Remote control system

Abstract

To make it possible to reduce communication traffic related to sending and receiving control information while maintaining control performance at a certain level in an event-driven remote control system that remotely controls a moving object.SOLUTION: The present disclosure relates to a remote control system including: one or more moving object control devices mounted on a moving object; and a remote control device that generates control information controlling the moving object and transmits the control information to the moving object control devices. The moving object control device includes: a receiving unit that receives the control information; a control unit that controls the moving object in accordance with the control information received by the receiving unit; and a transmitting unit that transmits measurement information measured by the moving object. The transmitting unit determines whether or not to transmit the measurement information based on information freshness of the measurement information.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a technology related to a remote control system that remotely controls a moving object. [Background technology]

[0002] One method for efficiently controlling railway vehicles is Communication-Based Train Control (CBTC), which utilizes communication between vehicles and ground equipment. When remotely controlling vehicles using CBTC, it is known that the quality of the communication network (delay, data loss, etc.) has a significant effect on control performance. In addition, the age of information (AoI), which indicates the elapsed time since data was acquired, includes not only network delays but also information processing delays within the equipment, and is an important index for maintaining control performance. Therefore, a method for optimizing AoI in a CBTC system has been proposed (for example, see Non-Patent Document 1).

[0003] On the other hand, in CBTC, an increase in communication traffic is expected due to an increase in the number of vehicles and various applications. As a method to reduce communication traffic, an event-driven control method has been proposed that controls the timing of data transmission based on control errors in a motor remote control system (for example, see Non-Patent Document 2). [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] X. Wang, L. Liu, L. Zhu, and T. Tang, “Train -Centric CBTC Meets Age of Information in Train-to Train Communications,” IEEE Transactions on Intelligent Transportation Systems, Vol.21, No.10, pp. 4072-4085, Oct 2020. [Non-Patent Document 2] T. Yamanaka, T. Iwai, and R. Kubo, “Quality of Performance Aware Data Transmission for Energy-Efficient Networked Control,” IEEE Access, Vol. 9, pp. 5769-5778, January 2021. Summary of the Invention [Problem to be solved by the invention]

[0005] It is conceivable to use the event-driven control method to reduce communication traffic in CBTC and control the timing of data transmission based on the control error.However, in a networked control system in which a communication network exists in a feedback control loop, when determining whether to transmit data using a threshold based on the control error, there is an issue that the control error cannot be calculated in real time on the remote control device side when data transmission on the feedback path is stopped, resulting in degradation of control performance.

[0006] The present disclosure has been made in consideration of such problems, and an object of the present disclosure is to make it possible to reduce communication traffic associated with sending and receiving control information while maintaining a constant level of control performance in an event-driven remote control system that remotely controls a moving object. [Means for solving the problem]

[0007] In order to achieve the above object, the remote control system of the present disclosure performs data transmission of a feedback control loop based on AoI in a remote control system in which a remote control device controls one or more moving objects.

[0008] The remote control system of the present disclosure may include a mobile body control device that controls the mobile body. In this case, the remote control system of the present disclosure includes one or more mobile body control devices mounted on one or more mobile bodies, and a remote control device that generates control information for controlling the mobile body and transmits it to the mobile body control device, and at least one of the mobile body control device and the remote control device transmits data of a feedback control loop based on AoI.

[0009] A mobile body control device according to the present disclosure is a mobile body control device mounted on a mobile body, a receiving unit for receiving control information for controlling a moving object; a control unit that controls the moving object in accordance with the control information received by the receiving unit; A transmitter that transmits measurement information measured by the moving object; Equipped with The transmitting unit determines whether or not to transmit the measurement information based on information freshness of the measurement information.

[0010] The method disclosed herein is a method executed by a mobile body control device mounted on a mobile body, the method comprising: A procedure in which a receiving unit receives control information for controlling a moving object; A control unit controls the moving object in accordance with the control information received by the receiving unit; A transmitting unit transmits measurement information measured by the moving object; Equipped with The transmitting unit determines whether or not to transmit the measurement information based on information freshness of the measurement information.

[0011] The transmitter of the mobile object control device of the present disclosure may transmit a transmission instruction to transmit the control information together with the measurement information. When the remote control device receives the transmission instruction, the remote control device transmits the control information to the mobile object control device. This allows the mobile object control device of the present disclosure to receive the control information suitable for the measurement information from the remote control device.

[0012] In the remote control system of the present disclosure, the mobile control device transmits the measurement information based on the freshness of the measurement information, so that data transmission of the feedback path can be maintained based on AoI. Therefore, the remote control system of the present disclosure can reduce communication traffic related to the transmission and reception of the control information while maintaining a constant level of control performance.

[0013] The transmission unit provided in the mobile object control device may calculate an evaluation value of information freshness of the measurement information, and transmit the measurement information when the evaluation value reaches a predetermined threshold value. Here, the method of calculating the evaluation value is arbitrary. For example, the evaluation value may be calculated using the elapsed time from the measurement of the measurement information. Furthermore, the evaluation value may be calculated using a plurality of pieces of the measurement information measured at different times.

[0014] The program of the present disclosure is a program for causing a computer to realize each functional unit of a mobile object control device or a remote control device according to the present disclosure, and is a program for causing a computer to execute each procedure of a method executed by a mobile object control device or a remote control device according to the present disclosure.

[0015] The above disclosures may be combined to the greatest extent possible. Effect of the Invention

[0016] The present disclosure makes it possible to reduce communication traffic associated with sending and receiving control information while maintaining control performance at a constant level in an event-driven remote control system that remotely controls a moving object. [Brief description of the drawings]

[0017] [Figure 1] 1 shows an example of a configuration of a remote control system. [Diagram 2] 2 shows an example of a functional unit included in the remote control device. [Diagram 3] 2 shows an example of a functional unit included in the mobile object control device. [Figure 4] 2 shows an example of a functional unit included in the remote control device. [Diagram 5] 2 shows an example of a functional unit included in the mobile object control device. [Figure 6] 13 shows an example of a transmission flow of control information. [Figure 7] 13 shows an example of a flow of transmitting measurement information. [Figure 8] 2 shows an example of a functional unit included in the remote control device. [Figure 9] 2 shows an example of a functional unit included in the mobile object control device. [Figure 10] 13 shows an example of a flow of transmitting measurement information. [Figure 11] 13 shows an example of a transmission flow of control information. [Figure 12] 13 shows an example of a flow of transmitting measurement information. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to the embodiments shown below. These implementation examples are merely illustrative, and the present disclosure can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Note that components with the same reference numerals in this specification and drawings are assumed to indicate the same components.

[0019] (First embodiment) 1 shows an embodiment of a remote control system according to the present disclosure. The remote control system according to the present embodiment is a system in which a remote control device 20 controls multiple vehicles 100, such as CBTC. In the remote control system according to the present embodiment, each vehicle 100 is equipped with a mobile object control device 10 for controlling the vehicle 100.

[0020] The mobile body control device 10 transmits measurement information measured by the vehicle 100 to the remote control device 20. The remote control device 20 acquires the measurement information received from each mobile body control device 10, generates control information for controlling each vehicle 100 based on the measurement information, and transmits the control information to the mobile body control device 10. The mobile body control device 10 controls the vehicle 100 according to the control information received from the remote control device 20.

[0021] Possible measurement information measured by each vehicle 100 includes, for example, a position response value and a speed response value of the vehicle 100. Possible control information transmitted from the remote control device 20 to the mobile object control device 10 includes, for example, a current reference value, a voltage reference value, and a speed reference value for driving the vehicle 100. These measurement information and control information are transmitted and received via a communication network 30. For example, it is conceivable that the mobile object control device 10 and the remote control device 20 are connected via a communication network 30 such as a fifth generation mobile communication system (5G). In this embodiment, as an example of the measurement information and the control information, the measurement information includes a vehicle speed response v res and the control information is the control input u ref Here is an example where

[0022] 2 shows an example of functional units included in the remote control device 20. The remote control device 20 includes a speed generating unit 21, a receiving unit 22, a speed control unit 23, and a transmitting unit 24. The receiving unit 22 receives the vehicle speed response v from each mobile object control device 10. res Receive. The speed generation unit 21 calculates the target speed v of each vehicle 100 based on the reference driving profile defined in the vehicle operation plan. cmd Generate. The speed control unit 23 detects the vehicle speed response v resThe target velocity v obtained by the velocity generating unit 21 is obtained. cmd A control input u for controlling each vehicle 100 so that ref Generate. The transmission unit 24 receives the control input u generated by the speed control unit 23. ref is transmitted to each mobile object control device 10.

[0023] 3 shows an example of functional units included in the mobile object control device 10. The mobile object control device 10 includes a receiving unit 11, a calculation processing unit 12, and a transmitting unit 13. The receiving unit 11 receives a control input u from a remote control device 20. ref Receive. The calculation processing unit 12 functions as a “control unit” in this disclosure, and receives a control input u ref The vehicle 100 is controlled based on the vehicle speed response v res to obtain the speed of the vehicle 100. The transmitter 13 receives the vehicle speed response v res is transmitted to the remote control device 20.

[0024] The calculation processing unit 12 provided in the mobile object control device 10 drives the motor to move the vehicle 100, and measures the vehicle speed at a constant cycle. For example, the measurement cycle of the vehicle speed is made to coincide with the control cycle from the remote control device 20 to the mobile object control device 10. The vehicle speed can be estimated from, for example, the rotational angular velocity of the motor or the wheels. Alternatively, it may be measured by a sensor on the vehicle track, a GNSS (Global Navigation Satellite System), or the like.

[0025] The control input u sent from the remote control device 20 ref,s is affected by delays and information loss in the communication network 30. For this reason, the control input u received by the receiver 11 of the mobile object control device 10 ref,r is the control input u ref,s In this way, when the receiver 11 receives the control input u, the information is delayed by the network delay. ref,dIf the calculation processing unit 12 cannot receive the control input u ref,d Instead of [k], use the control input u used one sampling time before. ref,d [k-1] can be used. The sampling period is set to be the same as the control period from the remote control device 20 to the mobile object control device 10, for example.

[0026] The vehicle speed response v transmitted from the mobile control device 10 res,s is affected by delays and information loss in the communication network 30. For this reason, the vehicle speed response v received by the receiver 22 of the remote control device 20 is res,r is the vehicle speed response v res,s In this way, when the receiver 22 receives the vehicle speed response v res,d If the vehicle speed response v res,d Instead of [k], use the vehicle speed response v used one sampling time before. res,d [k-1] can be used. The sampling period is set to be the same as the control period from the remote control device 20 to the mobile object control device 10, for example.

[0027] As described above, in the remote control system of this embodiment, the remote control device 20 can control one or more vehicles 100 via the communication network 30.

[0028] Second embodiment 4 and 5 show an example of functional units included in the remote control device 20 and the mobile object control device 10 of this embodiment. c In addition, the mobile object control device 10 of this embodiment determines whether to transmit data based on the control error e m Whether or not to transmit data is determined based on the control error e c For example, the target speed v cmd and vehicle speed response v res,d The control error e m is, for example, the target speed v received from the remote control device 20.cmd,d and vehicle speed response v res This is the difference between...

[0029] 6 shows an example of a transmission flow in which the transmitter 24 of the remote control device 20 transmits control information. First, the absolute value |e c | is the threshold e th1 In the above case (Yes in S21), the transmission unit 24 receives the control input u ref to the mobile object control device 10 (S22). ref Tou ref,s are the same value. On the other hand, the absolute value of the control error |e c | is the threshold e th1 If it is less than (No in S21), the transmission unit 24 receives the control input u ref Transmission of for a certain period T s1 The process stops until the time elapses (S23 and S24).

[0030] After the transmission is stopped in step S23, a certain period T s1 If the time has elapsed (No in S24), the transmission unit 24 receives the control input u ref is transmitted to the mobile object control device 10 (S22), and the process proceeds to step S21. c | is the threshold e th1 If it is less than the control input u ref Transmission of for a certain period T s1 The process stops until the predetermined time has elapsed (S23 and S24). After that, this process is repeated.

[0031] In step S22, the transmission unit 24 receives the control input u ref At the same time, the target speed v cmd is transmitted to the mobile object control device 10. At this time, v cmd and v cmd,s are the same value. The target velocity v cmd This information is obtained from the speed control unit 23.

[0032] 7 shows an example of a transmission flow in which the transmitter 13 of the mobile object control device 10 transmits measurement information.m Based on this, it is determined whether or not to transmit data (S11).

[0033] First, the absolute value of the control error |e m | is the threshold e th2 In the above case (Yes in S11), the transmission unit 13 receives the vehicle speed response v res is transmitted to the remote control device 20 (S12). res and v res,s are the same value. On the other hand, the absolute value of the control error |e m | is the threshold e th2 If it is less than (No in S11), the transmission unit 13 receives the vehicle speed response v res is transmitted to the remote control device 20 at the current time (S13), and then the vehicle speed response v res Transmission of for a certain period T s2 The process stops until the time elapses (S14, S15).

[0034] After the transmission is stopped in step S14, a certain period T s2 If time has elapsed (S15), the transmission unit 13 receives the vehicle speed response v res is transmitted to the remote control device 20 (S12), and the process proceeds to step S11. m | is the threshold e th2 If it is less than the vehicle speed response v res Transmission of for a certain period T s2 The process stops until the time elapses (S14, S15). After that, this process is repeated.

[0035] In this embodiment, the receiver 11 of the mobile object control device 10 receives a control input u ref,r At the same time, the target speed v cmd,r The target speed v transmitted from the remote control device 20 is received. cmd,s is the control input u ref,s Similarly, since the target speed v received by the receiver 11 of the mobile object control device 10 is affected by delays and information loss in the communication network 30, cmd,r is the target speed v cmd,sTherefore, when information loss occurs at a sampling time k (k is a positive integer), the receiver 11 receives the target speed v cmd,d In this case, the calculation processing unit 12 cannot receive the target speed v cmd,d Instead of [k], use the target velocity v used one sampling time before. cmd,d [k-1] can be used. The sampling period is set to be the same as the control period from the remote control device 20 to the mobile object control device 10, for example.

[0036] As described above, the remote control system of this embodiment performs event-driven control based on a control error, and therefore, communication traffic in the communication network 30 can be reduced.

[0037] Depending on the configuration of the communication network 30, a delay of several tens of milliseconds to several seconds may occur in communication between the mobile object control device 10 and the remote control device 20, which is a factor that deteriorates the control performance in the remote control system. The frequency of communication between the remote control device 20 and each mobile object control device 10 varies depending on the control system, but is expected to be on the order of milliseconds to seconds. In particular, when a control function for controlling the drive motor of each vehicle 100 is implemented on the remote control device 20 side, a control period on the order of milliseconds may be required, and an increase in communication frequency leads to an increase in communication traffic.

[0038] When congestion occurs in the communication network 30 due to an increase in communication traffic, network delays and packet losses increase, so avoiding congestion in the communication network 30 is an important issue in transmitting control information. On the other hand, a reduction in the communication frequency of the feedback control loop causes deterioration of control performance. Therefore, in an event-driven remote control system that remotely controls the vehicle 100, it is required to suppress the communication frequency while maintaining a certain level of control performance.

[0039] Therefore, in the present disclosure, the data transmission timing of the feedback control loop is determined based on the AoI. In the present embodiment, as an example of the present disclosure, the mobile object control device 10 issues a transmission instruction w based on the AoI. s The remote control device 20 receives the transmission instruction w s Based on the control input u ref In this way, the present disclosure makes it possible to transmit data at a certain interval defined by AoI and maintain control performance at a certain level. This will be described in detail below.

[0040] (Third embodiment) 8 and 9 show an example of functional units provided in the remote control device 20 and the mobile object control device 10 of this embodiment. In this embodiment, the remote control device 20 and the mobile object control device 10 each determine the timing of data transmission based on the control error, as in the second embodiment. In addition, in this embodiment, the mobile object control device 10 determines whether or not to transmit data based on information freshness A1.

[0041] The transmission unit 13 provided in the mobile object control device 10 receives the vehicle speed response v res and calculating an evaluation value using the information freshness A1, and when the evaluation value reaches a predetermined threshold value due to a drop in the information freshness A1, the vehicle speed response v res Send.

[0042] The information freshness A1 is, for example, the current time and the vehicle speed response v res The time t at which t For time synchronization between the remote control device 20 and the mobile object control device 10, an appropriate method can be selected depending on the required accuracy, such as using GNSS.

[0043] FIG. 10 shows an example of a transmission flow in which the transmitter 13 of the mobile object control device 10 transmits measurement information. m Furthermore, it is determined whether or not to transmit data based on the information freshness A1 of the vehicle speed response (S111, S115, S116).

[0044] First, the absolute value of the control error |e m | is the threshold e th2 In the above case (Yes in S111), the transmission unit 13 receives the vehicle speed response v res is transmitted to the remote control device 20 (S112). res and v res,s are the same value. On the other hand, the absolute value of the control error |e m | is the threshold e th2 If it is less than the current time (No in S111), the transmission unit 13 receives the vehicle speed response v res to the remote control device 20 (S113), and then the vehicle speed response v res The transmission of the message is stopped (S114).

[0045] After the transmission is stopped in step S114, the information freshness A1 and the vehicle speed response v res The product of this and the threshold x th1 (No in S115), or the absolute value of the control error |e m | is the threshold e th2 If so (Yes in S116), the transmission unit 13 receives the vehicle speed response v res and transmission instructions s to the remote control device 20 (S112), and the process proceeds to step S111. After that, this operation is repeated.

[0046] The transmission instruction w transmitted from the mobile object control device 10 s is affected by delays and information loss in the communication network 30. For this reason, the transmission instruction w r is a transmission instruction s In this way, when the receiver 22 receives a transmission instruction w at a sampling time k (k is a positive integer), the information is delayed by the network delay. d If the transmitter 24 cannot receive the control input u ref Do not send [k]. If no information loss occurs, d And w r are the same value or indication.

[0047] 11 shows an example of a transmission flow in which the transmitter 24 of the remote control device 20 transmits control information. c and transmission instruction w d Based on this, it is determined whether or not to transmit data (S121, S124, S125).

[0048] First, the absolute value of the control error |e c | is the threshold e th1 In the above case (Yes in S121), the transmission unit 24 receives the control input u ref to the mobile object control device 10 (S122). ref Tou ref.s are the same value. On the other hand, the absolute value of the control error |e c | is the threshold e th1 If it is less than (No in S121), the transmission unit 24 receives the control input u ref The transmission of the message is stopped (S123).

[0049] After the transmission is stopped in step S123, a transmission instruction is d (S124), or the absolute value of the control error |e c | is the threshold e th1 If this is the case (S125), the transmission unit 24 receives the control input u ref and the target speed v cmd to the mobile object control device 10 (S122), and the process proceeds to step S121. After that, this operation is repeated.

[0050] As described above, in this embodiment, the mobile object control device 10 transmits data based on the information freshness A1, so that data transmission of the feedback path can be maintained. Here, the mobile object control device 10 transmits the vehicle speed response v res When sending, send instructions w s Therefore, the mobile object control device 10 transmits the control input u at the timing when the control of the vehicle 100 is required. refTherefore, the remote control system of this embodiment can reduce communication traffic related to the transmission and reception of control information while maintaining control performance at a certain level.

[0051] In this embodiment, the vehicle speed response and its information freshness are used as the evaluation value of the information freshness, but the present disclosure is not limited to this. In other words, any measurement information measured by the vehicle 100 and its information freshness can be used instead of or together with the vehicle speed response.

[0052] (Fourth embodiment) In this embodiment, the remote control device 20 and the mobile object control device 10 each determine the timing of data transmission based on the control error, as in the second embodiment. In addition, in this embodiment, the vehicle speed response v measured at different times is used as an evaluation value of information freshness. res The integral value I of is used.

[0053] The transmission unit 13 included in the mobile object control device 10 of this embodiment calculates the integral value I, and when the evaluation value I reaches a predetermined threshold value, transmits a vehicle speed response v res The integral value I of the vehicle speed response is, for example, res and vehicle speed response v res It can be calculated by multiplying the measurement period of

[0054] 12 shows an example of a transmission flow in which the transmission unit 13 of the mobile object control device 10 transmits measurement information. cmd,d and vehicle speed response v res The control error e m , and the vehicle speed response integral value I, it is determined whether or not to transmit data (S111, S131, S116).

[0055] First, the absolute value of the control error |e m | is the threshold e th2 In the above case (Yes in S111), the transmission unit 13 receives the vehicle speed response v resis transmitted to the remote control device 20 (S112). res and v res,s are the same value. On the other hand, the absolute value of the control error |e m | is the threshold e th2 If it is less than the current time (No in S111), the transmission unit 13 receives the vehicle speed response v res to the remote control device 20 (S113). After that, the transmission unit 13 transmits the vehicle speed response v res The transmission of the message is stopped (S114).

[0056] After the transmission is stopped in step S114, the integral value I of the vehicle speed response becomes equal to or smaller than the threshold value x th2 (No in S131), or the absolute value of the control error |e m | is the threshold e th2 If so (Yes in S116), the transmission unit 13 receives the vehicle speed response v res and transmission instructions s to the remote control device 20 (S112), and the process proceeds to step S111. res At the timing when the integrated value I is transmitted to the remote control device 20, the integrated value I is initialized to 0 (S132). After that, this operation is repeated.

[0057] As described above, in this embodiment, the mobile object control device 10 transmits measurement information based on the integral value I of the vehicle speed response, and at this time, the transmission instruction w s Therefore, the mobile object control device 10 can receive the control information at the timing when it is necessary to control the vehicle 100. Therefore, the remote control system of this embodiment can reduce the communication traffic related to the transmission and reception of the control information while maintaining the control performance at a certain level.

[0058] In this embodiment, the integral value I of the vehicle speed response measured at different times is used as the evaluation value of the information freshness, but the present disclosure is not limited to this. In other words, any multiple pieces of measurement information measured at different times in the vehicle 100 can be used as the evaluation value of the information freshness instead of or together with the vehicle speed response.

[0059] (Other embodiments) The control error e in the above embodiment c and e m An instantaneous value may be used, or a simple moving average or an exponential moving average may be used. By using a simple moving average or an exponential moving average, it is possible to avoid a transmission stop due to a temporary decrease in the control error in a transient state.

[0060] Also, the threshold e th1 and threshold e th2 may be a constant value based on the required speed tracking performance, or may be determined based on the vehicle position, vehicle speed, or the distance between the vehicle and another vehicle. th1 and x th2 may be a constant value based on the required position tracking performance, or may be determined based on the vehicle position, vehicle speed, or inter-vehicle distance from another vehicle.

[0061] In addition, the information freshness A1 and A2 are not limited to a time difference, but may be the travel distance of the vehicle 100. res can be sent.

[0062] In the above-described embodiment, at least one of the transmitting unit 24 and the transmitting unit 13 may have a function of forcibly transmitting data after a certain period of time has elapsed since transmission was stopped.

[0063] In the above embodiment, an example has been described in which the remote control device 20 controls the speed of the vehicle 100, but the control target in the present disclosure is not limited to the speed of the vehicle 100, and may be applied to any function of the vehicle 100. Furthermore, the present disclosure may employ any movable body instead of the vehicle 100. For example, the control target may be a movable body other than a vehicle that can run on the ground, or a movable body such as a drone that can move in the air or underwater.

[0064] Furthermore, each functional unit provided in the mobile object control device 10 and the remote control device 20 can also be realized by a computer and a program, and the program can be recorded on a recording medium or provided via a communication network. [Explanation of symbols]

[0065] 10: Mobile control device 11, 22: Receiving section 12: Processing unit 13, 24: Transmitter 20: Remote control device 21: Speed ​​generation section 23: Speed ​​control section 30: Communication Network 100:Vehicle

Claims

1. a receiving unit for receiving control information for controlling a moving object; a control unit that controls the moving object in accordance with the control information received by the receiving unit; A transmitter that transmits measurement information measured by the moving object; Equipped with The transmission unit determines whether to transmit the measurement information based on information freshness of the measurement information. Mobile control device.

2. the transmission unit calculates an evaluation value determined by using an elapsed time from the measurement of the measurement information, and transmits the measurement information when the evaluation value reaches a predetermined threshold value. The mobile object control device according to claim 1 .

3. the transmission unit calculates an evaluation value determined using a plurality of pieces of the measurement information measured at different times, and transmits the measurement information when the evaluation value reaches a predetermined threshold value. The mobile object control device according to claim 1 .

4. A moving body equipped with the moving body control device according to any one of claims 1 to 3.

5. A mobile body control device according to any one of claims 1 to 3, which is mounted on a mobile body; a remote control device that generates control information for controlling the moving object and transmits the control information to the moving object control device; A remote control system comprising: The mobile object control device transmits a transmission instruction to transmit the control information together with the measurement information, When the remote control device receives the transmission instruction, the remote control device transmits the control information to the mobile object control device. Remote control system.

6. A procedure in which a receiving unit receives control information for controlling a moving object; A control unit controls the moving object in accordance with the control information received by the receiving unit; A transmitting unit transmits measurement information measured by the moving object; Equipped with The transmission unit determines whether to transmit the measurement information based on information freshness of the measurement information. method.

7. A program for causing a computer to realize each of the functional units of the mobile object control device according to any one of claims 1 to 3.

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