Remote maneuvering device and remote maneuvering method

Abstract

To upgrade the precision in a steering reaction force.SOLUTION: A remote maneuvering device 40 is used for remotely maneuvering a vehicle 10, and includes an acquisition unit 451 that acquires condition information on the vehicle 10 including a steering torque based on a reaction force which acts on tiers of the vehicle 10 from a road surface, and a steering control unit 452 that activates an actuator which applies a steering reaction force to a steering wheel included in the remote maneuvering device 40 on the basis of the steering torque. When the acquisition unit 451 does not acquire a predetermined quantity of condition information at a predetermined time, the steering control unit 452 determines a steering torque for the predetermined time on the basis of condition information acquired at a time preceding the predetermined time.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a remote control device and a remote control method. [Background technology]

[0002] The mobile body remote control system of Patent Document 1 performs bilateral control to match the linear movement, rotational movement, and steering reaction force state between the operation system and the mobile body system. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5496717 Summary of the Invention [Problem to be solved by the invention]

[0004] In the mobile object remote control system of Patent Document 1, when bilateral control is performed between a vehicle and a remote control device that remotely controls the vehicle, if there is a delay or loss of data in the communication between the vehicle and the remote control device, the remote control device generates an erroneous steering reaction force. As a result, the operator of the remote control device cannot operate the vehicle correctly using the remote control device, causing a problem that the vehicle behaves unstably.

[0005] The present invention has been made in consideration of these points, and has an object to improve the accuracy of steering reaction force. [Means for solving the problem]

[0006] A remote control device according to a first aspect of the present invention is a remote control device for remotely controlling a vehicle, and includes an acquisition unit that acquires state information of the vehicle, including a steering torque based on a reaction force acting on tires of the vehicle from a road surface, and a steering control unit that operates an actuator that applies a steering reaction force to a steering wheel of the remote control device based on the steering torque, and when the acquisition unit has not acquired a predetermined amount of the state information at a predetermined time, the steering control unit determines the steering torque at the predetermined time based on the state information acquired at a time prior to the predetermined time.

[0007] The steering control unit may determine the steering torque based on the status information acquired at a time prior to each time the specified period has elapsed, provided that the state in which the acquisition unit has not acquired the specified amount of status information in a specified period from the specified time continues for less than a specified time.

[0008] The status information may further include the vehicle speed, the acceleration of the vehicle, the angular velocity of the vehicle, the weight of the vehicle and the position of the vehicle, and the steering control unit may determine the steering torque based on the road surface shape of the lane in which the vehicle is traveling based on map information indicating the shape of the road surface and the position of the vehicle, the motion state of the vehicle based on the vehicle speed, the acceleration, the angular velocity and the weight, and the ground contact state of the vehicle based on the road surface shape and the motion state.

[0009] The steering control unit may determine the steering reaction force based on the steering torque and a center of gravity position of a ground contact surface indicated by the ground contact state.

[0010] The steering control unit may determine the steering torque for a position estimated to be travelling to the vehicle at the time when the specified period has elapsed, based on driving plan information including the position and time the vehicle is scheduled to travel, and map information indicating the shape of the road surface, for each time when the specified period has elapsed, provided that the state in which the acquisition unit has not acquired the specified amount of the status information in a specified period from the specified time continues for more than a specified time.

[0011] The steering control unit may determine the first steering torque so that a difference between a first steering torque determined at a time when the predetermined period has elapsed and a second steering torque determined at a time the predetermined period before the first steering torque is less than a predetermined steering torque.

[0012] The steering control unit may add a correction torque based on the vehicle speed to the third steering torque at a time after the predetermined time when a difference between a third steering torque determined at the predetermined time and a fourth steering torque acquired by the acquisition unit at a time after the predetermined time is greater than or equal to a predetermined steering torque.

[0013] When a direction of a third steering torque determined at the specified time differs from a direction of a fourth steering torque acquired by the acquisition unit at a time after the specified time, the steering control unit may add a correction torque based on the vehicle speed to the third steering torque at a time after the specified time.

[0014] A remote control method according to a second aspect of the present invention includes an acquisition step executed by a processor to acquire status information of the vehicle, including a steering torque based on a reaction force acting on tires of the vehicle from a road surface, and a control step to operate an actuator that applies a steering reaction force to a steering wheel provided in a remote control device for remotely controlling the vehicle based on the steering torque, and if a predetermined amount of the status information is not acquired at a predetermined time in the acquisition step, the steering torque at the predetermined time is determined in the control step based on the status information acquired at a time prior to the predetermined time. Effect of the Invention

[0015] According to the present invention, the effect of improving the accuracy of the steering reaction force is achieved. [Brief description of the drawings]

[0016] [Figure 1]FIG. 1 is a diagram for explaining an overview of a remote control system S according to the present embodiment. [Diagram 2] FIG. 4 is a diagram for explaining the direction in which a road surface reaction force is applied. [Diagram 3] 11A and 11B are diagrams for explaining an operation for determining a steering torque. [Figure 4] 11A and 11B are diagrams for explaining an operation of switching means for determining a steering torque. [Diagram 5] 10 is a diagram showing an example of a processing sequence in the remote control device 40. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] <Outline of the remote control system S> Fig. 1 is a diagram for explaining an overview of a remote control system S according to this embodiment. The remote control system S shown in Fig. 1 includes a vehicle 10 and a remote control device 40. The remote control system S has a function of causing the vehicle 10 to run from outside the vehicle 10 when a user operates the remote control device 40. The vehicle 10 and the remote control device 40 transmit and receive various information for causing the vehicle 10 to run from the remote control device 40 via a mobile communication network such as 5G (5th Generation).

[0018] The vehicle 10 has a measuring device 11, a vehicle speed sensor 12, an acceleration sensor 13, a gyro sensor 14, a weight sensor 15, a receiving device 16, a steering mechanism 21, a driving force source 22, a braking device 23, a transmission 24, and a control device 31. The vehicle 10 receives an operation of the vehicle 10 from a remote control device 40, and executes a process for driving the vehicle 10 based on the operation.

[0019] The measuring device 11 is a device that identifies the shape of the road surface ahead of the vehicle 10 in the traveling direction based on a captured image generated by capturing an image of an area including the road surface ahead of the vehicle 10 in the traveling direction, or based on point cloud data generated by measuring the area. The measuring device 11 is, for example, at least one of a camera provided on the front of the vehicle 10, a RADER (Radio Detection And Ranging), and a LiDAR (Light Detection And Ranging).

[0020] The vehicle speed sensor 12 is a sensor for detecting the vehicle speed of the vehicle 10. The acceleration sensor 13 is a sensor for detecting the acceleration in each of the three axial directions of the vehicle 10, and is included in, for example, an IMU (Inertial Measurement Unit) (not shown) provided in the vehicle 10. The gyro sensor 14 is a sensor for detecting the angular velocity (as an example, yaw rate) in the rotational motion of the vehicle 10, and is included in, for example, an IMU provided in the vehicle 10. The weight sensor 15 is a sensor for detecting the weight of the vehicle 10. When a body is connected to the vehicle 10, the weight sensor 15 detects the weight of the vehicle 10 including the weight of the body. When the body connected to the vehicle 10 has a load, the weight sensor 15 detects the weight of the vehicle 10 including the weight of the body and the weight of the load.

[0021] The receiving device 16 is a device for receiving radio waves from an external positioning system such as a Global Navigation Satellite System (GNSS). The receiving device 16 calculates the position (e.g., latitude and longitude) of the vehicle 10 and identifies the current time (including date and time) based on information contained in the received radio waves. Note that "time" in this embodiment includes "date and time".

[0022] The steering mechanism 21 is a mechanism for changing the angle of the drive wheels of the vehicle 10 relative to the traveling direction, and includes, for example, a steering wheel, a steering shaft, a steering column, a steering gear box, and a tie rod. The drive power source 22 is an engine or a motor for driving the vehicle 10. The braking device 23 is a device for decelerating or stopping the vehicle 10, and includes, for example, a brake master cylinder, and at least one of a disc brake and a drum brake. The transmission 24 is a component provided between the drive power source 22 and the drive wheels, and changes the torque, rotation speed, and rotation direction generated by the drive power source 22 and transmits them to the axle of the drive wheels.

[0023] The control device 31 has a function of calculating the steering torque of the vehicle 10 (hereinafter referred to as "actual steering torque"), outputting status information including the actual steering torque to the remote control device 40, and a function of running the vehicle 10 based on operation information acquired from the remote control device 40. Details of the status information and operation information will be described later. The control device 31 includes, for example, a processor such as a CPU (Central Processing Unit) or an ECU (Electronic Control Unit), and a communication controller for transmitting and receiving information to and from the remote control device 40 via a mobile communication network.

[0024] The control device 31 specifies the steering reaction force applied to the steering mechanism 21 of the vehicle 10 based on, for example, a road reaction force acting on a tire of the vehicle 10 from the road surface. Then, the control device 31 calculates the rotational force generated in the steering mechanism 21 by the steering reaction force as an actual steering torque. FIG. 2 is a diagram for explaining the direction in which the road reaction force is applied. FIG. 2(a) is a diagram of the tire T of the driving wheel as viewed from the front in the traveling direction. FIG. 2(b) is a diagram of the tire T as viewed from above. FIG. 2 shows the tire T, the wheel W, and the axle A. As shown in FIG. 2(a), when the tire T is in contact with an inclined surface, the road reaction force is applied in a direction perpendicular to the inclined surface (in the direction of the white arrow). Also, as shown in FIG. 2(b), when the traveling direction and the direction of the wheel are different and a toe angle θ is generated, the road reaction force is applied in a direction perpendicular to the direction of the wheel (in the direction of the white arrow).

[0025] In order to calculate the actual steering torque based on the road surface reaction force, the control device 31 uses a feedforward controller based on a plant model obtained by system identification of the dynamics model of the vehicle 10. For example, at a predetermined time, the control device 31 acquires the shape of the road surface identified by the measurement device 11, the vehicle speed detected by the vehicle speed sensor 12, the acceleration detected by the acceleration sensor 13, the angular velocity detected by the gyro sensor 14, and the weight detected by the weight sensor 15. Then, the control device 31 inputs the acquired shape of the road surface, the vehicle speed, the acceleration, the angular velocity (yaw rate), and the weight to the feedforward controller to calculate the actual steering torque after a unit time (for example, 20 milliseconds) from the predetermined time. The control device 31 outputs state information including the calculated actual steering torque, the steering angle based on the actual steering torque (hereinafter referred to as the "actual steering angle"), the acquired vehicle speed, acceleration, angular velocity, and weight, and the position of the vehicle 10 identified by the receiving device 16 to the remote control device 40.

[0026] The control device 31 also acquires operation information for operating the vehicle 10 from the remote operation device 40. The operation information includes a target steering angle for operating the steering angle, a target speed for operating the speed, a target acceleration for operating the acceleration, a target pedal operation amount for operating the accelerator pedal or the brake pedal depression amount, and a target position of the vehicle 10. Based on the acquired operation information, the control device 31 changes the angle of the drive wheels controlled by the steering mechanism 21, the output generated by the drive force source 22, the braking force generated by the brake device 23, and the torque, rotation speed, and rotation direction of the drive force source 22 transmitted by the transmission 24 to the drive shaft of the drive wheels. The control device 31 operates in this manner, allowing the remote operation device 40 to remotely operate the vehicle 10.

[0027] The remote control device 40 executes a function of remotely controlling the vehicle 10 by outputting operation information generated by an operator of the remote control device 40 to the vehicle 10, and a function of calculating a steering reaction force acting on a steering mechanism provided in the remote control device 40 based on an actual steering torque included in state information acquired from the vehicle 10. The steering mechanism includes a steering wheel and a steering shaft. In the following description, the steering mechanism may be referred to as a "steering". The remote control device 40 is, for example, an information processing terminal such as a mobile phone (including a smartphone), a tablet terminal, or a personal computer. The remote control device 40 may be configured using a computer constituted of one or more physical servers, or a cloud server. The remote control device 40 also has a feedforward controller based on a plant model provided in the vehicle 10.

[0028] The remote control device 40, for example, specifies an angle when the operator rotates a steering wheel provided in the remote control device 40 as the target steering angle included in the operation information. The remote control device 40, for example, specifies a speed, acceleration, pedal operation amount, and a position of the vehicle 10 input by the operator using an input device connected to the remote control device 40 as a target speed, target acceleration, target pedal operation amount, and target position included in the operation information. The input device is, for example, at least one of a keyboard, a mouse, a joystick, a touch panel, and a microphone. When operation devices such as an accelerator pedal, a brake pedal, and a shift lever are connected, the remote control device 40 may specify a target speed, target acceleration, and target pedal operation amount based on the operator's operation of the operation device.

[0029] The remote control device 40 calculates the steering reaction force acting on the steering wheel based on the actual steering torque included in the status information acquired from the vehicle 10, and adjusts the actuator 43 that applies the steering reaction force. By operating the remote control device 40 in this manner, the operator can receive the steering reaction force acting on the steering mechanism 21 provided in the vehicle 10 when operating the steering wheel provided in the remote control device 40. However, if the status information output from the vehicle 10 to the remote control device 40 is lost or delayed due to a communication failure, the remote control device 40 applies an incorrect steering reaction force, preventing the operator from operating correctly.

[0030] Therefore, when a delay in acquisition or loss of data occurs in the state information acquired from the vehicle 10, the remote control device 40 calculates the steering reaction force based on the state information acquired at a time prior to a predetermined time. For example, when a data loss or a delay in acquisition occurs in the acquired state information, the remote control device 40 refers to map information indicating the shape of the road surface stored in the storage unit to identify the shape of the road surface corresponding to the position of the vehicle 10 included in the state information acquired at the previous time. The remote control device 40 inputs the identified shape of the road surface and the vehicle speed, acceleration, angular velocity (yaw rate), and weight included in the state information acquired at the previous time to a feedforward controller of the remote control device 40 to determine the steering torque, and calculates the steering reaction force based on the steering torque. By operating in this manner, the remote control device 40 can operate the actuator to apply a steering reaction force suitable for the traveling state of the vehicle 10 even when a loss or delay occurs in the state information acquired from the vehicle 10.

[0031] <Configuration of remote control device 40> The following describes in detail the configuration and operation of the remote control device 40. The remote control device 40 has a communication unit 41, a storage unit 42, an actuator 43, a steering unit 44, and a control unit 45. The control unit 45 has an acquisition unit 451 and a steering control unit 452.

[0032] The communication unit 41 has a communication controller for performing wireless communication with the vehicle 10 via a mobile communication network. The communication unit 41 notifies the control unit 45 of data (status information) input from the vehicle 10. The communication unit 41 transmits data (operation information) input from the steering unit 44 to the vehicle 10.

[0033] The memory unit 42 has a storage medium such as a read only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), or a solid state drive (SSD). The memory unit 42 stores a program executed by the control unit 45. The memory unit 42 may store a program executed by the steering unit 44. The memory unit 42 stores various information for calculating the steering reaction force of the steering wheel. As an example of the various information, the memory unit 42 stores map information indicating the shape of the road surface. The memory unit 42 also stores travel plan information set by the operator of the remote control device 40, the position and time at which the vehicle 10 is scheduled to travel.

[0034] The actuator 43 is a motor provided on the steering shaft of the steering of the remote control device 40. The actuator 43 applies torque (i.e., steering reaction force) to the steering shaft by performing rotational motion based on the steering reaction force calculated by the control unit 45. As a result, the steering reaction force is transmitted to the steering wheel connected to the steering shaft.

[0035] The steering unit 44 includes an operation device for the operator to remotely operate the vehicle 10 and a processor such as a CPU, and outputs operation information generated by the operator's operation to the vehicle 10. The steering unit 44 includes, for example, a steering wheel to which the actuator 43 applies a steering reaction force as an operation device. The steering unit 44 may include, as an operation device, an input device for inputting the vehicle speed, acceleration, and pedal operation amount of the vehicle 10. The processor included in the steering unit 44 may be included in the control unit 45.

[0036] For example, the steering unit 44 specifies the rotation angle when the operator rotates the steering wheel as the target steering angle, and specifies the vehicle speed, acceleration, and pedal operation amount input by the operator using an input device as the target vehicle speed, target acceleration, and target pedal operation amount. The steering unit 44 specifies the planned travel position of the vehicle 10 corresponding to the current time as the target position, for example, by referring to the travel plan information stored in the storage unit 42. The steering unit 44 outputs operation information including the specified target steering angle, target vehicle speed, target acceleration, target pedal operation amount, and target position to the vehicle 10.

[0037] The control unit 45 is a processor such as a CPU. The control unit 45 functions as an acquisition unit 451 and a steering control unit 452 by executing a program stored in the storage unit 42. The control unit 45 may be configured with one processor, or may be configured with multiple processors or a combination of one or more processors and an electronic circuit. The configuration of each unit realized by the control unit 45 will be described below.

[0038] The acquisition unit 451 acquires state information of the vehicle 10, including an actual steering torque based on a road surface reaction force acting on tires of the vehicle 10 from the road surface. The state information further includes the vehicle speed of the vehicle 10, the acceleration of the vehicle 10, the angular velocity of the vehicle 10, the weight of the vehicle 10, and the position of the vehicle 10. The state information may also include the air pressure of each tire of the vehicle 10. The acquisition unit 451 acquires the state information from the vehicle 10, for example, every time a unit time elapses. The unit time is a time according to the speed of CAN (Controller Area Network) communication of the vehicle 10, and is, for example, 20 milliseconds.

[0039] The steering control unit 452 operates the actuator 43 that applies a steering reaction force to a steering wheel included in the steering unit 44 of the remote operation device 40 based on the steering torque. For example, when the acquisition unit 451 acquires a predetermined amount of state information at a predetermined time, the steering control unit 452 calculates a steering reaction force based on an actual steering torque included in the state information and applies the steering reaction force to a steering shaft included in the steering unit 44. The predetermined time is, for example, a time per period (for example, unit time) from the time when the remote operation system S starts operating. The predetermined amount is, for example, a sum of the data amount of information added in communication with the vehicle 10 (for example, information indicating the transmission time and the amount of data to be transmitted) and the data amount of the state information.

[0040] The steering control unit 452 determines whether or not the status information has been acquired at a predetermined time by using, for example, a counter that is incremented each time a unit time elapses. The steering control unit 452 determines that the status information has not been acquired at a predetermined time, for example, when the counter value has changed to a counter value obtained by adding 2 to the counter value when the status information was acquired at a time prior to the current time. On the other hand, the steering control unit 452 determines that the status information has been acquired at a predetermined time if the counter value when the status information was acquired at the current time and the counter value when the status information was acquired at a time prior to the current time are consecutive. The steering control unit 452 may determine whether or not the status information has been acquired at a predetermined time, depending on whether the difference between the transmission time added to the acquired status information and the reception time when the status information was received is a unit time.

[0041] The steering control unit 452 determines whether a predetermined amount of state information has been acquired, for example, by determining whether the amount of data of the state information matches a predetermined amount of data. The steering control unit 452 may determine whether a predetermined amount of state information has been acquired, based on whether the communication unit 41 has acquired information indicating that data has been lost in the mobile communication network.

[0042] When the acquisition unit 451 has not acquired a predetermined amount of state information at a predetermined time, the steering control unit 452 determines the steering torque at the predetermined time based on state information acquired at a time before the predetermined time. The state where "a predetermined amount of state information has not been acquired at a predetermined time" is at least one of the states where "state information has not been acquired at a predetermined time" and "a predetermined amount of state information has not been acquired".

[0043] FIG. 3 is a diagram for explaining the operation of determining the steering torque. The horizontal axis of FIG. 3 indicates time, and the vertical axis of FIG. 3 indicates steering torque. FIG. 3(a) indicates the steering torque in a state where state information cannot be acquired at a predetermined time. FIG. 3(b) indicates the steering torque in a state where the steering torque at a predetermined time is determined. The time from time T1 to time T2, the time from time T2 to time T3, and the time from time T3 to time T4 shown in FIG. 3 are, for example, unit times. As an example, when the steering torque is 0 or more, it indicates a torque applied to the right of the vehicle 10 with respect to the traveling direction of the vehicle 10, and when the steering torque is less than 0, it indicates a torque applied to the left of the vehicle 10 with respect to the traveling direction of the vehicle 10.

[0044] 3(a), when the steering control unit 452 determines that the state information has not been acquired at time T2, it identifies the shape of the road surface at the position of the vehicle 10 included in the state information acquired at time T1 by referring to the map information stored in the storage unit 42. Then, the steering control unit 452 inputs the identified shape of the road surface and the vehicle speed, acceleration, angular velocity (yaw rate), and weight included in the state information acquired at time T1 to a feedforward controller based on a plant model of the vehicle 10, thereby calculating the steering torque at time T2, as shown in FIG.

[0045] By operating the steering control unit 452 as described above, even if the actual steering torque cannot be obtained from the vehicle 10, the steering torque can be determined by using state information obtained at a time prior to the current time. Furthermore, by using a feedforward controller based on the same plant model as the plant model possessed by the vehicle 10, the steering control unit 452 can determine an appropriate steering torque.

[0046] Here, an example of the operation of the steering control unit 452 to determine the steering reaction force using a feedforward controller based on a plant model will be described. First, the steering control unit 452 determines the steering torque by, for example, identifying the shape of the road surface of the lane on which the vehicle 10 is traveling, the motion state of the vehicle 10, and the ground contact state of the vehicle 10. Next, the steering control unit 452 determines the steering reaction force based on the determined steering torque and the ground contact state.

[0047] Specifically, the steering control unit 452 identifies the shape of the road surface of the lane ahead of the vehicle 10 by referring to map information indicating the shape of the road surface stored in the memory unit 42 and the position of the vehicle 10 included in the status information. The shape of the road surface is, for example, the curvature of a clothoid curve indicating the curvature of the road surface curve, and the inclination angle of the road cross section. The steering control unit 452 identifies the vehicle speed, acceleration (so-called longitudinal G and lateral G), angular velocity (for example, yaw rate), and weight of the vehicle 10 included in the status information as the motion state of the vehicle 10.

[0048] The steering control unit 452 specifies the ground contact state of the vehicle 10 based on the specified road surface shape and the motion state of the vehicle 10. For example, the steering control unit 452 inputs the motion state of the vehicle 10 to a feedforward controller to specify the position of the road surface that each of the tires equipped in the vehicle 10 reaches after a unit time in the specified road surface shape. Then, the steering control unit 452 inputs the specified road surface position, the motion state of the vehicle 10, and the air pressure of each tire equipped in the vehicle 10 to the feedforward controller to specify the position of the ground contact surface of each tire and the shape of the ground contact surface as the ground contact state of the vehicle 10. The steering control unit 452 determines the steering torque after a unit time (time T2 shown in FIG. 3) by inputting the tire air pressure included in the state information, the specified road surface shape of the lane ahead of the vehicle 10, the motion state of the vehicle 10, and the ground contact state of the vehicle 10 to the feedforward controller.

[0049] The steering control unit 452 inputs the center of gravity position of the contact surface indicated by the identified contact state and the position of the axle of the vehicle 10 to a feedforward controller, and thereby determines the steering reaction force by identifying the component of the force applied to the steering wheel among the determined steering torque. An example of the operation in which the steering control unit 452 determines the steering reaction force using a feedforward controller based on a plant model has been described above.

[0050] Incidentally, when a state in which a predetermined amount of state information is not acquired per unit time (i.e., a state in which the acquired state information has a delay in acquisition time or a loss of data) continues, the steering control unit 452 determines the steering torque based on the state information used at the time unit time before. As an example, when state information cannot be acquired at time T3 shown in Fig. 3, the steering control unit 452 identifies the shape of the road surface ahead of the vehicle 10 using the state information acquired at time T1 shown in Fig. 3. Then, the steering control unit 452 determines the steering torque at time T3 based on the identified shape of the road surface and the vehicle speed, acceleration, angular velocity, and weight included in the state information acquired at time T1.

[0051] However, the more the state where a predetermined amount of state information is not acquired per unit time continues, the lower the accuracy of the steering torque and steering reaction force determined by the steering control unit 452 becomes. Therefore, when the time during which the state where a predetermined amount of state information is not acquired per unit time continues is less than a threshold, the steering control unit 452 determines the steering torque and steering reaction force using the state information of the predetermined amount of state information acquired per unit time that is closest to the current time. On the other hand, when the time during which the state where a predetermined amount of state information is not acquired per unit time continues is equal to or greater than a threshold, the steering control unit 452 determines the steering torque and steering reaction force by referring to the driving plan information stored in the storage unit 42. In the following description, the time during which the state where a predetermined amount of state information is not acquired per unit time continues is referred to as the "fault duration time."

[0052] The steering control unit 452 specifies, as the predetermined condition, for example, that a state in which the acquisition unit 451 has not acquired a predetermined amount of state information in a predetermined cycle (unit time) from a predetermined time continues for less than a predetermined time. Then, when the predetermined condition is satisfied, the steering control unit 452 determines the steering torque at each time when a predetermined cycle has elapsed, based on the state information acquired at a time before the time. The predetermined time is, for example, a time (for example, time T2 shown in FIG. 3) at which a state in which a predetermined amount of state information is acquired per unit time changes to a state in which a predetermined amount of state information is not acquired per unit time. The predetermined time is, for example, an integer multiple of the predetermined cycle (for example, when the predetermined cycle is 20 milliseconds, the predetermined time is 1 second), and is a time determined by an experiment or a simulation.

[0053] For example, the steering control unit 452 determines that a state in which a predetermined amount of state information has not been acquired in a predetermined cycle (unit time) from a predetermined time (time T2) is less than a predetermined time (i.e., the obstacle duration is less than a predetermined time) at time T3 shown in Fig. 3. Having determined that the obstacle duration is less than the predetermined time, the steering control unit 452 inputs the road surface shape, motion state, and ground contact state based on the map information and the state information acquired at time T1 to the feedforward controller and determines the steering torque.

[0054] On the other hand, the steering control unit 452 specifies, as the predetermined condition, for example, that a state in which the acquisition unit 451 has not acquired a predetermined amount of state information at a predetermined cycle from a predetermined time continues for a predetermined time or more. Then, when the predetermined condition is satisfied, the steering control unit 452 determines, for each time when the predetermined cycle has elapsed, the steering torque of the position where the vehicle 10 is estimated to be traveling at the time when the predetermined cycle has elapsed, based on the travel plan information including the position and time when the vehicle 10 is scheduled to travel and the map information indicating the shape of the road surface.

[0055] For example, at time T4 shown in Fig. 3, the steering control unit 452 determines that the obstacle duration is equal to or longer than a predetermined time, and thereby determines the shape of the road surface ahead of the vehicle 10 at time T4 by referring to the travel plan information and map information stored in the memory unit 42. The travel plan information indicates the position at which the vehicle 10 is scheduled to travel, which is associated with the time at which the vehicle 10 is scheduled to travel. The steering control unit 452 determines the steering torque based on the determined shape of the road surface and the speed, acceleration, and angular velocity of the vehicle 10 estimated from the time and position included in the travel plan information.

[0056] As described above, the steering control unit 452 can switch the means for determining the steering torque to a more reliable means based on the obstacle duration. Specifically, when the obstacle duration is less than the threshold, the steering control unit 452 determines the steering torque based on the state information acquired at a time close to the predetermined time. In this way, the steering control unit 452 can determine the steering torque based on the actual traveling, and therefore can determine the steering torque with higher accuracy than when the traveling plan information is used. On the other hand, when the obstacle duration is equal to or greater than the threshold, the steering control unit 452 determines the steering torque based on the traveling plan information. That is, when the reliability of the state information is reduced due to the long obstacle duration, the steering control unit 452 can determine the steering torque based on the traveling plan information. As a result, the steering control unit 452 can determine the steering torque using a means suitable for the obstacle duration, and therefore can improve the accuracy of the steering reaction force to be determined.

[0057] When the steering control unit 452 switches the means for determining the steering torque due to a change in the obstacle duration from less than the threshold to equal to or greater than the threshold, the steering torque may change significantly at the timing of the switch. FIG. 4 is a diagram for explaining the operation of switching the means for determining the steering torque. The horizontal axis of FIG. 4 indicates time, and the vertical axis of FIG. 4 indicates steering torque. In FIG. 4, the obstacle duration changes to equal to or greater than the threshold at time T5, and the obstacle duration ends at time T6 (i.e., a predetermined amount of state information is acquired at a predetermined time). As an example, when the steering torque is 0 or more, it indicates a torque applied to the right of the vehicle 10 with respect to the traveling direction of the vehicle 10, and when the steering torque is less than 0, it indicates a torque applied to the left of the vehicle 10 with respect to the traveling direction of the vehicle 10.

[0058] 4, at time T5, the steering control unit 452 switches the means for determining the steering torque because the fault duration is equal to or longer than the threshold. As a result, the steering torque N1 changes to the steering torque N2, and the change in the steering reaction force becomes large, making it difficult for the operator of the remote control device 40 to operate the steering wheel.

[0059] Therefore, the steering control unit 452 determines the steering torque so that the difference between the steering torque determined at the current time and the steering torque determined at the time unit time before the current time falls within a certain range during a certain time period from the time when the means for determining the steering torque is changed. For example, the steering control unit 452 determines the first steering torque so that the difference between the first steering torque determined at the time when a certain period has elapsed and the second steering torque determined at the time before the said time by a certain period is less than the predetermined steering torque. The predetermined steering torque is a steering torque that is unlikely to affect the steering operation by the operator and is determined by an experiment or a simulation. For example, the steering control unit 452 corrects the first steering torque NA during the period from time T5 to time T6 to the first steering torque NB by determining the first steering torque so as to be less than the predetermined steering torque.

[0060] In order to make the difference between the first steering torque and the second steering torque less than a predetermined steering torque, the steering control unit 452 may add or subtract an offset value to the first steering torque, or may integrate a gain that converges to 1 over time with the first steering torque. By operating the steering control unit 452 in this manner, the first steering torque can be changed from the first steering torque NA to the first steering torque NB during the period from time T5 to time T6, as shown in Fig. 4. As a result, the steering control unit 452 can reduce the amount of change in the first steering torque, and therefore can determine a steering reaction force that does not give the operator a sense of discomfort.

[0061] At the time when the state where the fault duration is equal to or longer than the threshold changes to a state where a predetermined amount of state information can be acquired at a predetermined cycle, the difference between the actual steering torque and the steering torque determined by the remote control device 40 may be equal to or greater than the predetermined steering torque. As an example, at time T6 shown in Fig. 4, the difference between the actual steering torque included in the state information acquired at time T6 and the steering torque determined by the remote control device 40 a predetermined cycle before time T6 may be equal to or greater than the predetermined steering torque. Also, the steering torque increases as the speed of the vehicle 10 increases.

[0062] Therefore, when the difference between the third steering torque determined at a predetermined time and the fourth steering torque acquired by the acquisition unit 451 at a time after the predetermined time is equal to or greater than the predetermined steering torque, the steering control unit 452 adds a correction torque based on the vehicle speed of the vehicle 10 to the third steering torque at a time after the predetermined time. For example, the steering control unit 452 determines that the difference between the fourth steering torque included in the state information acquired by the acquisition unit 451 at time T6 shown in FIG. 4 and the third steering torque determined by the steering control unit 452 at a time a predetermined period before time T6 is equal to or greater than the predetermined steering torque. The steering control unit 452 determines the fourth steering torque to be the steering torque obtained by adding the correction torque based on the vehicle speed of the vehicle 10 included in the state information acquired at time T6 to the third steering torque. By the steering control unit 452 operating in this manner, it is possible to suppress a large change in the steering reaction force applied to the steering operated by the operator of the remote operation device 40.

[0063] Furthermore, if the lane on which the vehicle 10 is traveling at time T6 includes multiple curved roads, the direction of the third steering torque determined by the steering control unit 452 at a time a predetermined period before time T6 may differ from the direction of the actual steering torque acquired at time T6. Specifically, if the direction of the third steering torque is to the left with respect to the traveling direction of the vehicle 10, the acquired fourth steering torque (actual steering torque) may be to the right with respect to the traveling direction of the vehicle 10.

[0064] Therefore, when the direction of the third steering torque determined at a predetermined time differs from the direction of the fourth steering torque (actual steering torque) acquired by the acquisition unit 451 at a time after the predetermined time, the steering control unit 452 adds a correction torque based on the vehicle speed of the vehicle 10 to the third steering torque at a time after the predetermined time. For example, when the third steering torque is 0 or more and the actual steering torque is less than 0, or when the third torque is less than 0 and the actual steering torque is 0 or more, the steering control unit 452 determines a steering torque obtained by adding the correction torque based on the vehicle speed included in the state information to the third steering torque. By the steering control unit 452 operating in this manner, it is possible to suppress a change in the direction of the steering reaction force applied to the steering wheel operated by the operator of the remote operation device 40.

[0065] <Processing sequence in the remote control device 40> Fig. 5 is a diagram showing an example of a processing sequence in the remote control device 40. The processing sequence shown in Fig. 5 is a sequence showing an operation in which the remote control device 40 determines a steering reaction force and applies it to the actuator 43. The remote control device 40 repeats the processing sequence shown in Fig. 5 at regular time intervals (for example, every time a unit time has elapsed).

[0066] The acquisition unit 451 acquires state information from the vehicle 10 (S11). When the time when the state information is acquired is a predetermined time and the amount of data of the state information is a predetermined amount (YES in S12), the steering control unit 452 determines the actual steering torque included in the state information as the steering torque (S16). When the time when the state information is acquired is not a predetermined time and / or the amount of data of the state information is not a predetermined amount (NO in S12), the steering control unit 452 determines whether or not the delay in the time when the state information is acquired and the time when the loss of the state information occurred (i.e., the duration of the failure) are less than a threshold value (S13).

[0067] If the obstacle duration is less than the threshold (YES in S13), the steering control unit 452 refers to the state information for a time before the predetermined time by a predetermined period and the map information stored in the storage unit 42 (S14), and inputs the road surface shape based on the map information and the state information and the state information to the feedforward controller to determine the steering torque (S16). If the obstacle duration is equal to or greater than the threshold (NO in S13), the steering control unit 452 refers to the travel plan information and the map information stored in the storage unit 42 (S15), and specifies the road surface shape based on the travel plan information and the map information, and the vehicle speed, acceleration, and angular velocity of the vehicle 10 based on the travel plan information. The steering control unit 452 determines the steering torque based on the specified road surface shape, and the vehicle speed, acceleration, and angular velocity of the vehicle 10 (S16). The steering control unit 452 determines the steering reaction force applied to the steering wheel based on the determined steering torque (S17), and operates the actuator 43 (S18).

[0068] <Effects of the remote control device 40> As described above, the remote control device 40 has an acquisition unit 451 that acquires state information of the vehicle 10, including a steering torque based on a reaction force acting on a tire of the vehicle 10 from a road surface, and a steering control unit 452 that operates the actuator 43 that applies a steering reaction force to a steering wheel of the remote control device 40, based on the steering torque. If the acquisition unit 451 has not acquired a predetermined amount of state information at a predetermined time, the steering control unit 452 determines the steering torque at the predetermined time based on state information acquired at a time prior to the predetermined time.

[0069] By configuring the remote control device 40 in this manner, even if the time when the state information obtained from the vehicle 10 was obtained is different from the predetermined time or the amount of state information data is insufficient, the remote control device 40 can determine the steering torque at the predetermined time. Furthermore, by determining the steering torque based on the same plant model as the plant model possessed by the vehicle 10, the remote control device 40 can determine an appropriate steering torque even if a predetermined amount of state information cannot be obtained at the predetermined time. As a result, the operator of the remote control device 40 can operate the steering wheel possessed by the remote control device 40 in a state where an appropriate steering reaction force is applied to the steering wheel possessed by the remote control device 40.

[0070] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination combines the effect of the original embodiment. [Explanation of symbols]

[0071] 10 Vehicles 11 Measuring equipment 12 Vehicle speed sensor 13 Acceleration Sensor 14 Gyro sensor 15 Weight Sensor 16 Receiving device 21 Steering mechanism 22 Driving force source 23 Braking device 24 Gearbox 31 Control device 40 Remote Control Device 41 Communications Department 42 Storage section 43 Actuator 44 Steering section 45 Control section 451 Acquisition Department 452 Steering control unit

Claims

1. A remote control device for remotely controlling a vehicle, comprising: an acquisition unit that acquires state information of the vehicle, the state information including a steering torque based on a reaction force acting on a tire of the vehicle from a road surface; a steering control unit that operates an actuator that applies a steering reaction force to a steering wheel provided in the remote control device based on the steering torque; having When the acquisition unit has not acquired a predetermined amount of the state information at a predetermined time, the steering control unit determines the steering torque at the predetermined time based on the state information acquired at a time before the predetermined time. Remote control device.

2. the steering control unit determines the steering torque based on the state information acquired at a time prior to each time when the predetermined period has elapsed, on the condition that a state in which the acquisition unit has not acquired the predetermined amount of the state information in a predetermined period from the predetermined time has continued for less than a predetermined time. The remote control device according to claim 1 .

3. The state information further includes a speed of the vehicle, an acceleration of the vehicle, an angular velocity of the vehicle, a weight of the vehicle, and a position of the vehicle; the steering control unit determines the steering torque based on a road surface shape of a lane on which the vehicle is traveling, which is based on map information indicating a road surface shape and the position of the vehicle, a motion state of the vehicle, which is based on the vehicle speed, the acceleration, the angular velocity, and the weight, and a ground contact state of the vehicle, which is based on the road surface shape and the motion state. The remote control device according to claim 1 or 2.

4. The steering control unit determines the steering reaction force based on the steering torque and a center of gravity position of the contact surface indicated by the contact state. The remote control device according to claim 3.

5. the steering control unit determines, for each time when the predetermined period has elapsed, the steering torque of a position where the vehicle is estimated to be traveling at the time when the predetermined period has elapsed, based on travel plan information including a position and time when the vehicle is scheduled to travel, and map information indicating a shape of a road surface, on the condition that a state in which the acquisition unit has not acquired the predetermined amount of the state information in a predetermined period from the predetermined time has continued for a predetermined time or more; The remote control device according to claim 1 or 2.

6. the steering control unit determines the first steering torque such that a difference between a first steering torque determined at a time when the predetermined period has elapsed and a second steering torque determined at a time before the first steering torque determined at the time the predetermined period precedes the first steering torque is less than a predetermined steering torque. The remote control device according to claim 5.

7. When a difference between a third steering torque determined at the predetermined time and a fourth steering torque acquired by the acquisition unit at a time after the predetermined time is equal to or greater than a predetermined steering torque, the steering control unit adds a correction torque based on a vehicle speed of the vehicle to the third steering torque at a time after the predetermined time. The remote control device according to claim 1 .

8. When a direction of a third steering torque determined at the predetermined time differs from a direction of a fourth steering torque acquired by the acquisition unit at a time after the predetermined time, the steering control unit adds a correction torque based on a vehicle speed of the vehicle to the third steering torque at a time after the predetermined time. The remote control device according to claim 1 .

9. The processor executes An acquisition step of acquiring state information of the vehicle, the state information including a steering torque based on a reaction force acting on a tire of the vehicle from a road surface; a control step of operating an actuator that applies a steering reaction force to a steering wheel of a remote control device for remotely controlling the vehicle based on the steering torque; having When a predetermined amount of the state information is not acquired at a predetermined time in the acquisition step, the steering torque at the predetermined time is determined based on the state information acquired at a time prior to the predetermined time in the control step. Remote operation method.

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