Mobile Control System

Abstract

To allow a user to operate movement of a movable body with a portable terminal in the movable body where the user can get in, but no driver seat is provided.SOLUTION: A movable body operation system includes a portable terminal having communication connection to a movable body in which a user can get. The movable body operation system further includes: an inclination detection unit which detects an inclination direction and an inclination angle of the portable terminal; a movement setting unit which sets a travel direction of the movable body based on the inclination direction of the portable terminal and sets a target speed or a target acceleration of the movable body based on the inclination angle of the portable terminal; and a movement control unit which controls steering of the movable body based on the travel direction and controls a speed of the movable body based on the target speed or the target acceleration.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a mobile object operation system. [Background technology]

[0002] Japanese Patent Application Laid-Open Publication No. 2022-063056 is a known technical document relating to a mobile object operation system. This publication describes a system in which the direction and speed of a vehicle are controlled by tilting a rod-shaped operating part provided in the center of a platform-shaped floor board on which the vehicle occupants sit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-063056 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, assuming autonomous driving or remote driving, vehicles that a user can get into but do not have a driver's seat are being considered. In such vehicles, it is desirable to have a mechanism that allows the user to operate them when necessary. [Means for solving the problem]

[0005] One aspect of the present invention is a mobile body operation system including a mobile terminal communicatively connected to a mobile body that can be ridden by a user, the system including: a tilt detection unit that detects the tilt direction and tilt angle of the mobile terminal; a movement setting unit that sets the traveling direction of the mobile body based on the tilt direction of the mobile terminal and sets a target speed of the mobile body based on the tilt angle of the mobile terminal; and a movement control unit that performs steering control of the mobile body based on the traveling direction and controls the speed of the mobile body based on the target speed. The mobile body does not have a driver's seat, and moves by automatic driving. The mobile terminal has a camera capable of reading a two-dimensional barcode displayed on the display of the mobile body. When a request is made to the mobile terminal from a management center that manages the mobile body, the two-dimensional barcode is displayed on the display of the mobile body. The movement setting unit allows the mobile terminal that receives the request to read the two-dimensional barcode with the camera, thereby setting the traveling direction of the mobile body based on the tilt direction of the mobile terminal and setting the target speed of the mobile body based on the tilt angle of the mobile terminal. The mobile terminal is configured not to allow movement of the mobile body unless a request is made from the management center. .

[0006] In a mobile object operating system according to one aspect of the present invention, when the mobile terminal is located outside the mobile object, the mobile object may be prohibited from moving in a direction away from the mobile terminal with which it is connected for communication. [Effects of the Invention]

[0007] According to one aspect of the present invention, in a mobile body that a user can get into but that does not have a driver's seat, the user can control the movement of the mobile body using a mobile terminal. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an example of a mobile object operation system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of an ECU of a mobile terminal and a moving object. [Figure 3] 10A is a graph showing an example of a change in the tilt angle of a mobile terminal over time, and FIG. 10B is a graph showing an example of a change in the target speed of a moving object. [Figure 4] 10A is a flowchart illustrating an example of a mobile object operation process in a mobile terminal, and FIG. 10B is a flowchart illustrating an example of a mobile object operation process in an ECU of a mobile object. [Figure 5] 1A is a diagram for explaining how a moving object is operated by tilting a mobile terminal, and FIG. 1B is a diagram for explaining how a moving object is operated by touching a mobile terminal. [Figure 6] FIG. 10 is a diagram for explaining operation of a mobile object from the outside using a mobile terminal in an emergency. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] Fig. 1 is a diagram showing an example of a mobile object operating system according to an embodiment. The mobile object operating system 100 shown in Fig. 1 includes a mobile terminal 1. The mobile object operating system 100 is a system for operating a mobile object 2 using the mobile terminal 1.

[0011] The mobile terminal 1 is, for example, a smartphone. The mobile terminal 1 does not necessarily have to have a telephone function, but it must have a function for establishing a communication connection with the mobile object 2. The mobile terminal 1 may be a tablet information terminal or a notebook information terminal. The shape of the mobile terminal 1 is not particularly limited as long as it is portable. The owner of the mobile terminal 1 is also not particularly limited. The mobile terminal 1 may be owned by a user who operates the mobile object 2, or by the owner of the mobile object 2, or by the manufacturer or management company of the mobile object 2.

[0012] The moving body 2 is a mobility that a user can board and that travels on the ground. The moving body 2 may be a vehicle or a personal mobility. The moving body 2 may be a ship. Vehicles also include pedestal-type vehicles with wheels attached to a pedestal for movement. The moving body 2 may be a mobility that does not have a driver's seat (driving operation device). In this case, the moving body 2 is normally driven automatically or remotely. The moving body 2 may be provided with an emergency stop button.

[0013] 1, the moving object 2 includes an ECU 10, a camera 11, a GPS receiver 12, a communication unit 13, a display 14, a battery 15, a drive control circuit 16, and a motor 17. The ECU 10 is an electronic control unit having a CPU (Central Processing Unit) and a storage unit such as a ROM (Read Only Memory) or a RAM (Random Access Memory).

[0014] The camera 11 is a camera that captures images of the outside of the mobile object 2. The GPS receiver 12 is a device that receives signals from positioning satellites to measure the position of the mobile object 2. The Global Navigation Satellite System (GNSS) may be adopted instead of the Global Positioning System (GPS).

[0015] The communication unit 13 is a device for communicating with the mobile terminal 1. The communication unit 13 may be connectable to the Internet or other wireless networks, and may be capable of communicating with a server at a management center that manages the mobile object 2. The display 14 is an in-vehicle display. The display 14 is provided, for example, on the instrument panel of the mobile object 2. The display 14 may also include a display outside the vehicle. The battery 15 is a battery that stores power for the mobile object 2. The drive control circuit 16 is a circuit for controlling the drive of the motor 17 of the mobile object 2. The motor 17 is an electric motor for moving the mobile object 2. The motor 17 includes, for example, a steering motor for changing the direction of the wheels of the mobile object 2, and a drive motor for rotating the wheels of the mobile object 2.

[0016] 2 is a diagram showing an example of the configuration of the ECU of the mobile terminal and the mobile body. As shown in Fig. 2, the mobile terminal 1 has a tilt detection unit 21, a camera 22, a GPS receiving unit 23, a communication connection unit 24, an impact determination unit 25, and a movement setting unit 26.

[0017] The tilt detection unit 21 detects the tilt direction and tilt angle of the portable terminal 1 using a gyro sensor and an acceleration sensor of the portable terminal 1. The camera 22 is an imaging unit of the portable terminal 1 that can read two-dimensional barcodes. The GPS receiving unit 23 is a measurement unit that measures the position information of the portable terminal 1 using the same technology as the GPS receiving unit 12 of the moving object 2 described above.

[0018] The communication connection unit 24 is a part that establishes a communication connection with the communication unit 13 of the mobile object 2. The mobile terminal 1 may establish a communication connection with the mobile object 2, for example, by reading a two-dimensional barcode displayed on the display 14 of the mobile object 2 with the camera 22. The timing at which the two-dimensional barcode can be displayed may be limited. For example, the two-dimensional barcode may be displayed only when the autonomous driving function or remote driving function of the mobile object 2 is in an inactive state.

[0019] The mobile terminal 1 may be able to control the movement of the mobile object 2 or be able to connect to the mobile object 2 for a certain period of time after reading the two-dimensional barcode and connecting to the mobile object 2. In other words, a time limit may be set for operating the mobile object 2 from the mobile terminal 1.

[0020] Impact determination unit 25 is a component that determines whether or not portable terminal 1 has received an impact using an acceleration sensor of portable terminal 1 during communication connection with mobile object 2. Impact determination unit 25 determines that portable terminal 1 has received an impact when, for example, the amount of change in acceleration of portable terminal 1 over a certain period of time (for example, 0.1 seconds) is equal to or greater than a predetermined threshold.

[0021] When the acceleration sensor of the portable terminal 1 determines that the portable terminal 1 has received an impact while the portable terminal 1 is connected for communication with the mobile object 2, the impact determination unit 25 prohibits the portable terminal 1 from operating the mobile object 2 and brings the mobile object 2 to an emergency stop. This ensures a fail-safe when the user accidentally lets the portable terminal 1 slip out of their hand.

[0022] After prohibiting the mobile terminal 1 from operating the moving object 2, if no impact is received for a certain period of time, the impact determination unit 25 may permit the mobile terminal 1 to operate the moving object 2. Alternatively, the impact determination unit 25 may permit the mobile terminal 1 to operate the moving object 2 when the user performs an operation to cancel the prohibition on the mobile terminal 1. Note that an emergency stop of the moving object 2 is not required.

[0023] The movement setting unit 26 sets the traveling direction of the moving object 2 based on the tilt direction of the mobile terminal 1, and also sets a target speed of the moving object 2 based on the tilt angle of the mobile terminal 1. The traveling direction of the moving object 2 may be set as a target tire angle or a target yaw rate in the left / right direction. For example, by tilting the mobile terminal 1 left / right, a target tire angle or a target yaw rate in the left / right direction is set as a parameter related to the traveling direction.

[0024] The movement setting unit 26 transmits a movement instruction including a traveling direction and a target speed of the moving object 2 to the moving object 2 via the communication connection unit 24. The movement setting unit 26 may set a target acceleration instead of the target speed.

[0025] The movement setting unit 26 may impose restrictions on the travel direction of the moving body 2 that can be set. When the portable terminal 1 is located outside the moving body 2, the movement setting unit 26 may prohibit the moving body 2 from traveling in a direction away from the portable terminal 1 with which it is connected for communication. In other words, the movement setting unit 26 allows the moving body 2 to set only a travel direction that approaches the portable terminal 1 with which it is connected for communication. A certain angle range is allowed as a margin for the travel direction approaching the portable terminal 1.

[0026] Here, FIG. 3(a) is a graph showing an example of a change in the tilt angle of the mobile terminal 1 over time. FIG. 3(b) is a graph showing an example of a change in the target speed of the moving object 2. FIG. 3(b) shows a situation in which the target speed is changed in accordance with the change in the tilt angle of the mobile terminal 1 over time in FIG. 3(a). The tilt direction is not changed. As shown in FIGS. 3(a) and 3(b), the movement setting unit 26 changes the target speed from 0 to V1 at time T1 when the tilt angle of the mobile terminal 1 becomes equal to or greater than a threshold. The movement setting unit 26 changes the target speed from V1 to 0 at time T2 when the tilt angle of the mobile terminal 1 changes from equal to or greater than the threshold to less than the threshold.

[0027] In this way, the movement setting unit 26 may provide a margin between when the portable terminal 1 starts to tilt and when the tilt is reflected in the target speed. Also, the movement setting unit 26 may set a plurality of thresholds to change the target speed in multiple stages instead of one stage. Furthermore, as shown by the dashed arrow in FIG. 3(b), the movement setting unit 26 may change the target speed gradually with a time lag rather than switching it from 0 to V1 instantly.

[0028] Alternatively, the movement setting unit 26 may continuously change the target speed according to the tilt angle of the mobile terminal 1. The movement setting unit 26 may set the target speed according to the input tilt angle using map data that associates the tilt angle with the target speed in advance. Although the above has been described as an example of the case of the target speed, the same can be done when the target acceleration is used.

[0029] The movement setting unit 26 may prohibit the user holding the mobile terminal 1 from operating (instructing) the mobile object 2 when the user is located outside the mobile object 2 and the distance between the mobile terminal 1 and the mobile object 2 is equal to or greater than a certain distance. The certain distance is not particularly limited, and may be 3 m, 5 m, or 10 m.

[0030] 2, the ECU 10 of the moving body 2 has a movement control unit 30. The movement control unit 30 performs steering control of the moving body 2 based on the traveling direction included in the movement command from the portable terminal 1. The movement control unit 30 performs steering control by controlling the steering motor of the motor 17 so that the moving body 2 moves in the traveling direction of the movement command. Note that the traveling direction of the moving body 2 may be restricted by the movement control unit 30 of the moving body 2, rather than by the movement setting unit 26 of the portable terminal 1.

[0031] The movement control unit 30 controls the speed of the moving body 2 based on the target speed included in the movement instruction from the mobile terminal 1. The movement control unit 30 controls the drive motor of the motor 17 to execute the speed control so that the moving body 2 reaches the target speed of the movement instruction.

[0032] Next, a processing method of the mobile object operating system 100 according to this embodiment will be described with reference to Fig. 4. Fig. 4(a) is a flowchart showing an example of mobile object operating processing in the mobile terminal 1. The mobile object operating processing in the mobile terminal 1 is executed, for example, when the mobile terminal 1 is connected for communication with the mobile object 2 and an operation to move the mobile object 2 is started.

[0033] 4(a), the mobile terminal 1, as S1, detects the tilt direction and tilt angle of the mobile terminal 1 by the tilt detection unit 21. The tilt detection unit 21 detects the tilt direction and tilt angle of the mobile terminal 1 by a gyro sensor and an acceleration sensor of the mobile terminal 1.

[0034] As S2, the portable terminal 1 sets the traveling direction and target speed of the moving object 2 by the movement setting unit 26. The movement setting unit 26 sets the traveling direction of the moving object 2 based on the tilt direction of the portable terminal 1, and sets the target speed of the moving object 2 based on the tilt angle of the portable terminal 1. As S3, the portable terminal 1 transmits a movement instruction to the moving object 2 via the communication connection unit 24. Thereafter, the portable terminal 1 ends the current moving object operation process and repeats the process from S1.

[0035] 4(b) is a flowchart showing an example of a moving object operation process in the ECU 10 of the moving object 2. The moving object operation process in the moving object 2 is executed when a movement instruction is received from the mobile terminal 1 with which the moving object 2 is connected for communication.

[0036] 4(b), in step S10, the mobile terminal 1 performs steering control and speed control of the moving body 2 using the movement control unit 30. The movement control unit 30 performs steering control by controlling the steering motor of the motor 17 so that the moving body 2 moves in the direction of travel indicated by the movement command, and also performs speed control by controlling the drive motor of the motor 17 so that the moving body 2 reaches the target speed indicated by the movement command.

[0037] According to the mobile object operating system 100 of this embodiment described above, the movement of the mobile object 2 can be controlled using the mobile terminal 1, so that the user can control the movement of the mobile object 2 not only from inside the mobile object 2 but also from outside the mobile object 2. Therefore, in the mobile object operating system 100, for example, when the mobile object 2 is a mobility that does not have a driver's seat (driving operation device), and the user needs to control the movement of the mobile object 2, the user can control the movement of the mobile object 2 using the mobile terminal 1.

[0038] FIG. 5(a) is a diagram illustrating the operation of the moving object 2 by tilting the mobile terminal 1. As shown in FIG. 5(a), the moving object operation system 100 can set the moving direction and target speed of the moving object 2 by tilting the mobile terminal 1. This method allows the user to control the movement of the moving object 2 with one hand when the mobile terminal 1 is a small terminal. Furthermore, since there is a one-to-one correspondence between the way the mobile terminal 1 is moved and the moving direction and speed of the moving object 2, the operation is intuitive and easy for the user to understand. Furthermore, the user does not need to look at the screen of the mobile terminal 1 during operation. Therefore, even when the user is outside the moving object 2, the user can control the movement of the moving object 2 while concentrating on checking the situation around the moving object 2.

[0039] Furthermore, if the mobile object operating system 100 determines that the mobile terminal 1 has received an impact using the acceleration sensor of the mobile terminal 1 during a communication connection between the mobile terminal 1 and the mobile object 2, it prohibits the mobile terminal 1 from operating the mobile object 2, thereby ensuring a fail-safe in the event that the user lets the mobile terminal 1 slip out of their hand.

[0040] Furthermore, the mobile object operating system 100 can enhance security against remote takeover by prohibiting the mobile terminal 1 from operating (giving instructions to) the mobile object 2 when the user holding the mobile terminal 1 is located outside the mobile object 2 and the distance between the mobile terminal 1 and the mobile object 2 is greater than a certain distance.

[0041] Furthermore, when the mobile terminal 1 is located outside the mobile terminal 2, the mobile object operating system 100 can restrict the movement of the mobile object 2 to a direction that is easy for the user to see by prohibiting the mobile object 2 from moving in a direction away from the mobile terminal 1 with which it is connected for communication.

[0042] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. The present invention can be embodied in various forms, including the above-described embodiments, with various modifications and improvements made based on the knowledge of those skilled in the art.

[0043] For example, the movement of the moving object 2 may be controlled by touching the touch display of the mobile terminal 1. FIG. 5(b) is a diagram for explaining the operation of the moving object 2 by touching the mobile terminal 1. As shown in FIG. 5(b), the moving object operation system 100 may enable the operation of the moving object 2 by touching the mobile terminal 1. According to this method, the movement of the moving object 2 can be controlled by touching the position to which the moving object 2 is to be moved, using the moving object 2 displayed on the display of the mobile terminal 1 as a reference, so that the operation of moving the moving object 2 forward or backward is easier than when controlling the moving object 2 by tilting the mobile terminal 1.

[0044] Additionally, as a fail-safe, the mobile object operating system 100 may allow the user to control the movement of the mobile object 2 by tilting only while the user is touching the touch display or buttons of the mobile terminal 1. When the user is not touching the touch display or buttons of the mobile terminal, the mobile terminal 1 stops operating the mobile object 2. The mobile object 2 may also be stopped when the user releases their hand from the touch display or buttons of the mobile terminal while the mobile object 2 is moving.

[0045] FIG. 6 is a diagram for explaining the operation of a mobile object 2 from the outside using a mobile terminal 1 in an emergency. The operation of the movement of the mobile object 2 using the mobile terminal 1 may be executable only when a rescue request is received from a management center that manages the mobile object 2. When the management center detects an abnormality in the mobile object 2, it requests rescue from the mobile terminal 1 of a predetermined user and causes the mobile object 2 to display a two-dimensional barcode. By reading the two-dimensional barcode of the mobile object 2 using the camera 22 of the mobile terminal 1, the user can issue a control request to the mobile object 2 and control the movement of the mobile object 2. [Explanation of symbols]

[0046] 1...mobile terminal, 2...mobile body, 11...camera, 14...display, 21...tilt detection unit, 26...movement setting unit, 30...movement control unit, 100...mobile body operation system

Claims

1. A mobile object operation system including a mobile terminal communicatively connected to a mobile object that a user can ride in, a tilt detection unit that detects the tilt direction and tilt angle of the mobile terminal; a movement setting unit that sets a traveling direction of the moving body based on a tilt direction of the mobile terminal and sets a target speed of the moving body based on a tilt angle of the mobile terminal; a movement control unit that performs steering control of the moving body based on the traveling direction and performs speed control of the moving body based on the target speed, The moving body does not have a driver's seat, and the moving body moves by automatic driving, the mobile terminal is equipped with a camera capable of reading a two-dimensional barcode displayed on a display of the mobile object; When a request is made to the mobile terminal from a management center that manages the mobile object, the two-dimensional barcode is displayed on a display of the mobile object; the movement setting unit enables the mobile terminal that has received the request to read the two-dimensional barcode with the camera, thereby setting the traveling direction of the moving body based on the tilt direction of the mobile terminal, and also enables setting the target speed of the moving body based on the tilt angle of the mobile terminal; A mobile object operation system that does not permit movement of the mobile object by the mobile terminal unless a request is received from the management center.

2. 2. The mobile object operating system according to claim 1, wherein when the distance between the mobile terminal and the mobile object is equal to or greater than a predetermined distance, the mobile terminal is prohibited from operating the mobile object.

3. 3. The mobile object operation system according to claim 1, wherein when the mobile terminal is located outside the mobile object, the mobile object is prohibited from moving in a direction away from the mobile terminal with which the mobile object is connected for communication.

Images