Remote vehicle control system

Abstract

To provide a remote control device, a remote vehicle control system, and a remote vehicle control method capable of maintaining desired control performance and reducing communication traffic.SOLUTION: This remote control device comprises: a reception unit 22 that receives, from a vehicle 100, measurement information (vehicle speed response vres) regarding traveling of the vehicle 100; a control unit 23 that generates control information (target speed and control input uref) for driving the vehicle 100 so that the traveling of the vehicle 100 can be close to the target value from the measurement information and a target value (target speed vcmd); and a transmission unit 24 that transmits the control information and a transmission instruction (w) for causing the vehicle to transmit the measurement information to the vehicle 100. The transmission unit 24 determines whether to transmit the control information and the transmission instruction to the vehicle 100 on the basis of a control error (ec) which is a difference between the measurement information and the target value and information freshness (A1) of the measurement information.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to data transmission techniques for remote vehicle control systems. [Background technology]

[0002] One method for efficiently controlling railway vehicles is the Communication-Based Train Control (CBTC) system, which utilizes communication between the vehicle and ground equipment (controller). When using CBTC to remotely control vehicles, it is known that the quality of the communication network (delay, data loss, etc.) has a significant impact on the control performance.

[0003] In addition, the age of information (AoI), which indicates the amount of time that has elapsed since the data was acquired, includes not only network delays but also information processing delays within the device and is an important indicator for maintaining control performance. Therefore, methods for optimizing AoI in CBTC systems have been proposed (for example, see non-patent document 1).

[0004] On the other hand, CBTC is expected to increase communication traffic 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]

[0005] [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]

[0006] In order to reduce communication traffic in CBTC, it is considered effective to use the event-driven control method described above and control the timing of data transmission based on the control error and its threshold. However, in a networked control system in which a communication network exists in a feedback control loop, there may be times when data transmission to the feedback path is stopped in order to reduce communication traffic. During such times, the control device cannot calculate the control error in real time, and it becomes difficult to determine whether to transmit data using the control error threshold. Thus, the event-driven control method in CBTC has the problem that it is difficult to maintain the desired control performance while also reducing communication traffic.

[0007] Therefore, in order to solve the above-mentioned problems, the present invention aims to provide a remote control device, a remote vehicle control system, and a remote vehicle control method that can reduce communication traffic while maintaining desired control performance. [Means for solving the problem]

[0008] In order to achieve the above object, the remote control device according to the present invention determines the data transmission timing based on the control error used in the event-driven control, as well as the vehicle speed information fed back from the vehicle and the information freshness of the vehicle speed information. Note that the information freshness (AoI: Age of Information) is the time elapsed since the data was acquired.

[0009] Specifically, the remote control device according to the present invention is a remote control device that remotely controls traveling of one or more vehicles based on a target value, a receiving unit that receives measurement information related to the traveling of the vehicle from the vehicle; a control unit that generates control information for driving the vehicle based on the measurement information and the target value so that the running of the vehicle approaches the target value; a transmission unit that transmits to the vehicle the control information and a transmission instruction to cause the vehicle to transmit the measurement information; Equipped with The transmitting unit determines whether or not to transmit the control information and the transmission instruction to the vehicle based on a control error, which is a difference between the measurement information and the target value, and on information freshness of the measurement information. It is characterized by:

[0010] Further, a remote vehicle control method according to the present invention is a remote vehicle control method for remotely controlling traveling of one or more vehicles based on a target value, comprising: receiving measurement information from the vehicle relating to the running of the vehicle; generating control information for driving the vehicle based on the measurement information and the target value so that the running of the vehicle approaches the target value; and transmitting, to the vehicle, the control information and a transmission instruction for causing the vehicle to transmit the measurement information; We are conducting determining whether to transmit the control information and the transmission instruction to the vehicle based on a control error, which is a difference between the measurement information and the target value, and on the freshness of the measurement information; It is characterized by:

[0011] Since the remote control device performs event-driven control, it can control the timing of data transmission and reduce communication traffic. Furthermore, the remote control device can resume data transmission from the vehicle based on the freshness of the information, and can maintain the desired control performance. Therefore, the present invention can provide a remote control device that can reduce communication traffic while maintaining the desired control performance.

[0012] When the control error is less than a threshold value, the transmitting unit can control the data transmission timing by stopping the transmission of the control information and the transmission instruction. The transmitting unit can maintain the desired control performance by resuming transmission of the control information and the transmission instruction when the product of the information freshness and the measurement information becomes greater than a predetermined judgment value or when the control error becomes greater than or equal to a threshold value. In addition, the transmitting unit can maintain the desired control performance by transmitting the control information and the transmission instruction after a certain period of time has elapsed since the transmission of the control information and the transmission instruction was stopped.

[0013] A remote vehicle system according to the present invention is a remote vehicle control system including the remote control device and a vehicle control unit mounted on the vehicle, When a vehicle-side control error, which is a difference between the target value received from the remote control device and the measurement information measured by the vehicle, is less than a vehicle-side threshold value, the vehicle control unit stops transmitting the measurement information and the measurement time of the measurement information to the remote control device. It is characterized by:

[0014] When the vehicle-side control error is less than the vehicle-side threshold value, the vehicle-side control unit stops transmitting the measurement information and its time stamp information to the remote control device, thereby reducing communication traffic.

[0015] The timing for restarting transmission of the measurement information and its time stamp information is as follows. The vehicle control unit resumes transmitting the measurement information and the measurement time of the measurement information to the remote control device when the vehicle-side control error becomes greater than or equal to the vehicle-side threshold value, or when it receives the transmission instruction from the remote control device. The vehicle control unit includes: Calculating an integral value of the measurement information after stopping transmission of the measurement information and the measurement time of the measurement information to the remote control device; Transmission of the measurement information and the measurement time of the measurement information to the remote control device may be resumed when the vehicle-side control error becomes greater than or equal to the vehicle-side threshold value, or when the transmission instruction is received from the remote control device and the integral value is greater than a specified value.

[0016] The above-mentioned inventions can be combined as much as possible. Effect of the Invention

[0017] The present invention can provide a remote control device, a remote vehicle control system, and a remote vehicle control method that can reduce communication traffic while maintaining desired control performance. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram illustrating a remote vehicle control system. [Diagram 2] FIG. 1 is a diagram illustrating a remote vehicle control system. [Diagram 3] FIG. 1 is a diagram illustrating a remote vehicle control system. [Figure 4] 4 is a flowchart illustrating an operation of a remote control device of the remote vehicle control system. [Diagram 5] 4 is a flowchart illustrating an operation of a vehicle in the remote vehicle control system. [Figure 6] 1 is a diagram illustrating a remote vehicle control system according to the present invention; [Figure 7] 4 is a flowchart illustrating the operation of a remote control device of the remote vehicle control system according to the present invention. [Figure 8] 4 is a flowchart illustrating an operation of a vehicle in the remote vehicle control system according to the present invention. [Figure 9] 4 is a flowchart illustrating an operation of a vehicle in the remote vehicle control system according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] The embodiments of the present invention will be described with reference to the accompanying drawings. The embodiments described below are examples of the present invention, and the present invention is not limited to the following embodiments. Note that components with the same reference numerals in this specification and drawings indicate the same components.

[0020] (Embodiment 1) In this embodiment, the basic operation of a remote vehicle control system (eg, CBTC) will be described. FIG. 1 is a diagram for explaining the basic configuration of a remote vehicle control system. A remote control device 20 collects measurement information measured by each vehicle (100-1, 100-2) and generates a control signal based on a vehicle operation plan to control the speed of each vehicle. The measurement information collected from each vehicle is information measured by the vehicle, such as a position response value and a speed response value of the vehicle. In the following embodiments, the measurement information is a speed response value (v res ) will be explained as an example. ref ) are target information such as current references, voltage references, speed references, etc. for driving the vehicle.

[0021] The measurement information and speed information are transmitted and received by communication devices installed in the vehicle and the control device via a wireless communication network 30. The wireless communication network 30 is, for example, a mobile wireless communication network such as a fifth generation mobile communication system (5G) between the vehicle and the control device. Depending on the configuration of the wireless communication network 30, a delay of several tens of milliseconds to several seconds may occur in the communication between the vehicle and the control device, which is a factor that deteriorates the control performance in the remote vehicle control system.

[0022] The frequency of communication between the control device involved in remote vehicle control and each vehicle varies depending on the control system, but is expected to be on the order of milliseconds to seconds. In particular, when implementing a control device that controls the drive motors of each vehicle on the control device side, a control period on the order of milliseconds may be required, and an increase in communication frequency will result in an increase in communication traffic.

[0023] When network congestion occurs due to an increase in communication traffic, network delays and packet loss increase, so avoiding network congestion is an important issue in control communications. On the other hand, reducing the frequency of communication also causes a deterioration of control performance, so there is a need to suppress the frequency of communication while maintaining a certain level of control performance.

[0024] 2 is a diagram for explaining a configuration example of a remote vehicle control system 301 that realizes remote vehicle speed control. The remote vehicle control system 301 is composed of one or more vehicles 100 and a remote control device 20. Note that the following explanation will be given for a case where there is a single vehicle 100, but even if there are multiple vehicles, the remote vehicle control system controls each vehicle based on the reference driving profile of each vehicle.

[0025] The remote control device 20 is installed in a control center different from the vehicle 100, and a reference driving profile pr of the vehicle based on an operation plan is input to the remote control device 20. The remote control device 20 includes a speed generation unit 21, a speed control unit 23, a transmission unit 24 that transmits control data, and a reception unit 22 that receives measurement data.

[0026] The speed generating unit 21 calculates a target speed v to be tracked at the current time based on the reference driving profile pr. cmd The target speed v cmd As a method of determining the speed, for example, an upper limit is set for acceleration and speed in consideration of the driving environment and ride comfort, and the speed is determined so as to reach the target point in the shortest time.

[0027] The receiver 22 receives the vehicle speed response v from each vehicle 100. res,r Receive the vehicle speed response v res,r is affected by delays and information losses in the wireless communication network 30, and the vehicle speed response v transmitted from the vehicle 100 is res,s When information loss occurs, for example, the speed control unit 23 detects the vehicle speed response v at the sampling time k (k is a positive integer) as res,d [k] is 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, for example.

[0028] The speed control unit 23 controls the target speed v cmd and vehicle speed response v res,d Based on the control input u ref To calculate the control input, for example, a PID (Proportional-Integral-Derivative) controller can be used as a general-purpose feedback controller. ref For example, a reference voltage value or a reference current value to the motor can be used as the reference voltage value or the reference current value to the motor.

[0029] The transmitter 24 receives a control input u ref U ref,s The control input u is sent to the vehicle. ref Tou ref,s are the same value.

[0030] Each vehicle 100 is equipped with a control unit 10 , which has a receiving unit 11 , a calculation processing unit 12 , and a transmitting unit 13 .

[0031] The receiving unit 11 receives a control input u from a remote control device 20. ref,r Receive the control input u ref,r is affected by delays and information losses in the wireless communication network 30, and the control input u transmitted from the remote control device 20 ref,s When information loss occurs, for example, the arithmetic processing unit 12 receives the control input u that should have been received at the sampling time k, but the information is delayed by the network delay. ref,d [k] is the vehicle speed response 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, for example.

[0032] The calculation processing unit 12 drives the motor to move the vehicle, measures the vehicle speed at a constant period, and outputs a vehicle speed response v res For example, the measurement period of the vehicle speed is made to coincide with the control period. 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 or a GNSS (Global Navigation Satellite System), etc.

[0033] The transmitter 13 receives the vehicle speed response v res v res,s The vehicle speed response v res and v res,s are the same value.

[0034] (Embodiment 2) In this embodiment, the operation of a remote vehicle control system that employs an event-driven control method will be described. Fig. 3 is a configuration diagram for explaining a remote vehicle control system 302 of this embodiment. The remote vehicle control system 302 is composed of one or more vehicles 100 and a remote control device 20, similar to the remote vehicle control system 301 of Fig. 2. In this embodiment, only the operational parts different from the remote vehicle control system 301 of Fig. 2 will be explained.

[0035] The receiver 11 of the control device 10 receives a control input u ref,r At the same time, the target speed v cmd,r Receive the target speed v cmd,r is affected by delays and information losses in the wireless communication network 30, and the target speed v cmd,s When information loss occurs, for example, the calculation processing unit 12 receives the target speed v that should be received at the sampling time k, and the information is delayed by the network delay. cmd,d [k] is 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, for example.

[0036] FIG. 4 is a flowchart illustrating the operation of the remote control device 20 that transmits data to the vehicle 100 using an event-driven control method. The transmission unit 24 of the remote control device 20 receives the target speed v cmd and the vehicle speed response v received by the receiver 22 res,d The control error e c Whether or not to transmit data is determined based on the absolute value of the control error |e c | is the threshold e th1 In the above case ("Yes" in step S111), the transmission unit 24 receives the control input u ref,s and the target speed v cmd,s The control input u ref Tou ref,s are the same value, and the target speed v cmd and v cmd,s are the same value.

[0037] On the other hand, the absolute value of the control error |e c | is the threshold e th1 If it is less than u ("No" in step S111), the transmission unit 24 receives the control input u ref Transmission of for a certain period T s1 (Steps S113 and S114: "Yes"). After the transmission is stopped, the transmission is stopped until a certain period Ts1 If the time has elapsed (S114: No), the transmission unit 24 receives the control input u ref to the vehicle (step S112). After that, the process from step S111 is repeated.

[0038] FIG. 5 is a flowchart illustrating the operation of the control device 10 of the vehicle 100 that transmits measurement data to the remote control device 20 using an event-driven control method. The transmission unit 13 of the control device 10 receives the target speed v cmd,d and vehicle speed response v res The control error e m Whether or not to transmit data is determined based on the absolute value of the control error |e m | is the threshold e th2 In the above case ("Yes" in step S121), the transmission unit 13 receives the vehicle speed response v res to the remote control device 20 (step S122). res and v res,s are the same value.

[0039] On the other hand, the absolute value of the control error |e m | is the threshold e th2 If it is less than the vehicle speed response v res to the remote control device 20 at the current time (step S123), and then the vehicle speed response v res Transmission of for a certain period T s2 After the transmission is stopped, the transmission is stopped until a certain period T s2 If the time has elapsed ("No" in step S125), the transmission unit 13 receives the vehicle speed response v res to the remote control device 20 (step S122). After that, the process repeats from step S121.

[0040] (Embodiment 3) In this embodiment, the operation of a remote vehicle control system that employs an event-driven control method that also takes AoI into consideration will be described. 6 is a configuration diagram for explaining a remote vehicle control system 303 of this embodiment. The remote vehicle control system 303 is composed of one or more vehicles 100 and a remote control device 20, similar to the remote vehicle control system 302 of FIG.

[0041] The remote control device 20 includes: Measurement information regarding the running of the vehicle 100 (vehicle speed response v res ) from the vehicle 100; The measurement information and the target value (target speed v cmd ), control information (target speed and control input u) for driving the vehicle 100 so that the running of the vehicle 100 approaches the target value is calculated. ref A control unit 23 that generates a transmission unit 24 that transmits to the vehicle 100 the control information and a transmission instruction (w) for causing the vehicle to transmit the measurement information; Equipped with. The transmission unit 24 transmits a control error (e c ), and the freshness of the measurement information (A 1 ) to determine whether or not to transmit the control information and the transmission instruction to the vehicle 100. In this embodiment, only the operational parts that differ from the remote vehicle control system 302 in FIG. 3 will be described.

[0042] FIG. 7 is a flowchart illustrating the operation of the remote control device 20 that transmits data to the vehicle 100 using an event-driven control method that also takes AoI into consideration. The transmission unit 24 of the remote control device 20 receives the target speed v cmd , the vehicle speed response v received by the receiver 22 res,d The control error e c , and the information freshness of the vehicle speed response A 1 Whether or not to transmit data is determined based on the absolute value of the control error |e c | is the threshold e th1 In the above case ("Yes" in step S211), the transmission unit 24 receives the control input u ref,s , target speed v cmd,s , and the transmitter start instruction ws is transmitted to the vehicle 100 (step S212). ref Tou ref,s are the same value, and the target speed v cmd and v cmd,s are the same value.

[0043] On the other hand, the absolute value of the control error |e c | is the threshold e th1 If it is less than u ("No" in step S211), the transmission unit 24 receives the control input u ref,s , target speed v cmd,s , and the transmitter start instruction w s Then, the transmission to the vehicle 100 is stopped (step S213).

[0044] Here, information freshness A 1 The current time and the vehicle speed response v res The time t at which t The vehicle 100 has a vehicle speed response v res The time t at which t The time stamp information s Then, the vehicle speed response v res,s The time stamp value received by the remote control device 20 is sent to the remote control device 20 together with t r The latest vehicle speed response v received by the remote control device 20 is res,d The timestamp value of t d Then, the information freshness is A 1 is the current time and the timestamp value t d It can be calculated as the difference between In addition, in a state where the transmission of the vehicle speed response and the time stamp information from the vehicle 100 to the remote control device 20 is stopped, the information freshness A is calculated using the last received time stamp information. 1 In other words, in the state, the information freshness A 1 The value of increases.

[0045] The transmission unit 24 transmits the information with a freshness of A after the transmission is stopped. 1 and vehicle speed response v res,d The product of this and the threshold x th1("No" in step S214), or the absolute value of the control error |e c | is the threshold e th1 If the result is "Yes" in step S215, the control input u ref,s , target speed v cmd,s , and the transmitter start instruction w s Then, the transmission of the information to the vehicle 100 is resumed (step S212). After that, the process from step S211 is repeated. In addition, in a state where the transmission of the vehicle speed response and the time stamp information from the vehicle 100 to the remote control device 20 is stopped, the last received vehicle speed response v res,d Using the control error e c is calculated.

[0046] For time synchronization between the remote control device 20 and the vehicle 100, an appropriate method can be selected according to the required accuracy, such as using GNSS. In addition, when the influence of the network delay is small, such as when the network delay is several milliseconds, the transmission unit 24 transmits the time stamp value t d Instead, the remote control device 20 detects the vehicle speed response v res,d Alternatively, the time when the message was received may be used.

[0047] The vehicle 100 includes a vehicle control unit 10. The vehicle control unit 10 includes a receiving unit 11, a calculation processing unit 12, and a transmitting unit 13, and receives the target value (target speed v cmd ) and the measurement information measured by the vehicle 100 (vehicle speed response v res ) and the vehicle side control error (e m ) is the vehicle side threshold (e th2 ), the measurement information and the measurement time (t s ) to the remote control device 20. It is characterized by:

[0048] The function of the receiver 11 of each vehicle 100 will be described with reference to FIG. ref,r At the same time, the target speed v cmd,r and transmitter start instruction w r Receive the target speed vcmd,r and transmitter start instruction w r is affected by delays and information losses in the wireless communication network 30, and the target speed v cmd,s and transmitter start instruction w s The information is delayed by the amount of network delay, and if information loss occurs, the information does not exist.

[0049] When information loss occurs, for example, the calculation processing unit 12 calculates the target speed v cmd,d [k] is the target velocity v used one sampling time before cmd,d [k-1] can be used. The sampling period is, for example, the same as the control period. If no information loss occurs, the target speed v cmd,d and v cmd,r are the same value.

[0050] Also, the transmission unit start instruction w used by the transmission unit 13 at the sampling time k d [k] is not transmitted if information loss occurs. If no information loss occurs, the transmitter start instruction w d And w r are the same value or indication.

[0051] [First measurement data transmission method] FIG. 8 is a flowchart for explaining the operation (part 1) of the control device 10 of the vehicle 100 that transmits measurement data to the remote control device 20 using an event-driven control method that also takes AoI into consideration.

[0052] In this method, the transmitter 13 receives a target speed v cmd,d and vehicle speed response v res The control error e m and transmitter start instruction w d Whether or not to transmit data is determined based on the result. First, the absolute value of the control error |e m | is the threshold e th2 In the above case ("Yes" in step S221), the transmission unit 13 receives the vehicle speed response vres,s and time stamp information t t to the remote control device 20 (step S222). res and v res,s The time stamp information t t is the vehicle speed response v res is the time when it was measured.

[0053] 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 step S221), the transmission unit 13 receives the vehicle speed response v res,s and time stamp information t t to the remote control device 20 (step S223), and then the vehicle speed response v res,s and time t t The transmission of the message is stopped (step S224).

[0054] Here, information freshness A 2 The current time and time t t The vehicle 100 has a vehicle speed response v res The time t at which t The time stamp information s Then, the vehicle speed response v res,s The information is transmitted to the remote control device 20 together with the information freshness A. 2 is the current time and the transmitted timestamp value t s It can be calculated as the difference between

[0055] After step S224, the transmission unit 13 issues a transmission unit start instruction w d If the absolute value of the control error |e m | is the threshold e th2 If so (step S226: Yes), the vehicle speed response v res,s and timestamp information t s Then, the transmission of the command to the remote control device 20 is resumed (step S222). After that, the process from step S221 is repeated.

[0056] [Second measurement data transmission method] FIG. 9 is a flowchart illustrating the operation (part 2) of the control device 10 of the vehicle 100 that transmits measurement data to the remote control device 20 using an event-driven control method that also takes AoI into consideration.

[0057] In this method, the transmitter 13 receives a target speed v cmd,d and vehicle speed response v res The control error e m , the integral value I of the vehicle speed response, and the transmitter start command w d Whether or not to transmit data is determined based on the result. First, the absolute value of the control error |e m | is the threshold e th2 In the above case ("Yes" in step S221), the transmission unit 13 receives the vehicle speed response v res,s and time stamp information t t to the remote control device 20 (step S222). res and v res,s are the same value.

[0058] 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 step S221), the transmission unit 13 receives the vehicle speed response v res,s and time stamp information t t to the remote control device 20 (step S223), and then the vehicle speed response v res,s and time stamp information t t The transmission of the message is stopped (step S224).

[0059] The transmitter 13 may, for example, transmit the integral value I of the vehicle speed response as a vehicle speed response v res and the measurement period. res,s At the timing when the signal is transmitted to the remote control device 20, the integral value I is initialized to 0 (step S225b).

[0060] After step S224, the integral value I of the vehicle speed response is set to a threshold value x th2 and the transmitter start instruction w d (step S225a), or the absolute value of the control error |e m | is the threshold e th2 If so (step S226), the transmission unit 13 receives the vehicle speed response v res,s and timestamp information t s Then, the transmission of the command to the remote control device 20 is resumed. After that, the process is repeated from step S221.

[0061] (Other embodiments) In the above-described embodiment, each parameter has the following variations. The control error e used in the event-driven control data transmission function c and the control error e used in the event-driven measurement data transmission function 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. 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. Also, the threshold e th1 and threshold e 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 the distance between the vehicle and another vehicle. Furthermore, the system may have a function of forcibly transmitting data after a certain period of time has elapsed after the event-driven control data transmission function or the event-driven measurement data transmission function has stopped transmitting (after step S213 or step S224). Furthermore, the remote control device of the present invention can be realized by a computer and a program, and the program can be recorded on a recording medium or provided via a network.

[0062] (Effects of the Invention) The present invention adds a function to determine data transmission timing based on vehicle speed information and AoI of the vehicle speed information, which are fed back in addition to control errors, in CBTC, which uses event-driven network control to reduce communication traffic. Therefore, the present invention can transmit data at a certain vehicle mileage interval and maintain control performance at a certain level. [Explanation of symbols]

[0063] 10: Control device 11: Receiving section 12: Processing unit 13: Transmitter 20: Remote control device 21: Speed ​​generation section 22: Receiving section 23: Speed ​​control section 24: Transmitter 30: Wireless communication network 100:Vehicle 301~303: Remote vehicle control system

Claims

1. A remote control device that remotely controls the running of one or more vehicles based on a target value, a receiving unit that receives measurement information related to the traveling of the vehicle from the vehicle; a control unit that generates control information for driving the vehicle based on the measurement information and the target value so that the running of the vehicle approaches the target value; a transmission unit that transmits to the vehicle the control information and a transmission instruction to cause the vehicle to transmit the measurement information; Equipped with The transmitting unit determines whether or not to transmit the control information and the transmission instruction to the vehicle based on a control error, which is a difference between the measurement information and the target value, and on information freshness of the measurement information. A remote control device comprising:

2. When the control error is less than a threshold, the transmission unit stops transmitting the control information and the transmission instruction.

2. The remote control device according to claim 1,

3. the transmitting unit resumes transmission of the control information and the transmission instruction when a product of the information freshness and the measurement information becomes greater than a predetermined judgment value or when the control error becomes equal to or greater than a threshold value.

3. The remote control device according to claim 2,

4. The remote control device according to claim 2 , wherein the transmitting section transmits the control information and the transmission instruction after a certain period of time has elapsed since the transmission of the control information and the transmission instruction was stopped.

5. A remote control device according to any one of claims 1 to 4, A vehicle control unit mounted on the vehicle; A remote vehicle control system comprising: When a vehicle-side control error, which is a difference between the target value received from the remote control device and the measurement information measured by the vehicle, is less than a vehicle-side threshold value, the vehicle control unit stops transmitting the measurement information and the measurement time of the measurement information to the remote control device. A remote vehicle control system comprising:

6. When the vehicle-side control error becomes equal to or greater than the vehicle-side threshold value, or when the vehicle control unit receives the transmission instruction from the remote control device, the vehicle control unit resumes transmitting the measurement information and the measurement time of the measurement information to the remote control device.

6. The remote vehicle control system of claim 5.

7. The vehicle control unit includes: Calculating an integral value of the measurement information after stopping transmission of the measurement information and the measurement time of the measurement information to the remote control device; When the vehicle-side control error becomes equal to or greater than the vehicle-side threshold value, or when the transmission instruction is received from the remote control device and the integral value is greater than a specified value, transmission of the measurement information and the measurement time of the measurement information to the remote control device is resumed.

6. The remote vehicle control system of claim 5.

8. A remote vehicle control method for remotely controlling traveling of one or more vehicles based on a target value, comprising: receiving measurement information from the vehicle relating to the running of the vehicle; generating control information for driving the vehicle based on the measurement information and the target value so that the running of the vehicle approaches the target value; and transmitting, to the vehicle, the control information and a transmission instruction for causing the vehicle to transmit the measurement information; We are conducting determining whether to transmit the control information and the transmission instruction to the vehicle based on a control error, which is a difference between the measurement information and the target value, and on the freshness of the measurement information; A remote vehicle control method comprising:

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