predetermined probability of occurrence occurs in the pre-estimated transmission delay distribution. Alternatively, the controllability determination unit 64d can also determine whether to stop the moving body 2 if an error larger than the coefficient error that is the predetermined probability of occurrence occurs in the distribution of the pre-estimated coefficients. Therefore, even if control stability issues arise, the moving body 2 can be controlled normally.

[0138] Find the control gain F and control variable u in a closed-loop system with a probability distribution that includes propagation delay. k At that time, the discrete-time state equation of the moving body 2 shown in mathematical formula (1) becomes the starting point. However, the control gain F and control quantity u are generally obtained by starting with the continuous-time state equation of the moving body 2. k Therefore, the control gain F and control quantity u are derived based on the continuous-time state equation. k The method will be explained.

[0139] The continuous-time state equations of the moving body 2 are determined as follows: (16)

[0140] [Mathematical Expression 16]

[0141]

[0142] In mathematical expression (16), x c u is the state quantity of the moving body 2 in continuous time. c It is the control quantity in continuous time, x c It is for x c The value obtained by performing time differentiation, A c and B c It is a matrix. According to time t k Sampling interval h k (=t k+1 -t k This transforms the continuous-time state equation of mathematical formula (16) into a discrete-time state equation. However, the sampling interval h k It is determined not only by the transmission delay of upload transmission delay 6b and download transmission delay 6c, but also by the signal in Figure 11 The propagation delay during propagation between elements is determined by factors such as the sampler 6d and the hold 6e. The mathematical equation (16) is converted into a discrete-time state equation as shown in the following mathematical equation (17).

[0143] [Mathematical Expression 17]

[0144] x k+1 =A k x k +B k u k-1 ...(17)

[0145] In mathematical expression (17), A k and B k For the following mathematical expressions (18) and (19).

[0146] [Mathematical Expression 18]

[0147]

[0148] [Mathematical Expression 19]

[0149]

[0150] In mathematical expressions (18) and (19), A k and B k Use sampling interval h k To represent, therefore, it becomes dependent on the value ξ of the random variable. k The random matrix. Furthermore, in mathematical formula (17), the control quantity is not u. k Instead, u k-1 Therefore, a new state variable x is prepared to be added to mathematical expression (17). 0k =u k-1 The amplification system. The amplification system is represented by the following mathematical formula (20).

[0151] [Mathematical Expression 20]

[0152] x e，k+1 =A e x e，k +B e u k ...(20)

[0153] In mathematical expression (20), x e，k A e And B e These are the following mathematical expressions (21) to (23).

[0154] [Mathematical Expression 21]

[0155]

[0156] [Mathematical Expression 22]

[0157]

[0158] [Mathematical Expression 23]

[0159]

[0160] Mathematical equation (20) is in the same form as the discrete-time state equation in mathematical equation (1). Therefore, mathematical equation (20) can be used to calculate the control gain F and control quantity u, which take into account the second-order moment exponential stability. k .

[0161] Next, we calculate the control gain F and control quantity u when the moving body 2 is a vehicle. k The method will be explained. Figure 12This is a schematic diagram illustrating an example of a vehicle model in this embodiment. Figure 12 In the inertial coordinate system, the horizontal axis X and the vertical axis Y represent the positions of the vehicle's center of gravity. b and Y b It is a coordinate system based on the longitudinal and lateral directions of the vehicle. y and e θ It is the lateral deviation and deflection angle of the vehicle relative to the target path T1. The continuous-time state equation relative to the vehicle's lateral deviation is the following mathematical expression (24).

[0162] [Mathematical Expression 24]

[0163]

[0164] In mathematical expression (24), v x δ is the vehicle speed, δ is the steering angle, m is the mass, and L is the vehicle speed. f It is the distance L from the vehicle's center of gravity to the front wheel (2V). r It is the distance from the vehicle's center of gravity to the rear wheel (2w). z It is the moment of inertia about the yaw axis, C f It is the lateral stiffness of the front wheel at 2v, C r This refers to the lateral stiffness of the rear wheels at 2w. Lateral stiffness is a proportionality coefficient that represents the relationship between the lateral force generated by a vehicle and the sideslip angle, and it varies depending on road conditions (dry, wet, and frozen, etc.).

[0165] According to mathematical formula (24), e y e θ e y and e θ Control is set to zero, allowing the vehicle to follow the target path laterally. Furthermore, the continuous-time state equation relative to the vehicle's longitudinal direction is given by the following mathematical expression (25).

[0166] [Mathematical Expression 25]

[0167]

[0168] In mathematical expression (25), a x It is the acceleration in the forward and backward direction, u a It is the target acceleration in the forward and backward directions, T a It is the time constant of the first-order lag system. Equation (25) is equivalent to the continuous-time state equation of equation (16). Therefore, according to the sampling interval h affected by the transmission delay of network 1... k Then, the mathematical equation (25) is transformed into a discrete-time state equation. Then, while considering the second-order moment exponential stability of mathematical equations (2) and (4), the equation that makes the speed v... x acceleration a in the forward and backward directionsx and target acceleration u a The control gain F is the minimum value expressed by the evaluation function. That is, the control gain F is obtained by considering the transmission delay and treating mathematical equation (25) as a regulator problem. In this case, not only the distribution of the transmission delay can be considered, but also the distribution of the coefficients relative to the vehicle's state variables. Alternatively, H2 control or H... ∞ Control, with the addition of conditions related to their control stability.

[0169] Figure 13 This is a flowchart illustrating an example of the remote control steps in this embodiment.

[0170] like Figure 13 As shown, when remote control of the moving body 2 is initiated through a unit not shown, the receiving unit 62 receives information about the moving body and surrounding information (step ST1).

[0171] The track generation unit 63 generates the target track based on map data from the map database 7 and surrounding information from the receiving unit 62 (step ST2).

[0172] The mobile body estimation unit 64a estimates the transmission delay (step ST3). The mobile body estimation unit 64a can estimate the distribution of the transmission delay, and it can also estimate the distribution of the transmission delay and the distribution of the coefficients of the state variables relative to the mobile body 2.

[0173] The gain setting unit 64b sets the control gain based on the transmission delay of network 1 (step ST4). The gain setting unit 64b can set the control gain based on the distribution of transmission delay, or it can set the control gain based on the distribution of transmission delay and the distribution of the coefficients of the state quantities relative to the moving body 2.

[0174] The control quantity calculation unit 64c calculates the control quantity based on the moving body information and control gain from the receiving unit 62 (step ST5).

[0175] The controllability determination unit 64d determines whether to continue control or stop control based on the transmission delay from the mobile body estimation unit 64a (step ST6). The controllability determination unit 64d can make the determination based on the distribution of the transmission delay, or it can make the determination based on the distribution of the transmission delay and the distribution of the coefficients of the state variables relative to the mobile body 2. If the controllability determination unit 64d determines that the control should be stopped, it sets the value that will stop the mobile body 2 as the control quantity.

[0176] The transmitting unit 65 outputs a control quantity from the controllability determination unit 64d to the mobile body 2 (step ST7).

[0177] Using a unit not shown, determine whether to continue remote control (step ST8).

[0178] If the determination in step ST8 is "yes", the process returns to step ST1 to continue remote control. If the determination in step ST8 is "no", the remote control ends.

[0179] According to the implementation method described above, the remote control device 6 generates the target track of the moving body 2, thus enabling smooth travel.

[0180] Here, the hardware structure of the remote control device 6 according to this embodiment will be described. Each function of the remote control device 6 can be implemented by a processing circuit. The processing circuit includes at least one processor and at least one memory.

[0181] Figure 14 This diagram illustrates the hardware structure of the remote control device 6 in this embodiment. The remote control device 6 can... Figure 14 (a) is implemented by the processor 8 and memory 9 shown. The processor 8 is, for example, a CPU (also known as a Central Processing Unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, DSP (Digital Signal Processor)) or a system LSI (Large Scale Integration).

[0182] Memory 9 includes, for example, non-volatile or volatile semiconductor memories such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), HDD (Hard Disk Drive), hard disk, floppy disk, optical disk, compact disk, mini disk, or DVD (Digital Versatile Disk).

[0183] The functions of each component of the remote control device 6 are implemented through software (software, firmware, or both). The software is programmed and stored in the memory 9. The processor 8 implements the functions of each component by reading and executing the program stored in the memory 9. In other words, the program can be described as a program that causes the computer to perform the steps or methods of the remote control device 6.

[0184] The program executed by processor 8 can also be stored in a computer-readable storage medium as a file in an installable or executable format and provided as a computer program product. Additionally, the program executed by processor 8 can also be provided to remote control device 6 via a network such as the Internet.

[0185] In addition, the remote control device 6 can also be used via Figure 14 (b) is implemented by the dedicated processing circuit 10 shown. When the processing circuit 10 is dedicated hardware, the processing circuit 10 is, for example, equivalent to a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0186] The above describes the structure in which the functions of each component of the remote control device 6 are implemented through either software or hardware. However, it is not limited to this; it is also possible to implement some components of the remote control device 6 through software and implement another part through dedicated hardware.

[0187] Explanation of reference numerals in the attached figures

[0188] 1. Network; 2. Moving body; 21. First moving body; 22. Second moving body; 2a. Timing synchronization unit; 2b. Internal sensor; 21b. Vehicle speed sensor; 22b. IMU sensor; 23b. Steering angle sensor; 24b. Steering torque sensor; 2c. Transmitter; 2d. Receiver; 2e. Command value calculation unit; 2f. Actuator; 2g. Steering wheel; 2h. Steering shaft; 2i. Electric motor; 2j. Rack and pinion mechanism; 2k. Steering tie rod; 2m. Front steering knuckle; 2n. Vehicle drive unit; 2o. Shaft; 2q. Braking control device; 2r. Brake; 2t. Gear shaft; 2u. Rack shaft; 2v. Front wheel; 2w. Rear wheel; 4. Object information acquisition unit; 40. Obstacle; 41. Timing synchronization unit; 42. Sensors; 43. Environmental information acquisition unit; 50a. Parking line; 50b. Traffic light; 51. Timing synchronization unit; 52. Sensor; 6. Remote control device; 61. Timing synchronization unit; 62. Receiver; 63. Track generation unit. 64 Mobile body control calculation unit, 641 First mobile body control calculation unit, 642 Second mobile body control calculation unit, 64a Mobile body estimation unit, 64b Gain setting unit, 64c Control quantity calculation unit, 64d Controllability determination unit, 64e State quantity estimation unit, 65 Transmission unit, 6a Controller, 6b Upload transmission delay, 6c Download transmission delay, 6d Sampler, 6e Holder, 7 Map database, 8 Processor, 9 Memory, 10 Processing circuit, S1 Driving area, T1 Target path, T11 Target path relative to the first mobile body, T12 Target path relative to the second mobile body, R42 Detection range of sensor 42, R43 Detection range of sensor 43, R52 Detection range of sensor 52.

Claims

1. A remote control device for controlling one or more mobile bodies via a network, wherein, have: The receiving unit receives mobile body information composed of a first state quantity in the state quantity of the mobile body and surrounding information around the mobile body; A track generation unit that generates a target track for the moving body based on the surrounding information; A mobility estimation unit estimates the probability distribution of transmission delay in the network; A gain setting unit that sets a control gain considering the control stability related to the probability distribution of the transmission delay; A control quantity calculation unit, based on the moving body information and the control gain, calculates a control quantity for causing the moving body to follow the target trajectory; and The transmitting unit sends the control quantity to the moving body.

2. The remote control device according to claim 1, wherein, It also includes a state quantity estimation unit, which estimates a second state quantity that is different from the first state quantity based on the moving body information. The control quantity calculation unit calculates the control quantity based on the moving body information, the second state quantity, and the control gain.

3. The remote control device according to claim 1 or 2, wherein, It also includes a controllability determination unit, which determines whether to continue control or stop control of the moving body based on the probability distribution of the transmission delay. If the determination result is to stop control, the value that is to stop the moving body is set as the control quantity.

4. The remote control device according to claim 1 or 2, wherein, The moving body estimation unit estimates the probability distribution of the transmission delay and the distribution of the mass or moment of inertia of the moving body. The gain setting unit sets the control gain based on the probability distribution of the transmission delay and the distribution of the mass or moment of inertia of the moving body.

5. The remote control device according to claim 3, wherein, The moving body estimation unit estimates the probability distribution of the transmission delay and the distribution of the mass or moment of inertia of the moving body. The gain setting unit sets the control gain based on the probability distribution of the transmission delay and the distribution of the mass or moment of inertia of the moving body. The controllability determination unit determines whether to continue control or stop control based on the probability distribution of the transmission delay and the distribution of the mass or moment of inertia of the moving body.

6. The remote control device according to claim 1 or 2, wherein, The gain setting unit sets the control gain by taking into account the control stability related to the probability distribution of the transmission delay.

7. The remote control device according to claim 4, wherein, The gain setting unit sets the control gain by taking into account the control stability related to the probability distribution of the transmission delay and the distribution of the mass or moment of inertia of the moving body.

8. The remote control device according to claim 6, wherein, The gain setting unit sets the control gain by taking into account the control stability and the system performance conditions expressed by linear matrix inequalities.

9. The remote control device according to claim 1 or 2, wherein, The target track is the obstacle avoidance track and the stopping track before the moving body stops.

10. The remote control device according to claim 1 or 2, wherein, There are two or more moving bodies. The orbit generation unit generates the target orbits for two or more of the moving bodies based on the surrounding information.

11. The remote control device according to claim 10, wherein, The track generation unit generates the target track in a manner that takes into account the travel priority of the moving body.

12. The remote control device according to claim 10, wherein, The track generation unit generates the target track, which forms a queue of mobile bodies other than the head of the queue relative to the head of the queue.

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