Movable body control system

Abstract

To enable a plurality of operators to easily share interest to operate a movable body in cooperation with the operators.SOLUTION: A movable body control system controls traveling of a movable body on the basis of operation amount information on a plurality of operation terminals operated by a plurality of operators. The operation amount information includes a first operation amount and a second operation amount as each operation amount of the plurality of operation terminals. One or a plurality of processors of the movable control system calculates a target velocity of the movable body for each of the operation terminals on the basis of the first operation amount, calculates a target turning angular velocity of the movable body for each of the operation terminals on the basis of the second operation amount, synthesizes the target velocity calculated for each of the operation terminals by a first ratio and calculates a final target velocity, synthesizes the target turning angular velocity calculated for each of the operation terminals at a second ratio different from the first ratio and calculates a final target turning angular velocity, and controls one or a plurality of actuators related to traveling of the movable body on the basis of the final target velocity and the final target turning angular velocity.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a technique for controlling the travel of a moving object using a plurality of operation terminals operated by a plurality of operators. [Background technology]

[0002] Patent Document 1 discloses a technology for remotely controlling an industrial vehicle using a remote control device, which is an operation terminal with a communication function. More specifically, Patent Document 1 discloses only an example of remote control using a single operation terminal.

[0003] Furthermore, Patent Document 2 discloses a driving takeover control device that can suppress interference between the driving operations of a first driver and a second driver. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-077528 [Patent Document 2] Patent Publication No. 2021-026558 Summary of the Invention [Problem to be solved by the invention]

[0005] A configuration is conceivable in which the travel of a moving object is controlled by the cooperation of multiple operators who each operate multiple operation terminals. This configuration is preferably designed to make it easier for the multiple operators to share the enjoyment of cooperatively operating the moving object.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a mobile object control system that makes it easier for multiple operators to share the enjoyment of operating a mobile object collaboratively. [Means for solving the problem]

[0007] A mobile object control system according to a first aspect of the present disclosure controls travel of a mobile object based on operation amount information of multiple operation terminals operated by multiple operators, and includes one or more processors. The operation amount information includes a first operation amount and a second operation amount as operation amounts of each of the multiple operation terminals. The one or more processors calculate, for each operation terminal, a target speed that is a target value for the speed of the mobile object in its traveling direction based on the first operation amount, calculate, for each operation terminal, a target turning angular velocity that is a target value for the turning angular velocity of the mobile object based on the second operation amount, calculate a final target speed by combining the target speeds calculated for each operation terminal at a first ratio, calculate a final target turning angular velocity by combining the target turning angular velocities calculated for each operation terminal at a second ratio different from the first ratio, and control one or more actuators related to the travel of the mobile object based on the final target speed and the final target turning angular velocity.

[0008] A mobile object control system according to a second aspect of the present disclosure controls traveling of a mobile object based on operation amount information of a plurality of operation terminals operated by a plurality of operators, and includes one or more processors. The operation amount information includes first operation amounts and second operation amounts as operation amounts of each of the plurality of operation terminals. The one or more processors calculate a first composite operation amount by combining the first operation amounts of the individual operation terminals at a first ratio, calculate a second composite operation amount by combining the second operation amounts of the individual operation terminals at a second ratio different from the first ratio, calculate a final target speed that is a target value for the speed of the mobile object in the traveling direction based on the first composite operation amount, calculate a final target turning angular velocity that is a target value for the turning angular velocity of the mobile object based on the second composite operation amount, and control one or more actuators related to the traveling of the mobile object based on the final target speed and the final target turning angular velocity. [Effects of the Invention]

[0009] According to each of the first and second aspects of the present disclosure, different first and second ratios are used in calculating the final target speed and the final target turning angular velocity, which are two target values ​​for travel control of a moving object. As a result, the ratios at which the first and second operation amounts of each operating terminal are reflected are different between the final target speed and the final target turning angular velocity. This allows different roles to be assigned to individual operators in units of the control amounts of the moving object, namely the speed and turning angular velocity. This makes it easier for multiple operators to share the fun of operating a moving object cooperatively. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing an example of the configuration of a mobile object control system according to an embodiment; [Figure 2] FIG. 2 is a schematic diagram showing a specific example of the configuration of the moving body shown in FIG. [Figure 3] 10 is a diagram for explaining an example of operation amount information I. FIG. [Figure 4] FIG. 1A is a diagram showing an example of a functional block related to travel control of a moving object, and FIG. 1B is a diagram showing an example of setting of first and second ratios. [Figure 5] FIG. 10 is a diagram illustrating another example of functional blocks related to travel control of a moving object. [Figure 6] FIG. 10 is a diagram illustrating yet another example of functional blocks related to travel control of a moving body. DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiments of the present disclosure will be described with reference to the accompanying drawings. Elements common to the drawings will be designated by the same reference numerals, and redundant explanations will be omitted or simplified.

[0012] 1. Mobile Control System 1 is a block diagram showing a configuration example of a mobile object control system 100 according to an embodiment. The mobile object control system 100 includes two operation terminals (or simply terminals) 10 and 20, and a mobile object (mobility) 30. Note that the number of "plurality of mobile terminals" included in the "mobile object control system" according to the present disclosure may be three or more.

[0013] The terminals 10 and 20 are operated by two operators 1 and 2 (see FIG. 2), respectively, to drive (control the travel of) the moving object 30. For example, the terminals 10 and 20 are each a mobile terminal such as a smartphone or a tablet terminal.

[0014] Specifically, the terminal 10 includes, for example, a touch panel 11, a communication device 12, a processor 13, a storage device 14, and sensors 15. The touch panel 11 is formed on one plate surface of the first terminal 10 and includes a display screen and a touch sensor. The touch sensor is configured to be able to detect an operator's touch on the display screen. The communication device 12 performs wireless communication with the mobile object 30. The shape of the terminal 10 is not particularly limited, but the terminal 10 is formed, for example, in the shape of a plate (for example, a rectangular plate) with one side in the short direction and the other side in the long direction (see FIG. 3).

[0015] The processor (processing circuit) 13 executes various processes for controlling the travel of the mobile object 30. The storage device 14 stores various information required for processing by the processor 13. More specifically, the processor 13 executes various processes using various programs related to the travel control of the mobile object 30. The various programs may be stored in the storage device 14 or may be recorded on a computer-readable recording medium. The sensors 15 include, for example, an inclination angle sensor and a position sensor. The inclination angle sensor detects the tilt direction and tilt angle (attitude) of the first terminal 10. The inclination angle sensor includes, for example, a six-axis gyro sensor. The tilt angle of the terminal 10 is used to control the travel of the mobile object 30 using a "tilt operation O" described below. The position sensor includes a GNSS (Global Navigation Satellite System) receiver and detects the position and orientation of the first terminal 10.

[0016] Similar to the terminal 10, the terminal 20 includes a touch panel 21, a communication device 22, a processor 23, a storage device 24, and sensors 25.

[0017] Figures 2(A) and 2(B) are schematic diagrams showing a specific example of the configuration of the moving body 30 shown in Figure 1. Figure 2(A) is a perspective view of the moving body 30, and Figure 2(B) is a view of the chassis 32 of the moving body 30 looking down from above.

[0018] The vehicle 30 is an open-type small mobility vehicle that can accommodate two passengers. The vehicle 30 includes a body 31 and a chassis 32. The body 31 has seats 31a for two passengers. As shown in FIG. 2(A), one of the passengers is an operator 1 who holds a terminal 10, and the other passenger is an operator 2 who holds a terminal 20.

[0019] The chassis 32 includes a circular frame 33. Two drive wheels (left and right front wheels) 34R and 34L and one driven wheel (rear wheel) 35 are attached to the frame 33. The drive wheels 34R and 34L are disposed opposite each other and are rotated by electric motors 36R and 36L, respectively. The driven wheel 35 is an omnidirectional wheel (for example, an Omniwheel (registered trademark)).

[0020] The mobile object 30 further includes a communication device 37, an electronic control unit (ECU) 38, and sensors 39. The communication device 37 performs wireless communication with the first and second terminals 10 and 20.

[0021] The ECU 38 controls the traveling of the mobile body 30. The ECU 38 includes a processor (processing circuit) 40 and a storage device 41. The processor 40 executes various processes related to the traveling control of the mobile body 30. The storage device 41 stores various information required for the processing by the processor 40. More specifically, the processor 40 executes various processes using various programs related to the traveling control of the mobile body 30. The various programs may be stored in the storage device 41, or may be recorded on a computer-readable recording medium.

[0022] The sensors 39 include, for example, a recognition sensor, a mobile object status sensor, and a position sensor. The recognition sensor recognizes the situation around the mobile object 30. Examples of the recognition sensor include a camera, a LIDAR (Laser Imaging Detection and Ranging), a radar, etc. The mobile object status sensor detects the status of the mobile object 30. The mobile object status sensor includes, for example, a speed sensor that detects the speed V, and a turning angular velocity sensor that detects the turning angular velocity ω. The position sensor detects the position and orientation of the mobile object 30. For example, the position sensor includes a GNSS receiver.

[0023] As shown in FIG. 2B, the velocity V is the velocity of the moving body 30 in the direction of travel, more specifically, the velocity at the center position P1 of the two drive wheels 34R and 34L. R and V L are the velocities at the contact points of the drive wheels 34R and 34L, respectively. If the distance between the drive wheels 34R and 34L is W and the turning angular velocity ω during left turning is positive, then the velocity V R and V L can be expressed by the following equations (1) and (2), respectively, using the velocity V, the turning angular velocity ω, and the distance W. V L =V-ω×W / 2 (1) V R =V+ω×W / 2 (2)

[0024] As can be seen from the relationship between equations (1) and (2), the ECU 38 calculates the speed V R and velocity VL By controlling the two electric motors 36R and 36L so that the speeds V are equal, the moving body 30 can be moved straight along the traveling direction. The ECU 38 can accelerate and decelerate the moving body 30 by controlling the two electric motors 36R and 36L. The ECU 38 also controls the two electric motors 36R and 36L to adjust the speed V R and velocity V L By providing a difference between these, the moving body 30 can be turned left and right.

[0025] Additionally, the "multiple operation terminals" according to the present disclosure are not limited to mobile terminals such as smartphones, but may be terminals using other operation methods such as joysticks. Furthermore, the "mobile body" according to the present disclosure is not limited to the mobile body 30 shown in FIG. 2(A), but may be various types of mobile bodies such as four-wheeled automobiles. Furthermore, in the example of the mobile body 30, operators 1 and 2 operate terminals 10 and 20 while aboard the mobile body 30. However, in an example in which multiple operation terminals capable of wireless communication with the mobile body are used, the "multiple operators" according to the present disclosure may remotely operate the mobile body from outside the mobile body. Furthermore, in an example in which a mobile body is operated by multiple operators aboard the mobile body, the multiple operation terminals may be wired to the mobile body.

[0026] 2. Travel control of moving objects The mobile object control system 100 is configured to control the traveling of the mobile object 30 based on operation amount information I of a plurality of operation terminals (terminals 10 and 20). More specifically, the mobile object control system 100 controls the speed V and turning angular velocity ω of the mobile object 30 based on the operation amount information I. That is, the speed V and turning angular velocity ω correspond to control amounts for controlling the traveling of the mobile object 30.

[0027] In order to control the velocity V and the turning angular velocity ω, the mobile object control system 100 utilizes operation amount information I when a tilt operation O is being performed on each of the terminals 10 and 20. The tilt operation O is an operation in which the operators 1 and 2 tilt the terminals 10 and 20.

[0028] Fig. 3 is a diagram illustrating an example of operation amount information I. The operation amount information I includes tilt angle A as an example of a "first operation amount" of each of the terminals 10 and 20, and tilt angle B as an example of a "second operation amount." Hereinafter, the tilt angles A and B of the terminal 10 will be referred to as tilt angles A1 and B1, and the tilt angles A and B of the terminal 20 will be referred to as tilt angles A2 and B2. In Fig. 3, the tilt angles A1 and B1 of the terminal 10 are shown, but the tilt angles A2 and B2 of the terminal 20 are also shown in a similar manner.

[0029] In the example shown in FIG. 3, the inclination angle A1 is A is the angle of rotation of the terminal 10 about a rotation axis parallel to the center line L A passes through the center P2 of the terminal 10 and extends along the short direction of the terminal 10. Similarly, the inclination angle B1 is B The rotation angle is the angle of rotation around the axis of rotation parallel to the center line L. B passes through the center P2 of the terminal 10 and extends along the longitudinal direction of the terminal 10. A and L B are orthogonal to each other.

[0030] Here, the inclination angle A1 is determined based on a predetermined reference state (for example, the center line L B is horizontal). The tilt angle A1 is assumed to be positive when the operator 1 tilts the terminal 10 so that the end 10e1 of the terminal 10 farther from the operator 1 is lowered relative to the reference state, and conversely, it is assumed to be negative when the operator 1 tilts the terminal 10 so that the end 10e1 is raised relative to the reference state. The same applies to the tilt angle A2 of the terminal 20.

[0031] The inclination angle B1 is determined based on a predetermined reference state (for example, the center line L A is horizontal). The tilt angle B1 is assumed to be positive when the operator 1 tilts the terminal 10 so that the left end 10e2 of the operator 1 is lowered relative to the reference state, and conversely, it is assumed to be negative when the operator 1 tilts the terminal 10 so that the end 10e2 is raised relative to the reference state. The same applies to the tilt angle B2 of the terminal 20.

[0032] 4(A) is a diagram showing an example of functional blocks related to the cruise control of the mobile body 30. As functional blocks related to the cruise control of the mobile body 30, the terminal 10 includes an operation amount acquisition unit 51 and a control amount calculation unit 52. Similarly, the terminal 20 includes an operation amount acquisition unit 61 and a control amount calculation unit 62. The ECU 38 of the mobile body 30 includes a control amount arbitration unit 71 and a motor control unit 72. These functional blocks are realized in software when a program related to cruise control is executed by the processor 13, 23, or 40.

[0033] The operation amount acquisition unit 51 of the terminal 10 acquires the tilt angles A1 and B1 detected by the tilt angle sensor included in the sensors 15. Similarly, the operation amount acquisition unit 61 of the terminal 20 acquires the tilt angles A2 and B2 detected by the tilt angle sensor included in the sensors 25. The tilt angles A1, B1, A2, and B2 take values ​​within a range from -180° to 180°, for example.

[0034] The control amount calculation unit 52 of the terminal 10 calculates a target speed V1 (target control amount). Specifically, the storage device 14 of the terminal 10 stores a map MV1 that defines the relationship between the inclination angle A1 and the target speed V1. The map MV1 is set, for example, so that the target speed V1 is zero when the inclination angle A1 is zero, and the target speed V1 increases as the positive inclination angle A1 increases. The control amount calculation unit 52 calculates the target speed V1 corresponding to the acquired inclination angle A1 from the map MV1. The storage device 24 of the terminal 20 also stores a map MV2 that defines the relationship between the inclination angle A2 and the target speed V2 based on the same concept as the map MV1. The control amount calculation unit 62 calculates the target speed V2 corresponding to the acquired inclination angle A2 from the map MV2.

[0035] The control amount calculation unit 52 of the terminal 10 also calculates the target turning angular velocity ω1 (target control amount). Specifically, the storage device 14 also stores a map Mω1 that defines the relationship between the tilt angle B1 and the target turning angular velocity ω1. The map Mω1 is set, for example, so that the target turning angular velocity ω1 is zero when the tilt angle B1 is zero. The map Mω1 is set, for example, so that the positive target turning angular velocity ω1 increases as the positive tilt angle B1 increases, and the negative target turning angular velocity ω1 increases as the negative tilt angle B1 increases. The control amount calculation unit 52 calculates the target turning angular velocity ω1 corresponding to the acquired tilt angle B1 from the map Mω1. The storage device 24 of the terminal 20 also stores a map Mω2 that defines the relationship between the tilt angle B2 and the target turning angular velocity ω2 based on the same concept as the map Mω1. The control amount calculation unit 62 calculates the target turning angular velocity ω2 corresponding to the acquired tilt angle B2 from the map Mω2.

[0036] The target velocities V1 and V2 and the target turning angular velocities ω1 and ω2 calculated in the terminals 10 and 20 as described above are transmitted to the moving body 30.

[0037] The control amount arbitration unit 71 of the moving body 30 arbitrates the target speeds V1 and V2 received from the terminals 10 and 20, respectively. Specifically, the control amount arbitration unit 71 combines the target speeds V1 and V2 calculated for each of the terminals 10 and 20 at a "first ratio" to obtain a final target speed V t Calculate the final target speed V t is expressed as, for example, Equation (3). The first ratio is specified by coefficients C1 and C2. That is, C1 is a coefficient indicating the first ratio of the target speed V1, and is multiplied by the target speed V1. C2 is a coefficient indicating the first ratio of the target speed V2, and is multiplied by the target speed V2. The final target speed V t is equivalent to the sum of the product of the coefficient C1 and the target speed V1 and the product of the coefficient C2 and the target speed V2. In an example where three or more operation terminals are used, three or more target speeds V corresponding to three or more first operation amounts are i are combined according to a first ratio. V t =C1×V1+C2×V2 (3)

[0038] Furthermore, the control amount arbitration unit 71 arbitrates the target turning angular velocities ω1 and ω2 received from the terminals 10 and 20, respectively. Specifically, the control amount arbitration unit 71 combines the target turning angular velocities ω1 and ω2 calculated for each of the terminals 10 and 20 at a "second ratio" to obtain the final target turning angular velocity ω t The second ratio is different from the first ratio as shown in FIG. 4B. The final target turning angular velocity ω t is expressed as, for example, equation (4). The second ratio is specified by coefficients D1 and D2. That is, D1 is a coefficient indicating the second ratio of the target turning angular velocity ω1, and is multiplied by the target turning angular velocity ω1. D2 is a coefficient indicating the second ratio of the target turning angular velocity ω2, and is multiplied by the target turning angular velocity ω2. The final target turning angular velocity ω t is equivalent to the sum of the product of the coefficient C1 and the target turning angular velocity ω1 and the product of the coefficient C2 and the target turning angular velocity ω2. In an example in which three or more operation terminals are used, three or more target turning angular velocities ω i are combined in a second ratio. ω t =D1×ω1+D2×ω2 (4)

[0039] The first and second ratios can be set by the operator 1 operating the touch panel 11 of the terminal 10. More specifically, for example, the terminal 10 may be able to set only the coefficients C1 and D1 related to the operation of the terminal 10, or may also be able to set the coefficients C2 and D2 related to the operation of another terminal 20. The same applies to the terminal 20.

[0040] The first and second ratios may be set arbitrarily, provided that they are different from each other. In addition, Fig. 4(B) shows an example of setting the first and second ratios.

[0041] In the example shown in FIG. 4(B), the first ratio regarding the final target speed Vt is set so that the coefficient C1 of the terminal 10 is larger than the coefficient C2 of the terminal 20. More specifically, as an example, the coefficient C1 is set to 1, and the coefficient C2 is set to 0. According to this setting example, only the operator 1 of the terminal 10 can perform an operation to change the final target speed Vt. In other words, the final target speed Vt is determined only by the operation of the terminal 10.

[0042] On the other hand, the second ratio regarding the final target turning angular velocity ωt is set so that the coefficient D1 of the terminal 10 is equal to the coefficient D2 of the terminal 20. More specifically, as an example, the coefficient D1 is set to 0.5, and the coefficient D2 is set to 0.5. According to this setting example, in order to control the turning angular velocity ω, the two operators 1 and 2 are required to operate the terminals 10 and 20 in unison.

[0043] In addition, in each of the first and second ratios, the sum of the two coefficients (e.g., C1+C2, D1+D2) is basically 1 as in the example shown in FIG. 4(B). However, the sum may be greater than 1 or less than 1. This also applies to an example in which three or more operating terminals are used and therefore the coefficient is three or more.

[0044] The motor control unit 72 controls the two electric motors 36L and 36R so as to realize the calculated final target speed Vt and final target turning angular speed ωt. More specifically, the motor control unit 72 substitutes the final target speed Vt and the final target turning angular speed ωt into the speed V and turning angular speed ω in the above equations (1) and (2), respectively, to calculate the target speeds V L t and V R Then, the motor control unit 72 calculates these target speeds V L t and V R The electric motors 36L and 36R are controlled so as to realize t. The electric motors 36L and 36R correspond to an example of "one or more actuators related to the running of the moving body" according to the present disclosure.

[0045] According to the mobile object control system 100 according to the present embodiment described above, different first and second ratios are used to calculate the final target speed Vt and the final target turning angular velocity ωt, which are two target values ​​for controlling the traveling of the mobile object 30. As a result, the ratio at which the first and second operation amounts of the individual operation terminals 10 and 20 are reflected differs between the final target speed Vt and the final target turning angular velocity ωt (see equations (3) and (4)). This means that the degree of involvement of the two operators 1 and 2 in the traveling control of the mobile object 30 differs between the final target speed Vt and the final target turning angular velocity ωt. In other words, this allows the two operators 1 and 2 to be assigned different roles in units of the control amounts of the mobile object 30, namely the speed V and the turning angular velocity ω. This makes it easier for the two operators 1 and 2 to share the joy of cooperatively operating the mobile object 30.

[0046] 2(A) is a mobile object suitable for use in entertainment facilities such as theme parks or amusement parks, or tourist destinations. The mobile object control system 100 according to this embodiment can provide operators 1 and 2 with excellent entertainment using the mobile object 30.

[0047] Furthermore, as illustrated in FIG. 4B , the first ratio for the final target speed Vt may be set so that the coefficient C1 of the terminal 10 is greater than the coefficient C2 of the terminal 20. The second ratio for the final target turning angular velocity ωt may be set so that the coefficient D1 of the terminal 10 is equal to the coefficient D2 of the terminal 20. Here, it can be said that the control of the speed V, which is related to the progress and stopping of the moving object 30, requires higher safety than the control of the turning angular velocity ω of the moving object 30. According to this setting example of the first and second ratios, the terminal 10 is dominant in the control of the speed V. Therefore, while the operator 1 operating the terminal 10 safely manages the speed V, the operators 1 and 2 can enjoy cooperative operation. More specifically, by setting the coefficient C1 to 1 and the coefficient C2 to 0, the operator 1 can more reliably take measures to stop the moving object 30 in the unlikely event of an accident. Furthermore, for the turning angular velocity ω at which the operations of operators 1 and 2 are evenly reflected, operators 1 and 2 can fully share the enjoyment of operating the mobile object 30 by operating terminals 10 and 20 in unison.

[0048] In addition, according to the above setting example of the first and second ratios, when a parent and child ride on the moving body 30, the parent operates the terminal 10 and the child operates the terminal 20, so that the parent can safely manage the speed V while the child can enjoy operating the moving body 30 in relation to turning together with the parent.

[0049] 3. Other examples of mobile control system configurations The mobile object control system according to the present disclosure may have the configuration shown in the following FIG. 5 or FIG. 6 instead of the configuration shown in FIG.

[0050] Fig. 5 is a diagram showing another example of functional blocks related to the travel control of the mobile body 30. The mobile body control system 200 shown in Fig. 5 differs from the above-described mobile body control system 100 in the following points. That is, in the mobile body control system 200, the terminal 10 includes only an operation amount acquisition unit 51, and the terminal 20 includes only an operation amount acquisition unit 61. The ECU 38 of the mobile body 30 includes control amount calculation units 73 and 74 in addition to a control amount arbitration unit 71 and a motor control unit 72.

[0051] 5, the control amount calculation unit 73 of the moving body 30 calculates, from a map MV1, a target speed V1 corresponding to the tilt angle A1 received from the terminal 10, and calculates, from a map Mω1, a target turning angular velocity ω1 corresponding to the tilt angle B1 received from the terminal 10. Similarly, the control amount calculation unit 74 calculates, from a map MV2, a target speed V2 corresponding to the tilt angle A2 received from the terminal 20, and calculates, from a map Mω2, a target turning angular velocity ω2 corresponding to the tilt angle B2 received from the terminal 20. The maps MV1, MV2, Mω1, and Mω2 are stored in the storage device 34 of the ECU 38. The calculated target speeds V1 and V2 and target turning angular velocities ω1 and ω2 are input to the control amount arbitration unit 71.

[0052] The mobile object control system 200 described above also provides the same effects as those described above for the mobile object control system 100.

[0053] Fig. 6 is a diagram showing yet another example of functional blocks related to the travel control of the mobile body 30. The mobile body control system 300 shown in Fig. 6 differs from the above-described mobile body control system 100 in the following respects. That is, in the mobile body control system 300, similar to the example of the mobile body control system 200, the terminal 10 includes only an operation amount acquisition unit 51, and the terminal 20 includes only an operation amount acquisition unit 61. The ECU 38 of the mobile body 30 includes a motor control unit 72, an operation amount arbitration unit 75, and a final control amount calculation unit 76.

[0054] In the example shown in Fig. 6, the operation amount arbitration unit 75 of the moving body 30 arbitrates the tilt angles A1 and A2 received from the terminals 10 and 20, respectively. Specifically, the operation amount arbitration unit 75 combines the tilt angles A1 and A2 at a "first ratio" to obtain an arbitrated operation amount (first combined operation amount) A x Calculate the post-reconciliation operation amount A x is expressed as, for example, equation (5). That is, the manipulated variable A x corresponds to the sum of the product of the coefficient C1 and the tilt angle A1 and the product of the coefficient C2 and the tilt angle A2. In an example where three or more operation terminals are used, three or more first operation amounts are combined by a first ratio. A x =C1×A1+C2×A2 (5)

[0055] Furthermore, the operation amount arbitration unit 75 of the moving body 30 arbitrates the tilt angles B1 and B2 received from the terminals 10 and 20, respectively. Specifically, the operation amount arbitration unit 75 combines the tilt angles B1 and B2 at a "second ratio" to obtain an arbitrated operation amount (second combined operation amount) B x Calculate the post-arbitration operation amount B x is expressed as, for example, equation (6). That is, the manipulated variable B x corresponds to the sum of the product of the coefficient D1 and the tilt angle B1 and the product of the coefficient D2 and the tilt angle B2. In an example where three or more operation terminals are used, three or more second operation amounts are combined by the second ratio. B x =D1×B1+D2×B2 (6)

[0056] Additionally, in the example shown in FIG. 6, the coefficients C1, C2, D1, and D2 of the first and second ratios are set as shown in FIG. 4(B) as an example.

[0057] The final control amount calculation unit 76 calculates the adjusted manipulated variable A input from the manipulated variable arbitration unit 75. x The final target speed V t Map MV t Calculated from Map MV t is the adjusted manipulated variable A based on the same concept as the map MV1 described above. x and the final target speed Vt The final control amount calculation unit 76 determines the relationship between the adjusted manipulated variable B x Final target turning angular velocity ω according to t Map Mω t Calculated from the map Mω t is the adjusted manipulated variable B based on the same idea as the map Mω1 described above. x and the final target turning angular velocity ω t The relationship between the calculated final target speed V and the calculated final target speed V is stored in the storage device 34. t and the final target turning angular velocity ω t is input to the motor control unit 72.

[0058] The mobile object control system 300 described above also provides the same effects as those described above for the mobile object control system 100.

[0059] In addition, the configuration shown in Fig. 6 is applicable when the following nonlinear processing is not included in the control amount calculation. On the other hand, the configurations shown in Figs. 4(A) and 5 are applicable regardless of whether the nonlinear processing is included. The nonlinear processing here can be performed in control amount calculation units 52, 62, 73, and 74. Here, the nonlinear processing will be explained using control amount calculation unit 52 as an example. That is, when a tilt operation O of terminal 10 is performed while operator 1 is touching touch panel 11, the nonlinear processing in control amount calculation unit 52 uses the amount of change in tilt angle A1 or B1 due to the tilt operation O as the first or second operation amount in the control amount calculation. [Explanation of symbols]

[0060] 10, 20 operation terminal, 13, 23, 40 processor, 30 mobile body, 38 ECU, 36L, 36R electric motor, 100, 200, 300 mobile body control system

Claims

1. A mobile object control system that controls traveling of a mobile object based on operation amount information of a plurality of operation terminals operated by a plurality of operators, one or more processors; the operation amount information includes a first operation amount and a second operation amount as operation amounts of each of the plurality of operation terminals, the one or more processors: calculating a target speed, which is a target value of a speed of the moving object in a traveling direction, for each of the operation terminals based on the first operation amount; calculating a target turning angular velocity, which is a target value of a turning angular velocity of the moving body, for each of the individual operation terminals based on the second operation amount; calculating a final target speed by combining the target speeds calculated for the individual operation terminals at a first ratio; calculating a final target turning angular velocity by combining the target turning angular velocities calculated for each of the individual operation terminals at a second ratio different from the first ratio; One or more actuators related to the traveling of the moving body are controlled based on the final target speed and the final target turning angular velocity. Mobile control system.

2. 2. The mobile object control system according to claim 1, the plurality of operation terminals include a first operation terminal and a second operation terminal, a coefficient of the first ratio by which the target speed based on the first operation amount of the first operation terminal is multiplied is larger than a coefficient of the first ratio by which the target speed based on the first operation amount of the second operation terminal is multiplied; The coefficient of the second ratio by which the target turning angular velocity based on the second operation amount of the first operation terminal is multiplied is equal to the coefficient of the second ratio by which the target turning angular velocity based on the second operation amount of the second operation terminal is multiplied. Mobile control system.

3. 3. The mobile object control system according to claim 2, the coefficient of the first ratio by which the target speed based on the first operation amount of the first operation terminal is multiplied is 1; The coefficient of the first ratio by which the target speed based on the first operation amount of the second operation terminal is multiplied is 0. Mobile control system.

4. A mobile object control system that controls traveling of a mobile object based on operation amount information of a plurality of operation terminals operated by a plurality of operators, one or more processors; the operation amount information includes a first operation amount and a second operation amount as operation amounts of each of the plurality of operation terminals, the one or more processors: calculating a first combined operation amount by combining the first operation amounts of the individual operation terminals at a first ratio; calculating a second combined operation amount by combining the second operation amounts of the individual operation terminals at a second ratio different from the first ratio; calculating a final target speed, which is a target value of a speed of the moving object in a traveling direction, based on the first resultant operation amount; calculating a final target turning angular velocity, which is a target value of the turning angular velocity of the moving body, based on the second resultant operation amount; One or more actuators related to the traveling of the moving body are controlled based on the final target speed and the final target turning angular velocity. Mobile control system.

5. 5. The mobile object control system according to claim 4, the plurality of operation terminals include a first operation terminal and a second operation terminal, a coefficient of the first ratio by which the first operation amount of the first operation terminal is multiplied is greater than a coefficient of the first ratio by which the first operation amount of the second operation terminal is multiplied; The coefficient of the second ratio by which the second operation amount of the first operation terminal is multiplied is equal to the coefficient of the second ratio by which the second operation amount of the second operation terminal is multiplied. Mobile control system.

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