Mobile devices and remote support systems

Abstract

To provide a technique that can improve the operability of remotely driving a moving object by utilizing the action of tilting a mobile terminal.SOLUTION: A mobile terminal is operated by an operator for remotely driving a moving object, and includes a communication device, a touch panel, and a processor. The communication device performs wireless communication with the moving object. The touch panel can detect whether or not the operator touches the touch panel. The movement of the moving object is controlled in response to the operator's action of tilting the mobile terminal while touching the touch panel. The processor identifies an inclination angle in a specific rotation direction of the mobile terminal at the time when the operator's touch on the touch panel is detected as a reference angle in the specific rotation direction, generates a control signal for the movement of the moving object based on the inclination angle in the specific rotation direction and the reference angle during a control effective period during which the touch continues from the time of detection, and transmits the generated control signal to the moving object via the communication device.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a technology for remotely support operating a moving body using a mobile terminal.

Background Art

[0002] Patent Document 1 discloses a remote operation system for remotely operating a forklift using a remote operation device such as a smartphone. This remote operation includes controlling the steering of the forklift by tilting the remote operation device. As a reference position (reference angle) of the tilt angle of the remote operation device for the steering, the tilt angle when the longitudinal direction of the remote operation device coincides with the horizontal direction is used.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Regarding the remote operation of a moving body using the operation of tilting a mobile terminal such as the remote operation device described in Patent Document 1, the range of movement of the operator's wrist of the mobile terminal and the holding posture of the mobile terminal vary depending on the person. Also, the operator cannot grasp the absolute angle of the mobile terminal he or she is holding. Therefore, it can be difficult for the operator to grasp how to tilt the mobile terminal for the moving body to start operating.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a technology capable of improving the operability of remote operation of a moving body using the operation of tilting a mobile terminal.

Means for Solving the Problems

[0006] The mobile terminal according to the present disclosure is for remotely supportIt is operated by an operator and comprises a communication device, a touch panel, and a processor. The communication device communicates wirelessly with the mobile object. The touch panel is capable of detecting whether or not the operator is touching it. The movement of the mobile object is controlled according to the operator's action of tilting the mobile device while touching the touch panel. The processor identifies the tilt angle of the mobile device in a specific rotational direction at the time the operator's touch on the touch panel is detected as the reference angle for that rotational direction, generates a control signal for the movement of the mobile object based on the tilt angle in the specific rotational direction and the reference angle during the control validity period in which the touch continues from the time of detection, and transmits the generated control signal to the mobile object via the communication device. The reference angle is reset in response to the operator releasing the touch, and if communication is lost between the mobile object and the mobile terminal, the mobile object is brought to an emergency stop. If communication is restored after the emergency stop, the mobile object remains stopped until the operator releases the touch, even if the operator had been continuing to touch it before the emergency stop.

[0007] Furthermore, the remote support system relating to this disclosure comprises a mobile unit and a portable terminal operated by an operator for remote support of the mobile unit. The remote support system comprises one or more processors. The portable terminal includes a communication device that communicates wirelessly with the mobile unit and a touch panel capable of detecting whether or not the operator is touching it. motion The operator can use the touch panel. While touching Mobile devices tilting motion The system is controlled accordingly. One or more processors identify the tilt angle of the mobile device in a specific rotational direction at the time of detecting the operator's touch on the touch panel as the reference angle for that rotational direction, and generate control signals for the motion of the moving object based on the tilt angle in the specific rotational direction and the reference angle during the control validity period in which the touch continues from the time of detection. The reference angle is reset in response to the operator releasing the touch, and if communication is lost between the mobile object and the mobile terminal, the mobile object is brought to an emergency stop. If communication is restored after the emergency stop, the mobile object remains stopped until the operator releases the touch, even if the operator had been continuing to touch it before the emergency stop. [Effects of the Invention]

[0008] According to this disclosure, the operator will be able to more easily recognize the reference angle. Therefore, the operability of remotely controlling a mobile object using the tilting motion of a mobile device can be improved. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing an example configuration of a remote support system according to an embodiment. [Figure 2]This is a time chart illustrating the method for determining the inclination angle A1c used to calculate the target vehicle speed in the vehicle speed control according to the embodiment. [Figure 3] This diagram illustrates a method for calculating target vehicle speed based on the inclination angle. [Figure 4] This flowchart shows an example of the process related to vehicle speed control according to the embodiment. [Figure 5] This diagram illustrates the method for calculating the target values ​​of each controlled variable based on the tilt angle. [Figure 6] This flowchart shows an example of a process related to vehicle motion control according to the embodiment. [Modes for carrying out the invention]

[0010] Embodiments of this disclosure will be described with reference to the attached drawings.

[0011] 1. Remote support system Let's consider remote support for mobile objects. Remote support is a concept that includes remote monitoring, remote assistance, and remote driving. Examples of mobile objects include vehicles and robots. Vehicles may be autonomous vehicles or vehicles driven by a driver. Examples of robots include logistics robots. As an example, in the following explanation, we will consider the case where the mobile object being remotely supported is a vehicle. When generalizing, replace "vehicle" with "mobile object" in the following explanation.

[0012] Figure 1 is a schematic diagram showing an example configuration of a remote support system 1 according to an embodiment. The remote support system 1 includes a mobile terminal 10 and a vehicle 20, and has a function to remotely drive the vehicle 20 using the mobile terminal 10. In addition, the remote support system 1 may also have a function to remotely assist and remotely monitor the vehicle 20 using the mobile terminal 10.

[0013] The mobile terminal (or simply terminal) 10 is operated by an operator for the remote driving (remote control) of the vehicle 20. The terminal 10 comprises a touch panel 11, a communication device 12, a processor 13, a storage device 14, and a tilt angle sensor 15. For example, as shown in Figure 1, the terminal 10 is formed in the shape of a rectangular plate with one side being the longitudinal direction and the other the short direction. The terminal 10 is, for example, a smartphone or a tablet terminal.

[0014] The touch panel 11 is formed on one surface of the terminal 10. For example, the touch panel 11 is rectangular in shape with a longitudinal direction and a transverse direction, and the longitudinal direction of the touch panel 11 coincides with the longitudinal direction of the terminal 10. The touch panel 11 is configured to display a desired image. The touch panel 11 also includes a touch sensor. The touch sensor is configured to detect whether or not an operator is touching the touch panel 11.

[0015] The communication device 12 is configured to communicate with the vehicle 20 via the wireless communication network 2. The processor 13 performs various processes for the remote operation of the vehicle 20. The storage device 14 stores various information necessary for the processing by the processor 13. More specifically, the processor 13 performs various processes using various programs related to remote operation. These programs may be stored in the storage device 14 or recorded on a computer-readable recording medium.

[0016] The tilt angle sensor 15 detects the tilt angle (orientation) of the terminal 10. The tilt angle sensor 15 is configured to include, for example, a three-axis gyro sensor. More specifically, the tilt angle sensor 15 detects the rotation angle of the terminal 10 about the rotation axis parallel to the center line L1 as the tilt angle A1. The center line L1 passes through the center of the terminal 10 and extends in the short side direction of the terminal 10. Similarly, the tilt angle sensor 15 detects the rotation angle about the rotation axis parallel to the center line L2 as the tilt angle A2, and detects the rotation angle about the rotation axis parallel to the center line L3 as the tilt angle A3. The center line L2 passes through the center of the terminal 10 and extends in the long side direction of the terminal 10. The center line L3 passes through the center of the terminal 10 and extends in the thickness direction of the terminal 10. And the center lines L1, L 2, and L3 are orthogonal to each other.

[0017] The vehicle 20 includes a communication device 21, a traveling device 22, sensors 23, and a control device 24. The communication device 21 communicates with the outside of the vehicle 20. For example, the communication device 21 communicates with the mobile terminal 10. The traveling device 22 includes a steering device, a driving device, and a braking device. The steering device includes an electric motor for steering the wheels. The driving device includes one or both of an electric motor and an internal combustion engine for driving the vehicle 20. The braking device includes a brake actuator for braking the vehicle 20.

[0018] The sensors 23 include recognition sensors, vehicle state sensors, position sensors, and shift position sensors. The recognition sensors recognize the situation around the vehicle 20. Examples of the recognition sensors include cameras, LIDAR (Laser Imaging Detection and Ranging), radars, etc. The vehicle state sensors detect the state of the vehicle 20. The vehicle state sensors include speed sensors, acceleration sensors, yaw rate sensors, steering angle sensors, etc. The position sensors detect the position and orientation of the vehicle 20. For example, the position sensors include GNSS (Global Navigation Satellite System). The shift position sensors detect the shift range of the vehicle 20.

[0019] The control device 24 is a computer that controls the vehicle 20. The control device 24 includes one or more processors 25 (hereinafter simply referred to as processor 25) and one or more storage devices 26 (hereinafter simply referred to as storage devices 26). The processor 25 performs various processes related to the control of the vehicle 20. The storage devices 26 store various information necessary for the processing performed by the processor 25.

[0020] 2. Vehicle motion control using mobile devices Terminal 10 is used to control the movement (vehicle motion) of the vehicle 20. Basically, the operator remotely controls the vehicle motion by operating terminal 10 from outside the vehicle 20. However, vehicle motion control using terminal 10 may also be performed while the operator is inside the vehicle 20.

[0021] In the remote support system 1, the movement of the vehicle 20 is controlled according to the operator's actions of tilting the terminal 10 while touching the touch panel 11. In other words, from a fail-safe perspective, in system 1, vehicle motion control using the terminal 10 is only effective while the operator is touching the touch panel 11.

[0022] 2-1. Vehicle Speed ​​Control The following describes a vehicle motion control using terminal 10, specifically the speed control of vehicle 20. Vehicle speed control is an example of controlling the longitudinal motion (forward and reverse) of vehicle 20. Vehicle speed control includes drive control and braking control of vehicle 20.

[0023] The operation of tilting the terminal 10 for vehicle speed control is performed, for example, as follows. Here, examples of how the operator holds the terminal 10 are described in order: Example EX1 and EX2. In Example EX1, as shown in Figure 1, the operator holds one end 10e1 in the shorter direction of the terminal 10 with one hand H. In Example EX1, the operator tilts the terminal 10 so that it rotates along the center line L1. More specifically, for example, the vehicle 20 moves forward in response to the operator rotating the terminal 10 so that the end 10e2 of the terminal 10 furthest from the operator goes down (i.e., along the rotation direction R1F). Then, the vehicle moves backward in response to the operator rotating the terminal 10 so that the end 10e2 goes up (i.e., along the rotation direction R1R), as described later. On the other hand, in Example EX2 (not shown), the operator holds each end 10e2 and 10e3 in the longer direction of the terminal 10 with their respective hands. In example EX2, the operator tilts terminal 10 so that it rotates along the center line L2, and this action is used for vehicle speed control.

[0024] In this embodiment, in order to improve the operability of remote driving of the vehicle 20 using the tilting motion of the terminal 10, the processor 13 performs the following processing.

[0025] Figure 2 is a time chart illustrating the method for determining the tilt angle A1c used to calculate the target vehicle speed Vt in the vehicle speed control according to the embodiment. Figure 2 is explained along with an example EX1 of how to hold the terminal 10. The tilt angle A1 in Figure 2 corresponds to the tilt angle of the terminal 10 used for vehicle speed control, that is, the rotation angle of the terminal 10 along the rotation direction R1F. In other words, Figure 2 shows the tilt angle A1 when the operator tilts the terminal 10 to move the vehicle 20 forward. The tilt angle A1 when reversing is not shown, but it is the same as when moving forward, except that the sign is negative.

[0026] The value of the tilt angle A1 detected by the tilt angle sensor 15 is referred to as "tilt angle A1d". In Figure 2, the tilt angle A1d detected when the surface of the touch panel 11 is horizontal (i.e., when the plane containing the center lines L1 and L2 is horizontal) is set to 0 as an example. However, the zero point for tilt angle A1d is arbitrary. In example EX2, for example, the tilt angle A1d detected when the plane containing the center lines L1 and L3 is horizontal may also be set to 0.

[0027] At time t0 in Figure 2, the touch panel 11 is horizontal (tilt angle A1d = 0). For simplicity of explanation, Figure 2 shows an example where the tilt angle A1d increases monotonically due to the operator's actions as time progresses from time t0. Time t1 corresponds to the time when the operator's hand H touches the touch panel 11. Then, time t2 corresponds to the time when the hand H releases its touch. As mentioned above, vehicle speed control is only effective while the hand H is touching the panel. Therefore, vehicle speed control is effective at time t1 and ineffective at time t2. That is, the period from time t1 to time t2 corresponds to the control effective period. Similarly, the period from time t3 to time t4 also corresponds to the control effective period.

[0028] In the vehicle speed control according to this embodiment, the tilt angle A1d (the tilt angle of the rotation direction R1F corresponding to a specific rotation direction) at the time of touch detection is identified as the reference angle A1r. The difference between the tilt angle A1d and the reference angle A1r during the control validity period in which the touch on the touch panel 11 is continued (=A1d-A1r) is identified as the "tilt angle A1c" used to calculate the target vehicle speed Vt. In other words, the tilt angle A1c corresponds to the relative angle of the tilt angle A1d during the control validity period with respect to the reference angle A1r.

[0029] For example, during the control validity period from time t1 to time t2, the inclination angle A1d1 at time t1 is used as the reference angle A1r for that control validity period. Therefore, the inclination angle A1c for that control validity period is 0 at time t1, as shown in Figure 2. Then, at time t2, the inclination angle A1c is equal to the difference between the inclination angles A1d2 and A1d1 at time t2. Similarly, during the control validity period from time t3 to time t4, the inclination angle A1d3 at time t3 is used as the reference angle A1r for that control validity period. Then, the inclination angle A1c for that control validity period is 0 at time t3 and equal to the difference (=A1d4-A1d3) at time t4.

[0030] Figures 3(A) and 3(B) show the calculation methods for the target vehicle speed Vt based on the inclination angle A1c, respectively. As shown in Figure 3(A), the processor 13 calculates the target vehicle speed Vt based on the inclination angle A1d and the reference angle A1r during the control validity period (i.e., based on the inclination angle A1c). Specifically, as shown in Figure 3(A), the processor 13 calculates the target vehicle speed Vt according to the inclination angle A1c from relational information (e.g., a map or relational expression) that defines the relationship between the inclination angle A1c and the target vehicle speed Vt. Basically, the relational information is determined such that the target vehicle speed Vt increases as the inclination angle A1c increases. However, the specific method for identifying the relationship between the inclination angle A1c and the target vehicle speed Vt (i.e., the shape of the relationship when represented on a graph) is arbitrary.

[0031] Figure 3(B) shows an example of a specific method for determining the relationship between the inclination angle A1c and the target vehicle speed Vt. In this example, the target vehicle speed Vt is constant at 0 when the inclination angle A1c is between 0 and a predetermined threshold TH1. When the inclination angle A1c exceeds the threshold TH1, the target vehicle speed Vt increases linearly as the inclination angle A1c increases. As in this example, a dead zone may be provided so that the target vehicle speed Vt (i.e., the target value of the vehicle motion control variable) does not change in accordance with the inclination angle A1c when the inclination angle A1c (i.e., the difference between the inclination angle A1d and the reference angle A1r during the control effective period) is less than the threshold TH1.

[0032] Figure 4 is a flowchart illustrating an example of the process related to vehicle speed control according to the embodiment. The process in this flowchart is executed, for example, through the cooperation of the processor 13 of the terminal 10 and the processor 25 of the vehicle 20. This process is initiated, for example, upon receiving a request to start vehicle speed control from an operator operating the terminal 10. The operator is assumed to know in advance that the tilt angle A1d when touching the touch panel 11 becomes the reference angle A1r. The operator is also assumed to know in advance that vehicle speed control can be started or restarted by releasing the touch from the touch panel 11 and then touching it again.

[0033] In step S100, the processor 25 maintains the vehicle 20 at a standstill. While the vehicle 20 is at a standstill, the processor 13 determines whether or not the operator is touching the touch panel 11 (step S102). If a touch is detected (step S102; Yes), the vehicle 20 remains at a standstill. On the other hand, if no touch is detected (step S102; No), the processor 13 resets the reference angle A1r to its initial value (e.g., 0) (step S104).

[0034] In step S104, after the reference angle A1r is reset, the processor 13 determines whether or not the operator has touched the touch panel 11 (step S106). As a result, if no touch is detected (step S106; No), the vehicle 20 remains stopped (step S108). On the other hand, if a touch is detected (step S106; Yes), the process proceeds to step S110.

[0035] In step S110, the processor 13 detects the tilt angle A1d using the tilt angle sensor 15 and acquires the detected tilt angle A1d as the reference angle A1r. Then, the processor 13 stores the acquired reference angle A1r in the storage device 14. After that, the process proceeds to step S112.

[0036] In step S112, the processor 13 determines whether the touch detected in step S106 is still active. If the touch is released, i.e., the touch is not still active (step S112; No), the process proceeds to step S122.

[0037] On the other hand, if the touch is continued (step S112; Yes), the processor 13 detects (acquires) the tilt angle A1d using the tilt angle sensor 15 (step S114). The process then proceeds to step S116.

[0038] In step S116, the processor 13 calculates the difference between the inclination angle A1d obtained in step S114 and the reference angle A1r obtained in step S110 as the inclination angle A1c. Then, the processor 13 calculates the target vehicle speed Vt corresponding to the calculated inclination angle A1c using the relationship information shown in Figure 3(B), for example. After that, the process proceeds to step S118. Additionally, in the example of the process shown in Figure 4, the calculated target vehicle speed Vt (i.e., the control signal) is transmitted from the terminal 10 to the vehicle 20 via the communication device 12.

[0039] In step S118, the processor 25 of the vehicle 20 controls the running gear 22 so that the target vehicle speed Vt calculated in step S116 is obtained. If the terminal 10 is tilted so that the tilt angle A1c becomes 0 (i.e., the tilt angle A1d matches the reference angle A1r) while the vehicle 20 is running, the vehicle 20 will stop.

[0040] In step S120, following step S118, the processor 25 determines whether or not a communication interruption has occurred between the vehicle 20 and the terminal 10. If no communication interruption has occurred (step S120; No), the process returns to step S112.

[0041] On the other hand, if a communication failure occurs (step S120; Yes), the processor 25 will bring the vehicle 20 to an emergency stop (step S122). Thus, according to the process shown in Figure 4, if a communication failure occurs, the vehicle 20 will be automatically stopped.

[0042] As described above, according to this embodiment, the tilt angle A1d of the terminal 10 at the time of detection of the operator's touch on the touch panel 11 is identified as the reference angle A1r. Then, a control signal for the vehicle 20 (i.e., the target vehicle speed Vt based on the tilt angle A1c) is generated based on the tilt angle A1d and the reference angle A1r during the control validity period in which the touch continues from the detection point. In this way, according to this embodiment, the operator can arbitrarily set the reference point of the tilt angle A1d (i.e., the reference angle A1r). Therefore, when controlling the motion of the vehicle 20 using the tilting motion of the terminal 10, the operator can more easily recognize the reference angle A1r. More specifically, the operator can more easily recognize the starting point of the vehicle motion. As a result, the operability of remote driving of the vehicle 20 using the tilting motion of the terminal 10 can be improved.

[0043] Furthermore, according to this embodiment, the reference angle A1r is reset when the operator releases their touch on the touch panel 11. This allows the reference angle A1r to be reset while the operator is not touching the touch panel 11.

[0044] Furthermore, according to this embodiment, if a new touch is detected on the touch panel 11 after the operator has released their touch, the reference angle A1r is updated by the tilt angle A1d at the time the new touch is detected. This allows the reference angle A1r to be appropriately updated using the operator's touch on and release from the touch panel 11.

[0045] Furthermore, as shown in the example in Figure 3(B), the range of inclination angles A1c where the inclination angle A1c is less than the threshold TH1 may be treated as a dead zone with respect to the setting of the target vehicle speed Vt. This makes it possible to suppress the sudden movement of the vehicle 20 that occurs when the terminal 10 is tilted.

[0046] In addition, according to the process shown in Figure 4, if communication is restored after the aforementioned communication interruption, the vehicle 20 will remain stopped until the operator releases their touch on the touch panel 11, even if the operator had been continuously touching the touch panel 11 since before the emergency stop of the vehicle 20 (steps S100 and S102). Then, the reference angle A1r is reset upon the release of the touch (step S104). The reason why system 1 is constructed in this way is as follows: According to the process in step S122, when communication is interrupted, the vehicle 20 will decelerate and stop regardless of the operator's input (i.e., the tilt angle A1c). Therefore, with the emergency stop, the operator loses track of the relationship between the tilt angle A1c and the target vehicle speed Vt. As a result, if the process proceeds to step S112 without going through steps S100 to S110 when communication is restored, there is a risk of sudden vehicle behavior. Therefore, according to the process shown in Figure 4, in order to ensure that the operator has an opportunity to relearn the reference angle A1r, the vehicle 20 is kept stationary until the operator releases their touch on the touch panel 11.

[0047] 2-2. Vehicle Acceleration Control As part of the vehicle longitudinal control included in the vehicle motion control using terminal 10, the following vehicle acceleration control may be performed instead of, or in conjunction with, the vehicle speed control described above. Specifically, the inclination angle A1c described above may be used for vehicle acceleration control.

[0048] Figure 5(A) shows the method for calculating the target acceleration ACt based on the inclination angle A1c. As shown in Figure 5(A), the processor 13 calculates the target acceleration ACt based on the inclination angle A1d and the reference angle A1r during the control validity period (i.e., based on the inclination angle A1c). Basically, the relationship information that defines the relationship between the inclination angle A1c and the target acceleration ACt is determined such that the target acceleration ACt increases as the inclination angle A1c increases. However, the specific method for determining the relationship between the inclination angle A1c and the target acceleration ACt is arbitrary. Also, as in the example shown in Figure 3(B), a dead zone may be provided so that the target acceleration ACt does not change in accordance with the inclination angle A1c when the inclination angle A1c is below a predetermined threshold.

[0049] 2-3. Vehicle lateral control Furthermore, as part of vehicle motion control, the following lateral vehicle control may be performed instead of, or in conjunction with, longitudinal vehicle control.

[0050] In example EX1 of how terminal 10 is held, the operator tilts terminal 10 so that it rotates along a rotation axis parallel to the center line L2, and this motion is used for lateral vehicle control. That is, the tilt angle A2 (see Figure 1) is used. More specifically, for example, the vehicle 20 performs a right turn motion (right steering motion) in response to the operator rotating terminal 10 along the rotation direction R2R. 2 In response to the operator's movement of rotating terminal 10 along L, the vehicle 20 performs a leftward turning motion (leftward steering motion). In example EX2, the operator's movement of tilting terminal 10 so that it rotates along the center line L3 (see Figure 1) is used. That is, an inclination angle A3 (see Figure 1) is used.

[0051] The basic configuration of the vehicle's lateral control is the same as the basic configuration of the vehicle's longitudinal control shown in Figure 2. That is, in vehicle lateral control as well, the tilt angle A2d detected by the tilt angle sensor 15 at the time of touch detection is identified as the reference angle A2r. The difference between the tilt angle A2d and the reference angle A2r during the control validity period (=A2d-A2r) is identified as the tilt angle A2c used to calculate the target value of the control amount for turning motion. This target value is, for example, the target steering angle δt, which is the target value of the wheel steering angle. Alternatively, this target value may be, for example, the target yaw rate or the target lateral acceleration.

[0052] Figure 5(B) shows the method for calculating the target rudder angle δt based on the inclination angle A2c. Here, the inclination angle A2c is assumed to be positive during a right turn. As shown in Figure 5(B), the relationship information that determines the relationship between the inclination angle A2c and the target rudder angle δt is basically determined such that the target rudder angle δt (more specifically, the target rudder angle δtR during a right turn and the target rudder angle δtL during a left turn) increases as the absolute value of the inclination angle A2c increases. However, the specific method for determining the relationship between the inclination angle A2c and the target rudder angle δt is arbitrary.

[0053] Furthermore, in the example shown in Figure 5(B), the range where the absolute value of the inclination angle A2c is less than the threshold TH2 is treated as a dead zone. By providing this dead zone, it is possible to make it easier to maintain a straight-ahead state for the vehicle 20. However, this dead zone does not necessarily have to be provided.

[0054] Furthermore, when the control of a turning motion using the tilting motion of terminal 10 is performed together with the vehicle's longitudinal direction control as described above, the vehicle's lateral direction control method described above does not need to be applied to determine the reference angle A2r used for controlling the turning motion. In other words, the reference angle A2r may be the tilt angle A2d when terminal 10 is in a horizontal position, rather than the tilt angle A2d at the time of touch detection. For example, in example EX1, the tilt angle A2d when the center line L1 is horizontal may be used as the reference angle A2r.

[0055] 2-4. Vehicle motion control during reverse operation First, a first control example for reversing will be explained. In the first control example, when the vehicle 20 is reversed, the tilt angle (i.e., negative tilt angle A1c) is used when the terminal 10 is tilted in the opposite direction to when moving forward (for example, the rotation direction R1R relative to the rotation direction R1F in Figure 1) with respect to the reference angle A1r. More specifically, the target vehicle speed Vt during reversing is basically determined such that it increases as the tilt angle A1c becomes larger on the negative side.

[0056] Furthermore, in the first control example, vehicle lateral control during reverse is performed as follows: That is, vehicle lateral control is performed so that, regardless of whether the vehicle is moving forward or backward, the same target steering angle δtR or δtL is calculated when terminal 10 is tilted in the same direction.

[0057] Next, a second control example for reverse driving will be explained. In the second control example, the target value of the control amount for the longitudinal motion of the vehicle 20 (for example, the target vehicle speed Vt) is handled as follows, depending on the shift range of the vehicle 20. That is, when the D (Drive) range for forward driving is selected, the target vehicle speed Vt corresponding to the tilt angle A1c is determined using the same relationship (relation information) as in the first control example described above. On the other hand, when the R (Reverse) range for reverse driving is selected, the relationship (relation information) obtained by inverting the above relationship used when the D range is selected, around the target vehicle speed axis at the position of the zero point of the tilt angle A1c (i.e., the reference angle A1r), is used for reverse driving. In other words, when the R range is selected, the target vehicle speed Vt for forward driving based on the tilt angle A1c of the rotation direction R1F when the D range is selected is directly reinterpreted as the target vehicle speed Vt for reverse driving.

[0058] Furthermore, in the second control example, the target value of the control amount for the turning motion of the vehicle 20 (e.g., target steering angle δt) is handled as follows, depending on the shift range of the vehicle 20. Figure 5(C) shows the method for calculating the target steering angle δt based on the tilt angle A2c during reverse movement. When the D range is selected, the relationship shown in Figure 5(B) is used for the turning motion during forward movement. When the R range is selected, as shown in Figure 5(C), the relationship (relationship information) obtained by inverting the relationship shown in Figure 5(B) around the target steering angle axis at the position of the zero point of the tilt angle A2c (i.e., the reference angle A2r) is used for the turning motion during reverse movement.

[0059] According to the second control example described above, when the R range is selected, an operator outside or inside the vehicle can operate the terminal 10 in the same way as when the vehicle 20 is moving forward, while facing the vehicle 20 in the reverse direction.

[0060] Figure 6 is a flowchart showing an example of the process related to vehicle motion control according to the embodiment. This flowchart differs from the flowchart shown in Figure 4 in that it includes the process related to a second control example according to the shift range.

[0061] Specifically, in Figure 6, if no touch is detected in step S102, the processor 13 resets each reference angle Ar (for example, reference angles A1r and A2r) (step S200).

[0062] Furthermore, if a touch is detected in step S106, the processor 13 acquires new reference angles Ar (e.g., reference angles A1r and A2r) and stores them in the storage device 14 (step S202). Subsequently, if the touch continues (step S112; Yes), the processor 13 uses the tilt angle sensor 15 to acquire each tilt angle Ad (e.g., tilt angles A1d and A2d) (step S204). Then, the processor 13 calculates target values ​​for each control variable (e.g., target vehicle speed Vt and target steering angle δt) corresponding to each tilt angle Ad and each reference angle Ar (step S206).

[0063] In step S208, following step S206, the processor 13 determines whether the R range is selected based on the shift range information received from the vehicle 20. Two shift ranges are assumed to be selected during the execution of vehicle motion control in this embodiment: the D range and the R range. If the result of this determination is No, that is, if the D range is selected, the process proceeds to step S118.

[0064] On the other hand, if the R range is selected (S208; Yes), the processor 13 obtains the target values ​​for each control variable when the R range is selected by inverting the target values ​​for each control variable when the D range is selected, as in the second control example described above. The process then proceeds to step S118.

[0065] 2-5. Other examples of division of labor In the processing examples shown in Figures 4 and 6 above, the processor 13 of terminal 10 performs the acquisition and storage of the reference angle Ar, the calculation of the tilt angle Ac, and the calculation of target values ​​for each control variable. However, instead of this example, the processor 13 may, for example, detect the tilt angle Ad and determine whether or not there is a touch, and transmit the detected tilt angle Ad and the information of the determination result to the vehicle 20. On the other hand, the processor 25 of vehicle 20 may acquire the reference angle Ar from terminal 10 based on this information and store it in the storage device 26. The processor 25 may calculate the tilt angle Ac based on the tilt angle Ad transmitted from terminal 10 and the stored reference angle Ar. Then, the processor 25 may calculate the target values ​​for each control variable based on the calculated tilt angle Ac.

[0066] Alternatively, the processor 13 of terminal 10 may, for example, perform processing up to the acquisition and storage of the reference angle Ar, or perform processing up to the calculation of the inclination angle Ac. [Explanation of symbols]

[0067] 1 Remote support system, 10 Mobile terminals, 11 Touch panel, 12, 21 Communication devices, 13, 25 Processors, 20 Vehicles

Claims

1. A portable terminal operated by an operator for remote support of a mobile object, A communication device that performs wireless communication with the aforementioned mobile body, A touch panel capable of detecting whether or not the operator is touching it, Processor and Equipped with, The movement of the moving body is controlled in accordance with the operator's action of tilting the mobile device while touching the touch panel. The aforementioned processor, The tilt angle of the mobile terminal in a specific rotational direction at the time of detection of the operator's touch on the touch panel is identified as the reference angle in the specific rotational direction. A control signal for the movement of the moving body is generated based on the tilt angle in the specific rotation direction and the reference angle during the control validity period in which the touch continues from the detection point. The generated control signal is transmitted to the mobile body via the communication device. The reference angle is reset in response to the operator releasing the touch. If a communication interruption occurs between the mobile device and the mobile terminal, the mobile device will be brought to an emergency stop. If communication is restored after the emergency stop, the mobile body will remain stopped until the operator releases the touch, even if the operator had been continuing to touch the device before the emergency stop. A mobile device characterized by the following features.

2. If a new touch is detected on the touch panel after the operator has released the previous touch, the processor updates the reference angle based on the tilt angle in the specific rotation direction at the time the new touch is detected. The mobile terminal according to feature 1.

3. If, during the control effective period, the difference between the tilt angle in the specific rotation direction and the reference angle is less than a threshold, the processor generates the control signal so that the amount of control of the motion of the moving body does not change. The mobile terminal according to feature 1.

4. A remote support system comprising a mobile unit and a portable terminal operated by an operator for remote support of the mobile unit, Equipped with one or more processors, The aforementioned mobile terminal is A communication device that performs wireless communication with the aforementioned mobile body, A touch panel capable of detecting whether or not the operator is touching it, Includes, The movement of the moving body is controlled in accordance with the operator's action of tilting the mobile device while touching the touch panel. The one or more processors described above are: The tilt angle of the mobile terminal in a specific rotational direction at the time of detection of the operator's touch on the touch panel is identified as the reference angle in the specific rotational direction. A control signal for the movement of the moving body is generated based on the tilt angle in the specific rotation direction and the reference angle during the control validity period in which the touch continues from the detection point. The reference angle is reset in response to the operator releasing the touch. If a communication interruption occurs between the mobile device and the mobile terminal, the mobile device will be brought to an emergency stop. If communication is restored after the emergency stop, the mobile body will remain stopped until the operator releases the touch, even if the operator had been continuing to touch the device before the emergency stop. A remote support system characterized by the following features.

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