Information Processing Apparatus and Information Processing Method

Abstract

This information processing device (vehicle control device (10)) comprises: a vehicle information acquisition unit (12) that acquires a first movement speed of a vehicle; a communication unit (11) that acquires an operation amount relating to the speed of a device for remote operation of the vehicle; a vehicle speed instruction generating unit (13) that generates a second movement speed from the operation amount; and an output unit (19) that outputs the operation amount as a movement speed control amount when the first movement speed is less than a first threshold value, and outputs a control amount converted from the second movement speed as the movement speed control amount when the first movement speed is equal to or greater than a second threshold value.

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus and an information processing method for remotely operating a moving body.

Background Art

[0002] In recent years, the spread of autonomous vehicles has been expected, and along with that, the demand for technology to remotely operate vehicles in case of emergencies and the like has been increasing. For example, Patent Document 1 discloses an unmanned moving body system for remotely operating an unmanned moving body. According to this unmanned moving body system, when the moving speed of the unmanned moving body is high, it moves autonomously, and when the moving speed of the unmanned moving body is low, the unmanned moving body can be remotely operated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the moving speed of the moving body decreases, remote operation may become difficult. Conventional technologies such as the technology disclosed in Patent Document 1 do not consider such cases.

[0005] Therefore, the present disclosure provides an information processing apparatus and the like that can suppress a decrease in the operability of a moving body by a device for remotely operating the moving body even when the moving speed of the moving body decreases.

Means for Solving the Problems

[0006] The information processing apparatus according to the present disclosure includes a first acquisition unit that acquires a first moving speed of a moving body, a second acquisition unit that acquires an operation amount related to the moving speed of a device for remotely operating the moving body, a generation unit that generates a second moving speed from the operation amount, and an output unit that, when the first moving speed is less than a first threshold value, outputs the operation amount as a moving speed control amount that is a control amount of the moving speed of the moving body, and when the first moving speed is greater than or equal to a second threshold value, outputs a control amount converted from the second moving speed as the moving speed control amount.

[0007] Note that these general or specific aspects may be implemented by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be implemented by any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

Advantages of the Invention

[0008] According to the information processing apparatus and the like according to one aspect of the present disclosure, even when the moving speed of the moving body decreases, it is possible to suppress a decrease in the operability of the moving body by a device for remotely operating the moving body.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] As described above, when the moving speed of the moving body becomes slow, remote operation may become difficult.

[0011] For example, since the remote operation of a moving body is performed by wireless communication, considering communication delays and the like, it is desirable to first convert the amount of operation of a device for remotely operating the moving body (for example, an operation UI (User Interface) such as a pedal for remotely operating a vehicle) into the speed of the moving body and then output it to the moving body. On the other hand, in this method, feedback control is performed to keep the speed constant in the moving body, so the responsiveness to operations on the operation UI deteriorates. For this reason, when operating a moving body that moves at a low speed at which fine operations are likely to be performed with an operation UI, there is a problem that the operability of the operation UI deteriorates.

[0012] Therefore, an information processing apparatus according to an aspect of the present disclosure includes: a first acquisition unit that acquires a first moving speed of a moving body; a second acquisition unit that acquires an amount of operation related to the moving speed of a device for remotely operating the moving body; a generation unit that generates a second moving speed from the amount of operation; and an output unit that, when the first moving speed is less than a first threshold value, outputs the amount of operation as a moving speed control amount that is a control amount of the moving speed of the moving body, and when the first moving speed is greater than or equal to a second threshold value, outputs a control amount converted from the second moving speed as the moving speed control amount.

[0013] According to this, when the first moving speed of the moving body is greater than or equal to the second threshold value (for example, when the moving body moves at a medium to high speed), it is difficult to perform fine operations, and even if the responsiveness to operations on the device for remotely operating the moving body is poor, it is less likely to be a problem. For this reason, when the first moving speed of the moving body is greater than or equal to the second threshold value, considering communication delays and the like, a moving speed control amount based on the second moving speed generated from the amount of operation related to the moving speed of the device is output. On the other hand, when the first moving speed of the moving body is less than the first threshold value (for example, when the moving body moves at a low speed), fine operations are likely to be performed, and it is likely to be a problem that the responsiveness to operations on the device is poor. For this reason, when the first moving speed of the moving body is less than the first threshold value, the amount of operation related to the moving speed of the device is output as the moving speed control amount as it is. In this way, since an optimal moving speed control amount is output according to the first moving speed of the moving body, even if the moving speed of the moving body decreases, it is possible to suppress a decrease in the operability of the moving body by the device for remotely operating the moving body.

[0014] Further, when the first moving speed is less than the first threshold value and the second moving speed is less than the first moving speed, the control mode of the moving speed of the moving body is changed to a first mode which is a mode of outputting the operation amount as the moving speed control amount. When the first moving speed is greater than or equal to the second threshold value and the second moving speed is greater than the first moving speed, a transition control unit may be further provided which transitions the control mode of the moving speed of the moving body to a second mode which is a mode of outputting the control amount converted from the second moving speed as the moving speed control amount. The output unit may output the moving speed control amount according to the first mode or the second mode.

[0015] For example, when the transition condition to the first mode is only the condition that the first moving speed is less than the first threshold value, the transition of the control mode may occur frequently. Similarly, when the transition condition to the second mode is only the condition that the first moving speed is greater than or equal to the second threshold value, the transition of the control mode may occur frequently. On the other hand, in this aspect, since a condition regarding the second moving speed generated from the operation amount related to the moving speed of the device is also provided, it is possible to suppress the frequent transition of the control mode.

[0016] Further, when the control mode of the moving speed of the moving body transitions and the difference between the first moving speed and the second moving speed is greater than a third threshold value, a setting unit may be further provided which sets an upper limit of the moving speed control amount based on the first moving speed. The output unit may further output the moving speed control amount according to the upper limit of the moving speed control amount.

[0017] According to this, when the control mode transitions, if the difference between the first moving speed of the moving body and the second moving speed generated from the operation amount of the device for remotely operating the moving body is greater than the third threshold value, when the moving speed control amount corresponding to the control mode after the transition is output as it is, the moving body may accelerate suddenly and enter a dangerous state. In contrast, in this aspect, when the above difference is greater than the third threshold value, the upper limit of the moving speed control amount is set based on the first moving speed. Therefore, when the control mode transitions, sudden acceleration of the moving body is suppressed, and the continuity of the acceleration of the moving body can be maintained.

[0018] Further, the generation unit may generate the second moving speed according to the operation amount such that the upper limit of the operation amount becomes the upper limit of the moving speed of the moving body.

[0019] When the moving body is remotely operated, there may be a case where an upper limit of the moving speed is provided for the moving body. Therefore, by generating the second moving speed according to the operation amount such that the upper limit of the operation amount of the device for remotely operating the moving body becomes the upper limit of the moving speed of the moving body, it is possible to prevent the second moving speed from exceeding the upper limit of the moving speed of the moving body during remote operation.

[0020] Further, the second acquisition unit may further acquire the first threshold value and the second threshold value determined based on at least the history of the operation amount related to the moving speed or the history of the moving speed.

[0021] According to this, the first threshold value and the second threshold value can be determined based on the history of the operation amount related to the moving speed of the device for remotely operating the moving body or the history of the moving speed of the moving body. And by acquiring the first threshold value and the second threshold value determined in this way, it is possible to determine whether to output the operation amount of the device for remotely operating the moving body as the moving speed control amount as it is, or to output the moving speed control amount based on the second moving speed.

[0022] Further, the second acquisition unit may further acquire the first threshold value and the second threshold value determined based on the history of the operation amount related to the moving direction.

[0023] For example, when the amount of operation related to the moving direction of the moving body is large, it can be inferred that a fine operation is being performed on the moving body and the moving body is moving at a low speed. Therefore, the first threshold value can be determined from the amount of operation related to the moving speed or the history of the moving speed when the amount of operation related to the moving direction of the moving body is large. Also, when the amount of operation related to the moving direction of the moving body is small, it can be inferred that a fine operation is not being performed on the moving body and the moving body is moving at a medium or high speed. Therefore, the second threshold value can be determined from the amount of operation related to the moving speed or the history of the moving speed when the amount of operation related to the moving direction of the moving body is small. And by obtaining the first threshold value and the second threshold value determined in this way, it is possible to determine whether to output the operation amount of the device for remotely operating the moving body as the moving speed control amount as it is, or to output the moving speed control amount based on the second moving speed.

[0024] Also, the second acquisition unit may further acquire the first threshold value and the second threshold value determined based on the history of the transition operation instructing the transition of the control mode of the moving speed of the moving body.

[0025] For example, when an instruction is given to transition the control mode of the moving speed of the moving body to the first mode, it can be inferred that an attempt is being made to perform a fine operation on the moving body and to move the moving body at a low speed. Therefore, the first threshold value can be determined from the amount of operation related to the moving speed or the history of the moving speed when the transition to the first mode is instructed. Also, when an instruction is given to transition the control mode of the moving speed of the moving body to the second mode, it can be inferred that an attempt is being made to move the moving body at a medium or high speed without performing a fine operation on the moving body. Therefore, the second threshold value can be determined from the amount of operation related to the moving speed or the history of the moving speed when the transition to the second mode is instructed. And by obtaining the first threshold value and the second threshold value determined in this way, it is possible to determine whether to output the operation amount of the device for remotely operating the moving body as the moving speed control amount as it is, or to output the moving speed control amount based on the second moving speed.

[0026] Further, the second acquisition unit may further acquire the first threshold value and the second threshold value determined based on the operation history corresponding to the operator of the device.

[0027] According to this, the first threshold value and the second threshold value can be determined for each operator of the device for remotely operating the moving body. And by acquiring the first threshold value and the second threshold value determined in this way, for each operator, it is possible to determine whether to output the operation amount of the device for remotely operating the moving body as the movement speed control amount as it is, or to output the movement speed control amount based on the second movement speed.

[0028] Further, the second acquisition unit may further acquire instruction information based on a transition operation for instructing a transition of the control mode of the movement speed of the moving body, and the transition control unit may transition the control mode of the movement speed of the moving body according to the instruction information.

[0029] According to this, it is possible to manually transition the control mode of the movement speed of the moving body.

[0030] An information processing method according to an aspect of the present disclosure is an information processing method executed by a computer, including acquiring an operation amount related to the movement speed of a device for remotely operating a moving body, outputting the acquired operation amount, and acquiring mode information indicating whether the control mode of the movement speed of the moving body is in the first mode or the second mode. The first mode is a control mode in which when the first movement speed of the moving body is less than the first threshold value, the operation amount is output as a movement speed control amount that is the control amount of the movement speed of the moving body. The second mode is a control mode in which when the first movement speed is greater than or equal to the second threshold value, a control amount converted from a second movement speed generated from the operation amount is output as the movement speed control amount, and includes a process of presenting the control mode of the movement speed of the moving body based on the mode information.

[0031] According to this, even if the moving speed of the moving body decreases, it is possible to provide an information processing method capable of suppressing a decrease in the operability of the moving body by a device for remotely operating the moving body. Further, it is possible to cause an operator of a device for remotely operating the moving body to recognize a control mode of the moving speed of the moving body.

[0032] Further, an operation history including at least a history of an operation amount related to the moving speed or a history of the moving speed may be acquired, the first threshold value and the second threshold value may be determined based on the operation history or the history of the moving speed, and the determined first threshold value and the second threshold value may be output.

[0033] According to this, the first threshold value and the second threshold value can be determined based on a history of an operation amount related to the moving speed of a device for remotely operating the moving body or a history of the moving speed of the moving body. Then, by outputting the first threshold value and the second threshold value determined in this way, it is possible to determine whether to output the operation amount of the device for remotely operating the moving body as the moving speed control amount as it is, or to output the moving speed control amount based on the second moving speed.

[0034] Further, the operation history may further include a history of an operation amount related to the moving direction.

[0035] For example, when the operation amount related to the moving direction of the moving body is large, it can be inferred that a fine operation is being performed on the moving body and the moving body is moving at a low speed. Therefore, the first threshold value can be determined from the operation amount related to the moving speed or the history of the moving speed when the operation amount related to the moving direction of the moving body is large. Further, when the operation amount related to the moving direction of the moving body is small, it can be inferred that a fine operation is not being performed on the moving body and the moving body is moving at a medium to high speed. Therefore, the second threshold value can be determined from the operation amount related to the moving speed or the history of the moving speed when the operation amount related to the moving direction of the moving body is small.

[0036] Further, the operation history may further include a history of transition operations instructing a transition of the control mode of the moving speed of the moving body.

[0037] For example, when an instruction is given to transition the control mode of the moving speed of the moving body to the first mode, it can be inferred that a fine operation is being attempted on the moving body and it is intended to move the moving body at a low speed. Therefore, the first threshold value can be determined from the operation amount related to the moving speed or the history of the moving speed when the transition to the first mode is instructed. Also, when an instruction is given to transition the control mode of the moving speed of the moving body to the second mode, it can be inferred that no fine operation is being performed on the moving body and it is intended to move the moving body at a medium or high speed. Therefore, the second threshold value can be determined from the operation amount related to the moving speed or the history of the moving speed when the transition to the second mode is instructed.

[0038] Also, the operator of the device may be identified, a specific operation history corresponding to the identified operator may be acquired, the first threshold value and the second threshold value may be determined based on the specific operation history, and the determined first threshold value and second threshold value may be output.

[0039] According to this, the first threshold value and the second threshold value can be determined for each operator of the device for remotely operating the moving body. And by outputting the first threshold value and the second threshold value determined in this way, it is possible to make each operator determine whether to output the operation amount of the device for remotely operating the moving body as the moving speed control amount as it is, or to output the moving speed control amount based on the second moving speed.

[0040] Also, a transition operation for instructing the transition of the control mode of the moving speed of the moving body may be acquired, instruction information may be generated based on the transition operation, and the instruction information may be output.

[0041] According to this, the control mode of the moving speed of the moving body can be manually transitioned.

[0042] Hereinafter, embodiments will be specifically described with reference to the drawings.

[0043] Note that all the embodiments described below show comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure.

[0044] (Embodiment) Hereinafter, an information processing apparatus and an information processing method according to an embodiment will be described.

[0045] FIG. 1 is a diagram showing an example of a remote operation system 1 according to an embodiment.

[0046] The remote operation system 1 includes a vehicle control device 10, a remote control device 100, and a server device 200. The vehicle control device 10 is an example of an information processing apparatus. The vehicle control device 10 is mounted on a vehicle, for example. Note that the information processing apparatus of the present disclosure may be applied to a moving body other than a vehicle (for example, a drone, etc.). Hereinafter, the moving body is described as a vehicle, and the information processing apparatus is described as the vehicle control device 10. The remote control device 100 and the server device 200 are examples of computers that execute an information processing method. The remote control device 100 and the server device 200 may be provided at different locations, may be provided at the same location, or may be provided integrally. Alternatively, the components constituting the remote control device 100 and the server device 200 may be distributed. That is, the components constituting the remote control device 100 do not have to be provided in one housing, and the components constituting the server device 200 do not have to be provided in one housing.

[0047] The vehicle control device 10 is a device for controlling a vehicle by remote operation, and controls the vehicle based on information for remotely operating the vehicle acquired from the remote control device 100. Details of the vehicle control device 10 will be described later.

[0048] The remote control device 100 is a device for remotely operating a vehicle equipped with the vehicle control device 10, and outputs information for remotely operating the vehicle to the vehicle control device 10 to remotely operate the vehicle. Details of the remote control device 100 will be described later.

[0049] The server device 200 is a data management server device that manages data such as the operation history in the remote control device 100. Details of the server device 200 will be described later.

[0050] Next, the components of the remote control device 100 will be described.

[0051] FIG. 2 is a block diagram showing an example of the remote control device 100 according to the embodiment.

[0052] The remote control device 100 includes an operation UI 101, a signal conversion unit 102, a communication unit 103, and a presentation unit 104.

[0053] For example, the remote control device 100 is a computer including a processor, a communication interface, a UI, and a memory, etc. The memory is a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and can store programs executed by the processor. The operation UI 101, the signal conversion unit 102, the communication unit 103, and the presentation unit 104 are realized by a processor, a communication interface, a UI, etc. that execute programs stored in the memory.

[0054] The operation UI 101 is an example of a device for remotely operating a vehicle. The operation UI 101 is composed of, for example, a steering wheel and pedals, just like a normal vehicle. By operating the steering wheel, accelerator pedal, and brake pedal in the operation UI 101, the vehicle equipped with the vehicle control device 10 can be controlled. The amount of depression of the accelerator pedal in the operation UI 101 is an example of an operation amount related to the moving speed of a device for remotely operating a moving body. Note that the moving speed may be either speed or velocity. In the following, what is described as speed can be replaced with velocity. The operation amount of the steering wheel in the operation UI 101 is an example of an operation amount related to the moving direction of a device for remotely operating a moving body. Hereinafter, the accelerator pedal in the operation UI 101 will be referred to as the operation pedal, and the steering wheel in the operation UI 101 will be referred to as the operation steering wheel. Note that the operation UI 101 may be composed of a joystick, a shift lever, or the like.

[0055] The signal conversion unit 102 acquires the operation amount of the operation UI 101 and converts it into, for example, a digital value. For example, when the operation pedal is not depressed, the signal conversion unit 102 outputs a digital value indicating 0% as the amount of depression of the operation pedal, and when the operation pedal is depressed to the maximum, the signal conversion unit 102 outputs a digital value indicating 100% as the operation amount of the operation pedal. Note that since the operation UI 101 may be a joystick, a shift lever, or the like as described above in addition to the operation pedal and the operation steering wheel, the signal conversion unit 102 may have a function corresponding to various types of devices. Also, since there may be individual differences depending on the operation UI 101, the signal conversion unit 102 may have a function of performing calibration.

[0056] The communication unit 103 is a communication interface for communicating with the vehicle control device 10 and the server device 200. Note that the remote control device 100 may include a communication interface for the vehicle control device 10 and a communication interface for the server device 200, respectively. The communication unit 103 outputs the operation amount acquired by the signal conversion unit 102, specifically, the digital value obtained by converting the operation amount acquired by the signal conversion unit 102, to the vehicle control device 10. In addition, the communication unit 103 outputs the operation history of the operation amount acquired by the signal conversion unit 102 to the server device 200. Further, the communication unit 103 acquires from the vehicle control device 10 the mode information indicating whether the control mode of the vehicle speed is either the accelerator control mode or the speed control mode. Details of the accelerator control mode and the speed control mode will be described later. Also, the communication unit 103 acquires from the presentation unit 104 the instruction information based on the transition operation for instructing the transition of the control mode of the vehicle speed, and outputs the instruction information to the vehicle control device 10.

[0057] The presentation unit 104 is composed of, for example, a display device such as a display, a lamp, a speaker, etc., and presents the control mode of the vehicle speed based on the mode information acquired by the communication unit 103. The presentation content of the presentation unit 104 will be described later. Further, the presentation unit 104 may have a function of receiving an input, for example, may be a touch panel display, or may have a mechanical button or the like.

[0058] Next, the operation of the remote control device 100 will be described.

[0059] FIG. 3 is a flowchart showing an example of the operation of the remote control device 100 according to the embodiment. Since the remote control device 100 is an example of a computer that executes the information processing method according to the embodiment, FIG. 3 is also a flowchart showing an example of the information processing method according to the embodiment.

[0060] First, the remote control device 100 acquires the operation amount related to the speed of the operation UI 101 for remotely operating the vehicle (that is, the amount of depression of the operation pedal) (step S11).

[0061] Next, the remote control device 100 outputs the acquired depression amount of the operation pedal (specifically, the digital value indicating the depression amount of the operation pedal) to the vehicle control device 10 (step S12).

[0062] Next, the remote control device 100 acquires mode information indicating whether the control mode of the vehicle speed is either the accelerator control mode or the speed control mode (step S13).

[0063] Then, the remote control device 100 presents the control mode of the vehicle speed based on the acquired mode information (step S14). Here, an example of presenting the control mode will be described with reference to FIGS. 4A and 4B.

[0064] FIG. 4A is a diagram showing an example of presenting the accelerator control mode.

[0065] FIG. 4B is a diagram showing an example of presenting the speed control mode.

[0066] FIGS. 4A and 4B show a display device having, as the presentation unit 104, an area 104a that emits light when the control mode is the accelerator control mode and an area 104b that emits light when the control mode is the speed control mode.

[0067] As shown in FIG. 4A, when the remote control device 100 acquires mode information indicating that the control mode is the accelerator control mode, the remote control device 100 causes the area 104a in the presentation unit 104 to emit light. For example, characters such as "Accelerator" are described in the area 104a. By the area 104a emitting light, a person who views the presentation unit 104 (for example, the operator of the operation UI 101) can recognize that the control mode of the speed of the vehicle being remotely operated is the accelerator control mode. Note that the presentation information indicating the accelerator control mode may be expressed as "Movement amount" or the like.

[0068] As shown in FIG. 4B, when the remote control device 100 acquires mode information indicating that the control mode is the speed control mode, the remote control device 100 causes the area 104b in the presentation unit 104 to emit light. Characters such as "speed" are described in the area 104b. By causing the area 104b to emit light, for example, the operator of the operation UI 101 can recognize that the control mode of the speed of the vehicle being remotely operated is the speed control mode.

[0069] In this way, the operator of the operation UI 101 for remotely operating the vehicle can be made to recognize the control mode of the vehicle speed. Note that a presentation unit (for example, a lamp or the like) for making the operator recognize the transition when the control mode has transitioned may be further provided.

[0070] As described above, the presentation unit 104 may have a function of receiving an input, and the areas 104a and 104b may be buttons. The button may be, for example, an icon of a button displayed on a touch panel display, or a mechanical transparent or translucent button having a light emitting element or the like inside. For example, the presentation unit 104 may receive an input via such a button or the like, acquire a transition operation for instructing the transition of the control mode of the vehicle speed, generate instruction information based on the transition operation, and output the instruction information to the vehicle control device 10 via the communication unit 103. Thereby, the control mode of the vehicle speed can be manually transitioned. This is effective, for example, when the control mode that the operator wants to use differs depending on the operator's operation habit.

[0071] Next, the components of the vehicle control device 10 will be described.

[0072] FIG. 5 is a block diagram showing an example of the vehicle control device 10 according to the embodiment.

[0073] The vehicle control device 10 includes a communication unit 11, a vehicle information acquisition unit 12, a vehicle speed instruction generation unit 13, a feedback control unit 14, a mode transition management unit 15, and an output unit 19.

[0074] For example, the vehicle control device 10 is a computer including a processor, a communication interface, a memory, and the like. The memory is, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory), and can store programs executed by the processor. The communication unit 11, the vehicle information acquisition unit 12, the vehicle speed instruction generation unit 13, the feedback control unit 14, the mode transition management unit 15, and the output unit 19 are realized by a processor that executes a program stored in the memory, a communication interface, and the like.

[0075] The communication unit 11 is a communication interface for communicating with the remote control device 100 and the server device 200. Note that the vehicle control device 10 may include a communication interface for the remote control device 100 and a communication interface for the server device 200, respectively. The communication unit 11 is an example of a second acquisition unit that acquires an operation amount related to the speed of the operation UI 101 for remotely operating the vehicle (that is, the amount of depression of the operation pedal). Further, the communication unit 11 outputs mode information indicating whether the control mode of the vehicle speed is the acceleration control mode or the speed control mode to the remote control device 100. Further, the communication unit 11 acquires the transition condition of the control mode of the vehicle speed from the server device 200. Further, the communication unit 11 acquires instruction information based on a transition operation for instructing the transition of the control mode from the remote control device 100.

[0076] The vehicle information acquisition unit 12 acquires vehicle information of the vehicle from various ECUs (Electronic Control Units) connected to an in-vehicle network (for example, CAN (Controller Area Network)) in the vehicle, for example. The vehicle information acquisition unit 12 is an example of a first acquisition unit that acquires a first moving speed that is the current speed (actual vehicle speed) of the vehicle. Note that the current speed of the vehicle is the latest vehicle speed acquired by the vehicle information acquisition unit 12 from the in-vehicle network, and does not necessarily have to be the exact current speed.

[0077] The vehicle speed instruction generation unit 13 is an example of a generation unit that generates a second moving speed from the depression amount of the operation pedal acquired by the communication unit 11. That is, the vehicle speed instruction generation unit 13 converts the depression amount of the operation pedal into a second moving speed that is a speed corresponding to the depression amount (in other words, the instruction speed from the operation UI 101 to the vehicle).

[0078] The feedback control unit 14 acquires the current speed of the vehicle from the vehicle information acquisition unit 12, and by performing feedback control, converts the instruction speed to the vehicle generated by the vehicle speed instruction generation unit 13 into a control amount of the vehicle speed so that the speed of the vehicle is maintained at the instruction speed to the vehicle generated by the vehicle speed instruction generation unit 13.

[0079] The mode transition management unit 15 manages the control mode of the vehicle speed. The transition conditions of the control mode are thresholds for the current speed of the vehicle, specifically, a first threshold and a second threshold. The control mode transitions according to the magnitude relationship between the current speed of the vehicle and the first threshold and the second threshold. Although details will be described later, the transition conditions of the transition mode are determined by the server device 200. The mode transition management unit 15 acquires the control mode transition conditions determined by the server device 200 via the communication unit 11. The mode transition management unit 15 acquires the current speed of the vehicle from the vehicle information acquisition unit 12, and transitions the control mode to the accelerator control mode or the speed control mode according to the magnitude relationship between the current speed of the vehicle and the first threshold and the second threshold. Further, the mode transition management unit 15 acquires the instructed speed to the vehicle from the vehicle speed instruction generation unit 13, and transitions the control mode to the accelerator control mode or the speed control mode according to the magnitude relationship between the current speed of the vehicle and the instructed speed to the vehicle. Specifically, the mode transition management unit 15 is an example of a transition control unit that transitions the control mode to the accelerator control mode when the current speed of the vehicle is less than the first threshold and the instructed speed to the vehicle is less than the current speed of the vehicle, and transitions the control mode of the vehicle speed to the speed control mode when the current speed of the vehicle is equal to or greater than the second threshold and the instructed speed to the vehicle is greater than the current speed of the vehicle. The accelerator control mode is an example of a first mode that outputs the depression amount of the operation pedal as a speed control amount that is the control amount of the vehicle speed. The speed control mode is an example of a second mode that outputs the control amount converted from the instructed speed to the vehicle as the vehicle speed control amount. Further, the mode transition management unit 15 transitions the control mode according to the instruction information acquired by the communication unit 11 from the remote control device 100.

[0080] The output unit 19 is composed of a switch 16, an acceleration continuity correction unit 17, and a limiting unit 18.

[0081] Switch 16 has, for example, a common terminal, a first selection terminal, and a second selection terminal. The common terminal is connected to the in-vehicle network of the vehicle. Here, the common terminal is connected to the CAN or the like of the vehicle via the acceleration continuity correction unit 17, the restriction unit 18, and the like. The first selection terminal is connected to the communication unit 11, and the second selection terminal is connected to the feedback control unit 14. When the current control mode is the acceleration control mode, the common terminal and the first selection terminal are connected by the switch 16. When the current control mode is the speed control mode, the common terminal and the second selection terminal are connected by the switch 16. Here, although a SPDT (Single Pole Double Throw) switch is exemplified as the switch 16, the configuration example of the switch 16 is not limited to this as long as it can switch the connection between the in-vehicle network of the vehicle and the communication unit 11 and the connection between the in-vehicle network of the vehicle and the feedback control unit 14. For example, two SPST (Single Pole Single Throw) switches may be used as the switch 16.

[0082] The acceleration continuity correction unit 17 is an example of a setting unit that sets an upper limit of the vehicle speed control amount based on the current speed of the vehicle when the control mode transitions and the difference between the current speed of the vehicle and the instructed speed of the vehicle is greater than a third threshold value. Details of the acceleration continuity correction unit 17 will be described later.

[0083] The restriction unit 18 controls so that the vehicle speed control amount does not exceed a predetermined upper limit and a lower limit in order to improve the ride comfort of the vehicle, and also restricts the vehicle speed control amount and its change amount so that the change amount of the vehicle speed control amount does not become greater than a predetermined change amount.

[0084] The output unit 19 outputs, for example, the amount of depression of the operation pedal as the vehicle speed control amount when the current speed of the vehicle is less than the first threshold value by switching the connection relationship of the switch 16, and outputs the control amount converted from the indicated speed to the vehicle as the vehicle speed control amount when the current speed of the vehicle is equal to or higher than the second threshold value. Specifically, the output unit 19 outputs the vehicle speed control amount according to the accelerator control mode or the speed control mode managed by the mode transition management unit 15. Further, the output unit 19 outputs the vehicle speed control amount according to the upper limit of the vehicle speed control amount set by the acceleration continuity correction unit 17.

[0085] Next, the operation of the vehicle control device 10 will be described.

[0086] FIG. 6 is a flowchart showing an example of the operation of the vehicle control device 10 according to the embodiment.

[0087] The vehicle information acquisition unit 12 acquires the current speed of the vehicle (step S21).

[0088] Next, the communication unit 11 acquires the amount of depression of the operation pedal (step S22). When the brake pedal is depressed in the operation UI 101, the communication unit 11 acquires information indicating that the brake pedal has been depressed in the operation UI 101.

[0089] Next, the vehicle speed instruction generation unit 13 generates an instruction speed to the vehicle from the amount of depression of the operation pedal (step S23). For example, the vehicle speed instruction generation unit 13 generates an instruction speed to the vehicle according to the amount of depression of the operation pedal so that the upper limit of the amount of depression of the operation pedal becomes the upper limit of the vehicle speed. This will be described with reference to FIG. 7.

[0090] FIG. 7 is a graph showing the correspondence between the amount of depression of the operation pedal and the instruction speed to the vehicle. The horizontal axis represents the amount of depression of the operation pedal, and the vertical axis represents the instruction speed to the vehicle. For example, the right end of the horizontal axis is set as the upper limit of the amount of depression of the operation pedal.

[0091] As shown in FIG. 7, it can be seen that as the depression amount of the operation pedal increases, the indicated speed to the vehicle increases, and the indicated speed to the vehicle becomes the maximum practical vehicle speed at the upper limit of the depression amount of the operation pedal. The maximum practical vehicle speed is, for example, the upper limit of the speed of the vehicle provided when the vehicle is remotely operated. In this way, by generating the indicated speed to the vehicle so that the upper limit of the depression amount of the operation pedal becomes the upper limit of the speed of the vehicle, it is possible to prevent the indicated speed to the vehicle from exceeding the upper limit of the speed of the vehicle during remote operation. Note that in FIG. 7, an example is shown in which the indicated speed to the vehicle becomes the maximum practical vehicle speed before the depression amount of the operation pedal reaches the upper limit. However, the correspondence relationship between the depression amount of the operation pedal and the indicated speed to the vehicle may be adjusted so that the indicated speed to the vehicle exactly becomes the maximum practical vehicle speed when the depression amount of the operation pedal reaches the upper limit.

[0092] Returning to the description of FIG. 6, next, the mode transition management unit 15 determines whether or not the current speed of the vehicle is less than the first threshold (step S24).

[0093] When the current speed of the vehicle is less than the first threshold (yes in step S24), the mode transition management unit 15 determines whether or not the indicated speed to the vehicle is less than the current speed of the vehicle (step S25).

[0094] When the indicated speed to the vehicle is less than the current speed of the vehicle (yes in step S25), the mode transition management unit 15 transitions the control mode to the accelerator control mode. Specifically, when the current control mode is the speed control mode, the mode transition management unit 15 transitions the control mode to the accelerator control mode, and when the current control mode is already the accelerator control mode, the accelerator control mode is maintained.

[0095] When the indicated speed to the vehicle is greater than or equal to the current speed of the vehicle (no in step S25), when the current control mode is the accelerator control mode, the accelerator control mode is maintained, and when the current control mode is the speed control mode, the speed control mode is maintained.

[0096] Here, the transition conditions from the speed control mode to the accelerator control mode described in steps S24 to S26 will be described in detail with reference to FIG. 8A.

[0097] FIG. 8A is a diagram for explaining the transition conditions from the speed control mode to the accelerator control mode. The vertical axis represents the current speed of the vehicle, and the horizontal axis represents the commanded speed of the vehicle. v a is the current speed of the vehicle, and v s is the commanded speed of the vehicle, and v th1 is the first threshold value.

[0098] When the current control mode is the speed control mode, the transition condition from the speed control mode to the accelerator control mode is that v a < v th1 , and v s < v a . That is, in FIG. 8A, when the current speed of the vehicle and the commanded speed of the vehicle are in the hatched area, the control mode transitions from the speed control mode to the accelerator control mode. In other words, if the current speed of the vehicle is equal to or greater than the first threshold value, the control mode does not transition from the speed control mode to the accelerator control mode. Also, even if the current speed of the vehicle is less than the first threshold value, if the commanded speed of the vehicle is equal to or greater than the current speed of the vehicle, the control mode does not transition from the speed control mode to the accelerator control mode. Note that when the brake pedal is depressed in the operation UI101, even when the current control mode is the speed control mode, the control mode may transition from the speed control mode to the accelerator control mode.

[0099] If the transition condition to the accelerator control mode is only the condition that the current speed of the vehicle is less than the first threshold value, the control mode may frequently transition when the speed of the vehicle is near the first threshold value. However, since the condition that the commanded speed of the vehicle is less than the current speed of the vehicle is also provided, it is possible to suppress the frequent transition of the control mode.

[0100] Returning to the description of FIG. 6, when the current speed of the vehicle is equal to or higher than the first threshold (no in step S24), the mode transition management unit 15 determines whether the current speed of the vehicle is equal to or higher than the second threshold (step S27).

[0101] When the current speed of the vehicle is equal to or higher than the second threshold (yes in step S27), the mode transition management unit 15 determines whether the commanded speed for the vehicle is greater than the current speed of the vehicle (step S28).

[0102] When the commanded speed for the vehicle is greater than the current speed of the vehicle (yes in step S28), the mode transition management unit 15 transitions the control mode to the speed control mode (step S29). Specifically, when the current control mode is the accelerator control mode, the mode transition management unit 15 transitions the control mode to the speed control mode, and when the current control mode is already the speed control mode, the speed control mode is maintained.

[0103] When the current speed of the vehicle is less than the second threshold (no in step S27), or when the commanded speed for the vehicle is less than or equal to the current speed of the vehicle (no in step S28), if the current control mode is the accelerator control mode, the accelerator control mode is maintained, and if the current control mode is the speed control mode, the speed control mode is maintained.

[0104] Here, the transition conditions from the accelerator control mode to the speed control mode described in steps S27 to S29 will be described in detail with reference to FIG. 8B.

[0105] FIG. 8B is a diagram for explaining the transition conditions from the accelerator control mode to the speed control mode. The vertical axis represents the current speed of the vehicle, and the horizontal axis represents the commanded speed for the vehicle. v th2 is the second threshold.

[0106] When the current control mode is the accelerator control mode, the transition condition from the accelerator control mode to the speed control mode is v a > vth2 and v s > v a That is, in FIG. 8B, when the current speed of the vehicle and the indicated speed to the vehicle are in the hatched area, the control mode transitions from the accelerator control mode to the speed control mode. In other words, if the current speed of the vehicle is less than the second threshold value, the control mode does not transition from the accelerator control mode to the speed control mode, and even if the current speed of the vehicle is greater than or equal to the second threshold value, if the indicated speed to the vehicle is less than or equal to the current speed of the vehicle, the control mode does not transition from the accelerator control mode to the speed control mode.

[0107] When the transition condition to the speed control mode is only the condition that the current speed of the vehicle is greater than or equal to the second threshold value, the transition of the control mode may occur frequently when the speed of the vehicle is near the second threshold value. However, since the condition that the indicated speed to the vehicle is greater than the current speed of the vehicle is also provided, it is possible to suppress the frequent transition of the control mode.

[0108] The first threshold value and the second threshold value are not particularly limited. For example, the first threshold value is 3 km / h and the second threshold value is 2 km / h. Note that the first threshold value and the second threshold value may be the same value.

[0109] Here, a specific example of the transition of the control mode will be described with reference to FIG. 9.

[0110] FIG. 9 is a diagram for explaining a specific example of the transition of the control mode. Above FIG. 9, a graph showing the time change of the speed of the vehicle is shown, and below FIG. 9, a graph showing the time change of the depression amount of the operation pedal is shown.

[0111] In the time region (1) shown in FIG. 9, in order to remotely operate the stopped vehicle, the operation pedal has an indicated speed v greater than the second threshold value v th2 greater than sIt is depressed with a stepping amount corresponding thereto, and the speed of the vehicle gradually increases. For example, at the time of starting the vehicle, it is assumed that the control mode is the accelerator control mode. Since the time region (1) is the stage of starting the vehicle and increasing the speed from the state of 0 km / h, the indicated speed v of the vehicle s is greater than the current speed v of the vehicle that increases moment by moment in the time region (1). And when the current speed v of the vehicle a becomes equal to or greater than the second threshold value v a and the conditions of v th2 > v a and v th2 > v s are satisfied, the control mode transitions from the accelerator control mode to the speed control mode. a

[0112] In the time region (2) shown in FIG. 9, the speed of the vehicle reaches the indicated speed of the vehicle, feedback control is performed in the speed control mode, and the speed of the vehicle is maintained at the indicated speed. Thereafter, the operation pedal is depressed to a stepping amount corresponding to an indicated speed v th1 smaller than the first threshold value v s , and the speed of the vehicle gradually decreases. Since the time region (2) is the stage of running the vehicle at a certain speed, the speed v of the vehicle that decreases moment by moment in the time region (2) a is greater than the first threshold value v th1 . And when the current speed v of the vehicle a becomes less than the first threshold value v th1 and the conditions of v a < v th1 and v s < v a are satisfied, the control mode transitions from the speed control mode to the accelerator control mode.

[0113] And in the time region (3) shown in FIG. 9, the depression of the operation pedal is released and the vehicle stops.

[0114] ​Note that the vehicle speed control mode automatically transitions according to the magnitude relationship between the current speed of the vehicle, the first threshold value, and the second threshold value, as well as the magnitude relationship between the commanded speed for the vehicle and the current speed of the vehicle. However, it may also be manually transitioned according to the control mode instructed by the operator of the operation UI101 indicated by the instruction information.

[0115] Returning to the description of FIG. 6, the output unit 19 outputs a vehicle speed control amount according to the accelerator control mode or the speed control mode (step S30). That is, when the control mode is the accelerator control mode, the output unit 19 outputs the depression amount of the operation pedal as the vehicle speed control amount. When the control mode is the speed control mode, the output unit 19 outputs, as the vehicle speed control amount, a control amount converted by feedback control from the commanded speed for the vehicle generated from the depression amount of the operation pedal. Note that the output unit 19 may output the vehicle speed control amount according to the upper limit of the vehicle speed control amount set by the acceleration continuity correction unit 17. Here, the setting of the upper limit of the vehicle speed control amount by the acceleration continuity correction unit 17 will be described with reference to FIG. 10.

[0116] FIG. 10 is a flowchart showing an example of the operation of the acceleration continuity correction unit 17 according to the embodiment. v th3 is the third threshold value.

[0117] First, the acceleration continuity correction unit 17 determines whether or not a control mode transition has occurred (step S31). When no control mode transition has occurred (no in step S31), the acceleration continuity correction unit 17 repeats the process in step S31 until a control mode transition occurs.

[0118] When a control mode transition has occurred (yes in step S31), the acceleration continuity correction unit 17 v s -v a >v th3Determine whether it is the case (step S32). That is, the acceleration continuity correction unit 17 determines whether the commanded speed to the vehicle is not too large with respect to the current speed of the vehicle. Note that the third threshold value is not particularly limited and is set as appropriate. When the control mode transitions, if the difference between the current speed of the vehicle and the commanded speed to the vehicle is greater than the third threshold value, and the speed control amount corresponding to the control mode after the transition is output as it is, the vehicle may suddenly accelerate and enter a dangerous state. Therefore, the determination in step S32 is performed.

[0119] When the acceleration continuity correction unit 17 determines that v s - v a > v th3 (yes in step S32), set the output upper limit of the vehicle speed control amount to v a + α (step S33). That is, the acceleration continuity correction unit 17 sets the upper limit of the vehicle speed control amount based on the current speed of the vehicle. α is set as appropriate. When the difference between the current speed of the vehicle and the commanded speed to the vehicle is greater than the third threshold value, the upper limit of the vehicle speed control amount is set based on the current speed of the vehicle. Therefore, when the control mode transitions, sudden acceleration of the vehicle can be suppressed, and the continuity of the vehicle's acceleration can be maintained.

[0120] On the other hand, when the acceleration continuity correction unit 17 determines that v s - v a ≦ v th3 (no in step S32), do not set the upper limit of the vehicle speed control amount and end the process.

[0121] After setting the upper limit of the vehicle speed control amount in step S33, the acceleration continuity correction unit 17 determines whether v s - v a ≦ v th3 (step S34). That is, the acceleration continuity correction unit 17 determines whether the current speed of the vehicle is approaching the commanded speed to the vehicle. When the acceleration continuity correction unit 17 determines that v s - v a > v th3 (no in step S34), v s - v a≤ v th3 Repeat the process in step S34 until this condition is met.

[0122] Then, the acceleration continuity correction unit 17 checks if v s -v a ≤ v th3 If this is the case (yes in step S34), the upper limit of the vehicle speed control amount is released (step S35). This is because the vehicle speed has increased to a certain extent towards the indicated speed of the vehicle, and even if the upper limit of the vehicle speed control amount is released, the vehicle will not accelerate suddenly.

[0123] Next, the components of the server device 200 will be described.

[0124] FIG. 11 is a block diagram showing an example of the server device 200 according to the embodiment.

[0125] The server device 200 includes a communication unit 201, a database 202, and a transition condition determination unit 203.

[0126] For example, the server device 200 is a computer including a processor, a communication interface, a memory, etc. The memory includes a ROM, a RAM, etc., and can store programs executed by the processor. The communication unit 201, the database 202, and the transition condition determination unit 203 are realized by a processor, a memory, a communication interface, etc. that execute programs stored in the memory.

[0127] The communication unit 201 is a communication interface for communicating with the vehicle control device 10 and the remote control device 100. Note that the server device 200 may include a communication interface for the vehicle control device 10 and a communication interface for the remote control device 100, respectively. The communication unit 201 acquires the operation history output from the remote control device 100. The operation history includes at least the history of the operation amount related to the speed (i.e., the depression amount of the operation pedal). Further, the operation history may include the history of the operation amount related to the moving direction (i.e., the operation amount of the operation handle). Further, the operation history may include the history of the transition operation instructing the transition of the control mode of the vehicle speed. Further, the communication unit 201 may acquire the history of the vehicle speed from the vehicle control device 10. Further, the communication unit 201 outputs the transition condition of the control mode determined by the transition condition determination unit 203 to the vehicle control device 10.

[0128] The database 202 stores the operation history acquired by the communication unit 201, the history of the vehicle speed, and the like.

[0129] The transition condition determination unit 203 determines the transition condition of the control mode based on the operation history stored in the database 202 or the history of the vehicle speed. A specific example of the method for determining the transition condition will be described later.

[0130] Next, the operation of the server device 200 will be described.

[0131] FIG. 12 is a flowchart showing an example of the operation of the server device 200 according to the embodiment. Since the server device 200 is an example of a computer that executes the information processing method according to the embodiment, FIG. 12 is also a flowchart showing an example of the information processing method according to the embodiment.

[0132] First, the server device 200 acquires the operation history of the operation UI 101 or the history of the vehicle speed (step S41). The acquired history is stored in the database 202.

[0133] Next, the server device 200 determines the transition conditions for the control mode based on the operation history of the operation UI 101 or the history of the vehicle speed (step S42). As described above, the transition conditions for the control mode are thresholds for the current speed of the vehicle, specifically, the first threshold and the second threshold. Here, a specific example of the method for determining the transition conditions will be described with reference to FIGS. 13A to 14B.

[0134] FIG. 13A is a table showing an example of the remote operation history.

[0135] FIG. 13B is a diagram for explaining an example of the method for determining the transition conditions.

[0136] As shown in FIG. 13A, the remote operation history includes the history for each operator of the operation UI 101. Specifically, the remote operation history includes the vehicle type of the vehicle remotely operated by the operator, the remote operation event, and the driving log data such as the operation amounts of the accelerator pedal, brake pedal, and steering (wheel) in the operation UI 101 at regular intervals and the vehicle speed information.

[0137] As shown in FIG. 13B, for example, clustering analysis is performed for each event and operator to group them into a low-speed operation cluster and a medium / high-speed operation cluster. Then, the first threshold value can be obtained by v th1 =μ 1 +σ 1 where μ 1 is the average value of the speeds of the low-speed operation cluster, and σ 1 is the standard deviation of the speeds of the low-speed operation cluster. Also, the second threshold value can be obtained by v th2 =μ 2 -σ 2 where μ 2 is the average value of the medium / high-speed operation cluster, and σ 2 is the standard deviation of the medium / high-speed operation cluster.

[0138] FIG. 14A is a table showing another example of the remote operation history.

[0139] FIG. 14B is a diagram for explaining another example of a method for determining transition conditions.

[0140] As shown in FIG. 14A, the history of remote operations includes the history for each operator of the operation UI 101. Specifically, the history of remote operations includes the vehicle type of the vehicle remotely operated by the operator, the remote operation event, and the operation amounts of the accelerator pedal and the steering wheel (handle) and the vehicle speed information, etc. in the operation UI 101 when a transition operation instructing a transition of the control mode is performed, that is, the transition operation data.

[0141] As shown in FIG. 14B, for example, the transition operations are statistically analyzed for each event and operator, and the first threshold value and the second threshold value are updated in combination with the calculation described in FIG. 13B. Specifically, the first threshold value can be obtained by v th1 =(w 1 (μ 1 +σ 1 )+w 2 (μ s1 )) / (w 1 +w 2 ). μ s1 is the average value of the speed at the time of the speed control mode transition operation, w 1 is the weight in the method described in FIG. 13B, and w2 is the weight of the analysis result of the transition operation. Also, the second threshold value can be obtained by v th2 =(w 1 (μ 2 -σ 2 )+w 2 (μ s2 )) / (w 1 +w 2 ). μ s2 is the average value of the speed at the time of the accelerator control mode transition operation.

[0142] In addition, the server device 200 may identify the operator of the operation UI 101, acquire a specific operation history corresponding to the identified operator, and determine the first threshold value and the second threshold value based on the specific operation history. Thereby, the first threshold value and the second threshold value can be determined for each operator of the operation UI 101.

[0143] Returning to the description of FIG. 12, the server device 200 outputs the determined transition conditions to the vehicle control device 10 (step S43). Specifically, the server device 200 outputs the first threshold value and the second threshold value determined based on the operation history or the history of the vehicle speed to the vehicle control device 10. Thereby, the communication unit 11 of the vehicle control device 10 can acquire the first threshold value and the second threshold value determined based on at least the history of the depression amount of the operation pedal or the history of the vehicle speed. Specifically, the communication unit 11 can further acquire the first threshold value and the second threshold value determined based on the history of the operation amount of the operation handle, or determined based on the history of the transition operation instructing the transition of the control mode, or determined based on the operation history corresponding to the operator of the operation UI 101. Further, the server device 200 may output the first threshold value and the second threshold value determined based on the specific operation history corresponding to the operator of the operation UI 101, and the communication unit 11 may acquire the first threshold value and the second threshold value determined based on the operation history corresponding to the operator of the operation UI 101.

[0144] In this way, the server device 200 can determine the first threshold value and the second threshold value based on the operation history. Then, by outputting the first threshold value and the second threshold value determined in this way to the vehicle control device 10, it is possible to make a determination as to whether to output the depression amount of the operation pedal as the speed control amount as it is, or to output the control amount converted from the instructed speed to the vehicle as the speed control amount.

[0145] For example, when the operation amount of the operation handle is large, it can be presumed that a fine operation is being performed on the vehicle and the vehicle is moving at a low speed. Therefore, the first threshold value can be determined from the depression amount of the operation pedal or the history of the vehicle speed when the operation amount of the operation handle is large. Also, when the operation amount of the operation handle is small, it can be presumed that a fine operation is not being performed on the vehicle and the vehicle is moving at a medium to high speed. Therefore, the second threshold value can be determined from the depression amount of the operation pedal or the history of the vehicle speed when the operation amount of the operation handle is small.

[0146] Further, for example, when an instruction to transition the vehicle speed control mode to the accelerator control mode is given, it can be presumed that a fine operation is being attempted on the vehicle and the vehicle is being moved at a low speed. Therefore, the first threshold value can be determined from the amount of depression of the operation pedal or the history of the vehicle speed when the instruction to transition to the accelerator control mode is given. Further, when an instruction to transition the control mode to the speed control mode is given, it can be presumed that no fine operation is being performed on the vehicle and the vehicle is being moved at a medium or high speed. Therefore, the second threshold value can be determined from the amount of depression of the operation pedal or the history of the vehicle speed when the instruction to transition to the speed control mode is given.

[0147] As described above, when the current speed of the vehicle is equal to or higher than the second threshold value (for example, when the vehicle is moving at a medium or high speed), it is difficult to perform a fine operation, and even if the responsiveness to the operation on the operation UI 101 is poor, it is unlikely to cause a problem. Therefore, when the current speed of the vehicle is equal to or higher than the second threshold value, considering communication delay and the like, a speed control amount based on the instructed speed for the vehicle generated from the amount of depression of the operation pedal is output. On the other hand, when the current speed of the vehicle is less than the first threshold value (for example, when the vehicle is moving at a low speed), a fine operation is likely to be performed, and if the responsiveness to the operation on the operation UI 101 is poor, it is likely to cause a problem. Therefore, when the current speed of the vehicle is less than the first threshold value, the amount of depression of the operation pedal is output as the speed control amount as it is. In this way, since an optimal speed control amount is output according to the current speed of the vehicle, even if the speed of the vehicle decreases, it is possible to suppress a decrease in the operability of the vehicle by the operation UI 101.

[0148] (Other Embodiments) As described above, the information processing apparatus (vehicle control apparatus 10) and the information processing method according to one or more aspects of the present disclosure have been described based on the embodiments. However, the present disclosure is not limited to these embodiments. As long as the gist of the present disclosure is not deviated from, various modifications conceived by those skilled in the art applied to each embodiment, and forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects of the present disclosure.

[0149] For example, in the above-described embodiment, the mode transition management unit 15 has been described as an example having both a function of transitioning the control mode according to the magnitude relationship between the current speed of the vehicle, the first threshold value, and the second threshold value, and a function of transitioning the control mode according to the instruction information based on the transition operation. However, the present invention is not limited to this. For example, the mode transition management unit 15 may not have a function of transitioning the control mode according to the instruction information.

[0150] For example, in the above-described embodiment, the vehicle control device 10 has been described as an example including the mode transition management unit 15. However, the vehicle control device 10 may not include the mode transition management unit 15. In this case, the output unit 19 may not output the speed control amount of the vehicle according to the control mode. For example, the output unit 19 may determine the magnitude relationship between the current speed of the vehicle, the first threshold value, and the second threshold value, and determine whether to output the depression amount of the operation pedal as the movement speed control amount according to the determination result, or output the control amount converted from the instruction speed to the vehicle as the movement speed control amount.

[0151] For example, in the above-described embodiment, the vehicle control device 10 has been described as an example including the acceleration continuity correction unit 17. However, the vehicle control device 10 may not include the acceleration continuity correction unit 17.

[0152] For example, in the above-described embodiment, the vehicle control device 10 has been described as an example including the restriction unit 18. However, the vehicle control device 10 may not include the restriction unit 18.

[0153] For example, in the above-described embodiment, the first threshold value and the second threshold value have been described as being determined based on the operation history or the speed history of the vehicle. However, the first threshold value and the second threshold value may not be determined based on these histories, and may be manually set by a person or the like.

[0154] For example, in the above-described embodiment, the example in which the operator of the operation UI 101 can give an instruction to transition the control mode of the vehicle speed has been described. However, the operator of the operation UI 101 may not be able to give an instruction to transition the control mode.

[0155] For example, in the above embodiment, the description has focused on the accelerator pedal in the operation UI101 as the operation pedal, but the present disclosure can also be applied to the brake pedal in the operation UI101. For example, in the above description, the part where the operation pedal is mentioned can be replaced with the brake pedal in the operation UI101.

[0156] For example, the present disclosure can be realized as a program for causing a processor to execute the steps included in the information processing method. Further, the present disclosure can be realized as a non-transitory computer-readable recording medium such as a CD-ROM on which the program is recorded.

[0157] For example, when the present disclosure is realized by a program (software), each step is executed by the program being executed using the hardware resources such as the CPU, memory, and input / output circuits of the computer. That is, each step is executed by the CPU acquiring data from the memory or input / output circuits or the like and performing calculations, or outputting the calculation results to the memory or input / output circuits or the like.

[0158] In addition, in the above embodiment, each component included in the vehicle control device 10 may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0159] Part or all of the functions of the vehicle control device 10 according to the above-described embodiment are typically realized as an LSI which is an integrated circuit. These may be individually formed into one chip, or may be formed into one chip so as to include part or all of them. Further, the integration is not limited to an LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) which can be programmed after manufacturing the LSI, or a reconfigurable processor which can reconfigure the connection and setting of circuit cells inside the LSI may be used.

[0160] Furthermore, various modifications obtained by making changes within the scope conceivable by those skilled in the art to each embodiment of the present disclosure are also included in the present disclosure as long as they do not depart from the gist of the present disclosure.

Industrial Applicability

[0161] The present disclosure can be applied to a moving body such as a vehicle capable of remote operation.

Explanation of Signs

[0162] 1 Remote control system 10 Vehicle control device 11, 103, 201 Communication unit 12 Vehicle information acquisition unit 13 Vehicle speed instruction generation unit 14 Feedback control unit 15 Mode transition management unit 16 Switch 17 Acceleration continuity correction unit 18 Limiting unit 19 Output unit 100 Remote control device 101 Operation UI 102 Signal conversion unit 104 Presentation unit 104a, 104b Regions 200 Server device 202 Database 203 Transition condition determination unit

Claims

1. A first acquisition unit that acquires a first moving speed of a moving body; A second acquisition unit that acquires an operation amount related to a moving speed of a device for remotely operating the moving body; A generation unit that generates a second moving speed from the operation amount; When the first moving speed is less than a first threshold value, the operation amount is output as a moving speed control amount that is a control amount of the moving speed of the moving body; An output unit that, when the first moving speed is greater than or equal to a second threshold value, outputs a control amount converted from the second moving speed as the moving speed control amount, and includes An information processing apparatus.

2. When the first moving speed is less than the first threshold value and the second moving speed is less than the first moving speed, the control mode of the moving speed of the moving body is changed to a first mode that is a mode in which the operation amount is output as the moving speed control amount. Transition; When the first moving speed is greater than or equal to the second threshold value and the second moving speed is greater than the first moving speed, a transition control unit that changes the control mode of the moving speed of the moving body to a second mode that is a mode in which a control amount converted from the second moving speed is output as the moving speed control amount. Further provided, The output unit outputs the moving speed control amount according to the first mode or the second mode The information processing apparatus according to claim 1.

3. When the control mode of the moving speed of the moving body transitions and the difference between the first moving speed and the second moving speed is greater than a third threshold value, a setting unit that sets an upper limit of the moving speed control amount based on the first moving speed. Further provided, The output unit further outputs the moving speed control amount according to the upper limit of the moving speed control amount The information processing apparatus according to claim 2.

4. The generation unit generates the second moving speed according to the operation amount so that the upper limit of the operation amount becomes the upper limit of the moving speed of the moving body The information processing apparatus according to any one of claims 1 to 3.

5. The second acquisition unit further acquires the first threshold value and the second threshold value determined based on at least a history of an operation amount related to a moving speed or a history of a moving speed The information processing apparatus according to any one of claims 1 to 4.

6. The second acquisition unit further acquires the first threshold value and the second threshold value determined based on a history of an operation amount related to a moving direction The information processing apparatus according to claim 5.

7. The second acquisition unit further acquires the first threshold value and the second threshold value determined based on a history of a transition operation that instructs a transition of the control mode of the moving speed of the moving body The information processing apparatus according to claim 5 or 6.

8. The second acquisition unit further acquires the first threshold value and the second threshold value determined based on an operation history corresponding to an operator of the device. The information processing apparatus according to any one of claims 5 to 7.

9. The second acquisition unit further acquires instruction information based on a transition operation for instructing a transition of a control mode of a moving speed of the moving body, The transition control unit transitions the control mode of the moving speed of the moving body according to the instruction information. The information processing apparatus according to claim 2 or 3.

10. An information processing method executed by a computer, acquiring an operation amount related to a moving speed of a device for remotely operating a moving body, outputting the acquired operation amount, acquiring mode information indicating whether the control mode of the moving speed of the moving body is either a first mode or a second mode, where the first mode is a control mode that outputs the operation amount as a moving speed control amount that is a control amount of the moving speed of the moving body when a first moving speed of the moving body is less than a first threshold value, and the second mode is a control mode that outputs, as the moving speed control amount, a control amount converted from a second moving speed generated from the operation amount when the first moving speed is greater than or equal to a second threshold value, presenting a control mode of a moving speed of the moving body based on the mode information Information processing method.

11. acquiring an operation history including at least a history of an operation amount related to a moving speed or a history of a moving speed, determining the first threshold value and the second threshold value based on the operation history or the history of the moving speed, outputting the determined first threshold value and second threshold value The information processing method according to claim 10.

12. The operation history further includes a history of an operation amount related to a moving direction. The information processing method according to claim 11.

13. The operation history further includes a history of a transition operation for instructing a transition of a control mode of the moving speed of the moving body. The information processing method according to claim 11 or 12.

14. identifying an operator of the device, acquiring a specific operation history corresponding to the identified operator, determining the first threshold value and the second threshold value based on the specific operation history, outputting the determined first threshold value and second threshold value The information processing method according to any one of claims 11 to 13.

15. acquiring a transition operation for instructing a transition of a control mode of a moving speed of the moving body, generating instruction information based on the transition operation, outputting the instruction information The information processing method according to any one of claims 11 to 14.

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