Remote control system and mobile unit

Abstract

To provide a technique of making a remote control function of a mobile body effective easily.SOLUTION: A mobile body which can be operated by remote control includes: a detection unit for detecting a signal sent when a controller for remotely controlling a mobile body is operating; and a control signal reception unit for being switched between a valid state for receiving a control signal for remotely controlling the mobile body sent from the controller and in an invalid state for not receiving the control signal, the control signal reception unit being switched to the valid state when the detection unit detects a signal.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object, a remote control system, and a remote control method. [Background Art]

[0002] A technology for causing a vehicle to travel via remote control in a vehicle manufacturing process is known (e.g., Patent Document 1). [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese National Publication of International Patent Application No. 2017-538619 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] When a vehicle is shipped with remote control disabled, it is preferable that remote control of the vehicle can be enabled without extra effort in order to improve convenience for a user who desires to remotely control the vehicle. Accordingly, there is a need for a technology that can enable remote control without extra effort. [Means for Solving the Problem]

[0005] The present disclosure can be implemented in the following modes.

[0006] (1) According to a first aspect of the present disclosure, there is provided a mobile object operable via remote control. The mobile object comprises: a detection unit that detects a signal transmitted when a control device that remotely controls the mobile object is in operation; and a control signal reception unit that switches between an enabled state, in which it accepts a control signal transmitted from the control device for remotely controlling the mobile object, and a disabled state, in which it does not accept the control signal, wherein the control signal reception unit switches to the enabled state when the signal is detected by the detection unit. With this type of mobile device, when a signal transmitted while the control device is operating is detected by the detection unit, the control signal receiving unit automatically switches to an active state, making it possible to operate the mobile device remotely without any extra effort. (2) In the above-described mobile body, the detection unit may detect as the signal a control signal transmitted from the control device for remotely controlling another mobile body different from the mobile body. With this type of mobile device, when a control signal for remotely controlling another mobile device transmitted from the control device is detected by the detection unit, the control signal receiving unit automatically switches to an enabled state, making it possible to operate the mobile device remotely without any extra effort. (3) The mobile body of the above configuration may further include a notification unit that transmits a notification signal to the control device to notify the control device that the control signal receiving unit has switched to the effective state. With this type of mobile device, the control device can be notified that the mobile device has become operational via remote control. (4) A second embodiment of the present disclosure provides a remote control system, comprising a mobile body as described above, and a control device for remotely controlling the mobile body, the control device which, upon receiving the notification signal, prepares or starts remote control of the mobile body. According to this form of remote control system, when a mobile object becomes operational via remote control, the control device can prepare or initiate remote control of the mobile object. (5) According to a third embodiment of the present disclosure, a mobile body that can be operated by remote control is provided. The mobile body includes: a detection unit that detects a signal transmitted when a control device that remotely controls the mobile body is in operation; a notification unit that transmits a notification signal to the control device to notify the control device of the presence of the mobile body when the detection unit detects the signal; and a control signal receiving unit that switches between an enabled state that receives a control signal for remotely controlling the mobile body transmitted from the control device and an disabled state that does not receive the control signal, and the control signal receiving unit switches to the enabled state when it receives an enable signal transmitted from the control device in response to the notification signal. With this type of mobile device, the control signal receiving unit automatically switches to an enabled state in response to the activation signal transmitted from the control device, making it possible to operate the mobile device remotely without any extra effort. (6) A fourth embodiment of the present disclosure provides a remote control system, comprising a mobile body as described above, and a control device for remotely controlling the mobile body, the control device which transmits the activation signal to the mobile body when it receives the notification signal. This type of remote control system allows the control unit to transmit an activation signal to the mobile unit. (7) A fifth embodiment of the present disclosure provides a remote control method. This remote control method includes a detection step of detecting a signal transmitted when a control device for remotely controlling a mobile body that can be operated by remote control is in operation, and a switching step of switching from an active state in which the mobile body accepts a control signal for remotely controlling the mobile body transmitted from the control device to an inactive state in which the mobile body does not accept the control signal, wherein the switching step is to switch to the active state when the signal is detected. This form of remote control method allows a mobile object to be operated remotely using a simple method without requiring much effort. (8) According to a sixth embodiment of the present disclosure, a remote control method is provided. This remote control method comprises: a detection step of detecting a signal transmitted when a control device for remotely controlling a mobile body that can be operated by remote control is in operation; a notification step of transmitting a notification signal to the control device to notify the presence of the mobile body when the signal is detected; and a switching step of switching from an enabled state in which the mobile body accepts a control signal for remotely controlling the mobile body transmitted from the control device to an disabled state in which the mobile body does not accept the control signal, wherein the switching step of switching to the enabled state is received when an activation signal transmitted from the control device in response to the notification signal is received. This form of remote control method allows a mobile object to be operated remotely using a simple method without requiring much effort. This disclosure can also be implemented in various forms other than mobile devices, remote control systems, and remote control methods. For example, it can be implemented in the form of a vehicle, a computer program, and a recording medium on which the computer program is stored. [Brief explanation of the drawing]

[0007] [Figure 1] An explanatory diagram showing the configuration of a remote control system. [Figure 2] An explanatory diagram showing the vehicle's configuration. [Figure 3] An explanatory diagram showing how vehicles are moved remotely within a factory. [Figure 4] A flowchart showing the details of the activation process in the first embodiment. [Figure 5] A flowchart illustrating the content of the target addition process in the first embodiment. [Figure 6] An explanatory diagram showing how the vehicle's remote control function is activated. [Figure 7] A flowchart showing the details of the activation process in the second embodiment. [Figure 8] A flowchart illustrating the content of the target addition process in the second embodiment. [Figure 9] An explanatory diagram showing how the vehicle's remote control function is activated. [Modes for carrying out the invention]

[0008] A. First Embodiment: Figure 1 is an explanatory diagram showing the configuration of the remote control system 10 in the first embodiment. Figure 2 is an explanatory diagram showing the configuration of the vehicle 100 in the first embodiment. The remote control system 10 is used to operate a mobile object by remote control. In this embodiment, the mobile object is the vehicle 100. More specifically, the mobile object is an electric vehicle (BEV: Battery Electric Vehicle). However, the mobile object is not limited to an electric vehicle, and may be, for example, a gasoline vehicle, a hybrid vehicle, or a fuel cell vehicle. The mobile object is not limited to the vehicle 100, and may be, for example, an electric vertical take-off and landing aircraft (a so-called flying car).

[0009] As shown in Figure 1, in this embodiment, the remote control system 10 includes a vehicle 100 that can be operated by remote control, a remote control device 200 for remotely controlling the vehicle 100, and a group of external sensors 300 located outside the vehicle 100. The remote control device 200 is sometimes simply referred to as the control device.

[0010] As shown in Figure 2, the vehicle 100 includes a vehicle control device 110 for controlling various parts of the vehicle 100, a group of actuators 120 driven under the control of the vehicle control device 110, and a communication device 130 for communicating with a remote control device 200 via wireless communication. In this embodiment, the group of actuators 120 includes actuators for a drive system to accelerate the vehicle 100, actuators for a steering system to change the direction of travel of the vehicle 100, and actuators for a braking system to decelerate the vehicle 100. The drive system includes a battery, a drive motor driven by the battery's power, and drive wheels rotated by the drive motor. The actuators for the drive system include the drive motor.

[0011] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are communicatively connected bidirectionally via the internal bus 114. An actuator group 120 and a communication device 130 are connected to the input / output interface 113. A computer program PG1 and vehicle identification information SJ for identifying the vehicle 100 are stored in the memory 112. For the vehicle identification information SJ, for example, a 17-digit vehicle identification number represented by numerals (ISO 3833:1977) can be used. A reference number determined by the manufacturer of the vehicle 100 may be used as the vehicle identification information SJ.

[0012] The processor 111 functions as a vehicle control unit 115, a detection unit 116, a control signal reception unit 117, and a notification unit 118 by executing the computer program PG1. The vehicle control unit 115 controls the actuator group 120. In the present embodiment, when a driver is on board the vehicle 100, the vehicle control unit 115 can cause the vehicle 100 to travel by controlling the actuator group 120 in accordance with the driver's operation. The vehicle control unit 115 can cause the vehicle 100 to travel by controlling the actuator group 120 in accordance with the control signal received by the control signal reception unit 117, regardless of whether a driver is on board the vehicle 100. In the following description, from the perspective of the vehicle 100, the vehicle 100 itself may be referred to as the own vehicle, and another vehicle 100 different from the vehicle 100 itself may be referred to as the other vehicle.

[0013] The detection unit 116 detects a signal transmitted when the remote control device 200 is in operation. The signal transmitted when the remote control device 200 is in operation includes a control signal transmitted from the remote control device 200 for remotely controlling the vehicle 100. The control signal includes, for example, target values of the speed and steering angle of the vehicle 100. In the present embodiment, the control signal further includes vehicle identification information SJ. In the present embodiment, the detection unit 116 detects a control signal transmitted by the remote control device 200 for remotely controlling another vehicle as a signal transmitted when the remote control device 200 is in operation.

[0014] The control signal receiving unit 117 receives a control signal transmitted from the remote control device 200 to the own vehicle. The control signal receiving unit 117 can determine whether the control signal is transmitted to the own vehicle or to another vehicle based on the vehicle identification information SJ included in the control signal. The operating state of the control signal receiving unit 117 is switched between an enabled state where the control signal is received and a disabled state where the control signal is not received. In the present embodiment, the control signal receiving unit 117 switches from the disabled state to the enabled state when the detection unit 116 detects a control signal transmitted by the remote control device 200 for remotely controlling another vehicle. When the control signal receiving unit 117 is in the enabled state, the control signal receiving unit 117 receives the control signal transmitted to the own vehicle. When the control signal receiving unit 117 is in the disabled state, the control signal receiving unit 117 does not receive any control signal regardless of whether the control signal is transmitted to the own vehicle or to another vehicle. In the following description, when the control signal receiving unit 117 is in the enabled state, it is referred to that the remote control function of the vehicle 100 is in the enabled state, and when the control signal receiving unit 117 is in the disabled state, it is referred to that the remote control function of the vehicle 100 is in the disabled state. Switching the remote control function of the vehicle 100 to the disabled state is referred to as disabling the remote control function of the vehicle 100, and switching the remote control function of the vehicle 100 to the enabled state is referred to as enabling the remote control function of the vehicle 100.

[0015] When the remote control function of the vehicle is activated, the notification unit 118 transmits a notification signal to the remote control device 200 to inform it that the remote control function of the vehicle is enabled. In this embodiment, the notification signal includes information indicating that the remote control function of the vehicle is enabled, and vehicle identification information SJ of the vehicle.

[0016] As shown in Figure 1, the remote control device 200 is composed of a computer comprising a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 for communicating with the vehicle 100 via wireless communication is connected to the input / output interface 203. In this embodiment, the communication device 205 can communicate with the external sensor group 300 via wired or wireless communication. The memory 202 stores a computer program PG2 and a target list LS. The target list LS records vehicle identification information SJ of the vehicle 100 to be remotely controlled.

[0017] The processor 201 functions as a remote control unit 210 by executing the computer program PG2. The remote control unit 210 remotely controls the vehicle 100 recorded in the target list LS. The remote control unit 210 acquires the position and orientation of the vehicle 100 using the external sensor group 300, generates a control signal for remotely controlling the vehicle 100, and transmits the control signal to the vehicle 100.

[0018] The external sensor group 300 consists of at least one external sensor. An external sensor is a sensor installed on the outside of the vehicle 100. In this embodiment, the external sensor group 300 consists of multiple cameras. Each camera is equipped with a communication device (not shown) and can communicate with the remote control device 200 by wired or wireless communication.

[0019] Figure 3 is an explanatory diagram showing how vehicle 100 moves remotely within factory KJ. Figure 3 shows five vehicles 100A to 100E. In the following description, when the five vehicles 100A to 100E are not specifically distinguished, they will simply be referred to as vehicle 100. In this embodiment, a remote control device 200 is installed in factory KJ where vehicle 100 is manufactured. Vehicle 100 travels within factory KJ under the remote control of the remote control device 200. Factory KJ comprises a first location PL1 for assembling vehicle 100, a second location PL2 for inspecting vehicle 100, and a third location PL3 for storing vehicle 100 that has passed inspection. The first location PL1, the second location PL2, and the third location PL3 are connected by a travel path SR on which vehicle 100 can travel. Vehicle 100 assembled in the first location PL1 is equipped with a vehicle control device 110, an actuator group 120, and a communication device 130. Vehicle 100 assembled at the first location PL1 travels from the first location PL1 to the second location PL2 under the remote control of the remote control device 200. Vehicle 100 that passes the inspection at the second location PL2 travels from the second location PL2 to the third location PL3 under the remote control of the remote control device 200.

[0020] The method by which the remote control device 200 moves the vehicle 100 remotely will be described. The remote control unit 210 of the remote control device 200 determines a target route for the vehicle 100 to travel to its destination via the travel path SR. Multiple cameras CM are installed in factory KJ to photograph the travel path SR, and the remote control unit 210 can obtain the relative position and orientation of the vehicle 100 with respect to the target route in real time by analyzing the images captured by each camera CM. Each camera CM is included in the external sensor group 300 described above. The remote control unit 210 generates a control signal to drive the vehicle 100 along the target route and transmits the control signal to the vehicle 100. The vehicle control device 110 of the vehicle 100 drives the vehicle 100 by controlling the actuator group 120 according to the received control signal. Therefore, the vehicle 100 can be moved without using transport devices such as cranes or conveyors.

[0021] In this embodiment, the remote control unit 210 remotely controls and drives multiple vehicles 100A to 100E one by one. For example, the remote control unit 210 remotely moves vehicle 100B from the second location PL2 to the third location PL3, then switches the remote control target from vehicle 100B to vehicle 100A, and remotely moves vehicle 100A from the first location PL1 to the second location PL2. In this embodiment, the remote control unit 210 can also remotely control and drive multiple vehicles 100A to 100E simultaneously and in parallel. For example, the remote control unit 210 can remotely move vehicle 100B from the second location PL2 to the third location PL3 while remotely moving vehicle 100A from the first location PL1 to the second location PL2.

[0022] Each vehicle 100A-100E, having moved to location PL3, is then shipped from factory KJ. Each vehicle 100A-100E is shipped with its remote control function reversibly or irreversibly disabled. Reversibly disabled means disabled so that it can be reactivated, and irreversibly disabled means disabled so that it cannot be reactivated. Vehicles 100 shipped with their remote control function reversibly disabled can have their remote control function reactivated and be driven remotely at a location outside factory KJ where the remote control device 200 and external sensor group 300 are installed. Examples of locations outside factory KJ where the remote control device 200 and external sensor group 300 are installed include parks, commercial facilities, universities, etc.

[0023] Figure 4 is a flowchart showing the details of the activation process performed on vehicle 100 whose remote control function has been reversibly disabled. Figure 5 is a flowchart showing the details of the target addition process performed on the remote control device 200. Figure 6 is an explanatory diagram showing how the remote control function of vehicle 100 is activated. The remote control method for vehicle 100 will be explained using Figures 4 to 6.

[0024] The activation process shown in Figure 4 is repeatedly performed by the vehicle control device 110 mounted on the vehicle 100. When the activation process starts, in step S110, the detection unit 116 determines whether or not it has detected a control signal transmitted by the remote control device 200 to remotely control another vehicle. If it is not determined in step S110 that the control signal transmitted by the remote control device 200 to remotely control another vehicle has been detected, the vehicle control device 110 skips the processing after step S110 and terminates the activation process. If it is determined in step S110 that the control signal transmitted by the remote control device 200 to remotely control another vehicle has been detected, the control signal receiving unit 117 switches from the disabled state to the enabled state in step S120. In other words, in step S120, the remote control function of the vehicle itself switches to the enabled state. In step S130, the notification unit 118 transmits a notification signal indicating that the remote control function of the vehicle itself is in the enabled state. In this embodiment, the notification signal includes vehicle identification information SJ of the vehicle, information indicating that the remote control function of the vehicle is enabled, and a target addition request requesting that the vehicle be added to the target list LS of the remote control device 200. After that, the vehicle control device 110 terminates the activation process. Step S110 is sometimes called the detection process, step S120 is sometimes called the switching process, and step S130 is sometimes called the notification process.

[0025] The target addition process shown in Figure 5 is repeatedly executed by the remote control device 200. When the target addition process starts, in step S210, the remote control unit 210 determines whether or not a notification signal has been received. If it is determined in step S210 that no notification signal has been received, the remote control unit 210 skips the processing after step S210 and terminates the target addition process. If it is determined in step S210 that a notification signal has been received, the remote control unit 210 adds the vehicle 100 that transmitted the notification signal to the target list LS in step S220. In this embodiment, the remote control unit 210 adds the vehicle identification information SJ of the vehicle 100 included in the notification signal to the target list LS. After that, the remote control device 200 terminates the target addition process.

[0026] As shown in Figure 6, when vehicle 100A, which was shipped from factory KJ with its remote control function reversibly disabled, moves to location AR outside factory KJ where the remote control device 200 is installed, and vehicle 100A receives a control signal SS from the remote control device 200 for remotely controlling another vehicle 100F, the remote control function of vehicle 100A is automatically activated by the activation process. Vehicle 100A, with its remote control function activated, transmits a notification signal HS containing a target addition request. Upon receiving the notification signal HS, the remote control device 200 adds vehicle 100A to the target list LS by performing a target addition process. The remote control device 200 prepares for the remotely controlled movement of vehicle 100A by determining the target route of vehicle 100A, which has been added to the target list LS. Subsequently, the remote control device 200 generates a control signal for remotely controlling vehicle 100A and transmits the control signal to vehicle 100A. The remote control movement of vehicle 100A begins when the remote control device 200 transmits the control signal to vehicle 100A.

[0027] According to the remote control system 10 of this embodiment described above, when a vehicle 100 whose remote control function has been reversibly disabled detects a control signal SS transmitted from the remote control device 200 for remotely controlling another vehicle, the remote control function of the vehicle 100 is automatically activated. Therefore, the vehicle 100 can be operated by remote control without any effort on the part of the user.

[0028] B. Second Embodiment: Figure 7 is a flowchart showing the contents of the activation process performed in the remote control system 10b of the second embodiment. Figure 8 is a flowchart showing the contents of the target addition process performed in the remote control system 10b of the second embodiment. Figure 9 is an explanatory diagram showing how the remote control function of the vehicle 100 is activated in the remote control system 10b of the second embodiment. In the remote control system 10b of the second embodiment, the remote control function of the vehicle 100 is activated when the vehicle 100 receives an activation signal from the remote control device 200, which is different from the first embodiment. The other configurations are the same as in the first embodiment unless otherwise specified.

[0029] When the activation process shown in Figure 7 is started, in step S310, the detection unit 116 determines whether or not it has detected a control signal transmitted by the remote control device 200 to remotely control another vehicle. If it is determined in step S310 that the control signal transmitted by the remote control device 200 to remotely control another vehicle has not been detected, the vehicle control device 110 skips the processing after step S310 and terminates the activation process. If it is determined in step S310 that the control signal transmitted by the remote control device 200 to remotely control another vehicle has been detected, the notification unit 118 transmits a notification signal in step S320 to notify the remote control device 200 of the presence of its own vehicle. In this embodiment, the notification signal includes the vehicle identification information SJ of the own vehicle. In step S330, the control signal receiving unit 117 acquires the activation signal transmitted from the remote control device 200 in response to the notification signal. In step S340, the control signal receiving unit 117 switches from the disabled state to the enabled state in response to the activation signal. After that, the vehicle control device 110 terminates the activation process. Step S310 is sometimes called the detection process, step S320 is sometimes called the notification process, and steps S330 to S340 are sometimes called the switching process.

[0030] When the target addition process shown in Figure 8 is started, in step S410 the remote control unit 210 determines whether or not it has received a notification signal. If it is determined in step S410 that it has not received a notification signal, the remote control unit 210 skips the processing after step S410 and terminates the target addition process. If it is determined in step S410 that it has received a notification signal, the remote control unit 210 adds the vehicle 100 that sent the notification signal to the target list LS in step S420. In step S430, the remote control unit 210 sends an activation signal to activate the remote control function of the vehicle 100 that sent the notification signal. After that, the remote control device 200 terminates the target addition process.

[0031] As shown in Figure 9, when vehicle 100A, which was shipped from factory KJ with its remote control function reversibly disabled, moves to location AR outside factory KJ where the remote control device 200 is installed, and vehicle 100A receives a control signal SS from the remote control device 200 for remotely controlling another vehicle 100F, the activation process causes vehicle 100A to transmit a notification signal HS to the remote control device 200 to inform it of its presence. Upon receiving the notification signal HS, the remote control device 200 adds vehicle 100A to the target list LS through the target addition process and transmits an activation signal YS to activate the remote control function of vehicle 100A. When vehicle 100A receives the activation signal YS, the remote control function of vehicle 100A is automatically activated. The remote control device 200 prepares for or starts the remotely controlled movement of vehicle 100A, which has been added to the target list LS.

[0032] According to the remote control system 10b of this embodiment described above, when a vehicle 100 whose remote control function has been reversibly disabled detects an activation signal YS transmitted from the remote control device 200, the remote control function of the vehicle 100 is automatically activated. Therefore, the vehicle 100 can be operated by remote control without any effort on the part of the user.

[0033] C. Other embodiments: (C1) In the remote control systems 10 to 10b of the embodiments described above, the vehicle's remote control function is activated when the detection unit 116 detects a control signal transmitted by the remote control device 200 to remotely control another vehicle. Alternatively, the vehicle's remote control function may be activated when the detection unit 116 detects a control signal transmitted by the remote control device 200 to remotely control its own vehicle. The vehicle's remote control function may also be activated when the detection unit 116 detects a signal that simply indicates the remote control device 200 is operational, rather than a control signal. The signal indicating that the remote control device 200 is operational may be transmitted from a device other than the remote control device 200.

[0034] (C2) In the remote control system 10 of the first embodiment described above, the vehicle control device 110 does not need to be equipped with a notification unit 118. In this case, for example, the vehicle identification information SJ of the vehicle 100 may be added to the target list LS by a user operating an input device connected to the remote control device 200.

[0035] (C3) In the remote control systems 10 to 10b of each embodiment described above, the vehicle 100 is in a state where it can be moved by remote control once the assembly work at the first location PL1 is completed. The state in which the vehicle 100 is in a state where it can be moved by remote control means that the vehicle 100 is equipped with the vehicle control device 110, the actuator group 120 and the communication device 130, and is in a state where it can perform the three functions of "driving," "turning," and "stopping" by remote control. Therefore, the vehicle 100 that is being moved by remote control does not need to have at least some of the interior parts such as the driver's seat and dashboard attached, nor does it need to have at least some of the exterior parts such as the bumper and fenders attached, nor does it need to have the body shell attached. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from factory KJ, or the remaining parts such as the body shell may be attached to the vehicle 100 after it has been shipped from factory KJ.

[0036] (C4) In the remote control systems 10 to 10b of the embodiments described above, the remote control unit 210 automatically generates control signals to be transmitted to the vehicle 100. In contrast, the remote control unit 210 may generate control signals to be transmitted to the vehicle 100 according to the operations of an operator located outside the vehicle 100. For example, an operator may operate a driving device that includes a display showing the position and orientation of the vehicle 100, a steering wheel for operating the vehicle 100, an accelerator pedal, and a brake pedal, and the remote control unit 210 may generate control signals in response to the operations applied to the driving device.

[0037] (C5) In the remote control systems 10 to 10b of each embodiment described above, the external sensor group 300 may include LiDAR (Light Detection and Ranging) instead of a camera, or it may include both a camera and a LiDAR.

[0038] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features in the embodiments corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. [Explanation of symbols]

[0039] 10-10b…Remote control system, 100…Vehicle, 110…Vehicle control device, 111…Processor, 112…Memory, 113…Input / Output interface, 114…Internal bus, 115…Vehicle control unit, 116…Detection unit, 117…Control signal reception unit, 118…Notification unit, 120…Actuator group, 130…Communication device, 200…Remote control device, 201…Processor, 202…Memory, 203…Input / Output interface, 204…Internal bus, 205…Communication device, 210…Remote control unit, 300…External sensor group

Claims

1. A remote control system, A mobile device with remote control capabilities, A remote control device that transmits a signal to the mobile body including identification information of the mobile body and a control signal for remotely controlling the mobile body, Equipped with, The aforementioned moving body is Actuator and A detection unit for detecting the aforementioned signal, A control signal receiving unit determines, based on the identification information contained in the signal detected by the detection unit, whether the signal was transmitted to the mobile body itself or to another mobile body. When the remote control function is enabled and the control signal receiving unit determines that the signal has been transmitted to the mobile body itself, the control unit controls the actuator based on the control signal included in the signal detected by the detection unit. Equipped with, A remote control system that, when the mobile body is in a disabled state and the control signal receiving unit determines that the signal has been transmitted to the other mobile body, switches the remote control function from a disabled state to an enabled state.

2. The remote control system according to Claim 1, The remote control system further comprises a notification unit that transmits a notification signal to the remote control device, the mobile body including the identification information of the mobile body, information indicating that the remote control function of the mobile body is enabled, and a target addition request requesting that the mobile body be added to the target list of the remote control device.

3. A remote control system according to claim 2, The remote control device is When the aforementioned notification signal is received, the mobile body that transmitted the notification signal is added to the target list as a remotely controlled target. A remote control system that remotely controls a mobile object added to the target list by transmitting the control signal to the mobile object added to the target list.

4. A remote control system according to Claim 1, The aforementioned moving body is When the remote control function is disabled and the signal transmitted by the remote control device to remotely control the other mobile body is detected by the detection unit, a notification signal is transmitted to the remote control device to inform the remote control device of the presence of the mobile body itself. A remote control system that, upon receiving an activation signal transmitted from the remote control device in response to the notification signal, switches the remote control function from an inactive state to an active state.

5. The remote control system according to claim 4, The remote control device is When the aforementioned notification signal is received, the mobile body that transmitted the notification signal is added to the target list as a remote control target. A remote control system that transmits the activation signal to a mobile body added to the target list to activate the remote control function of that mobile body.

6. A mobile body that can be operated by remote control, A detection unit for detecting a signal transmitted when the remote control device that remotely controls the mobile body is in operation, When the detection unit detects the signal, the notification unit transmits a notification signal to the remote control device to notify it of the presence of the moving object. A control signal receiving unit that switches between an enabled state that receives control signals for remotely controlling the mobile body transmitted from the remote control device and an disabled state that does not receive such control signals, wherein the control signal receiving unit switches to the enabled state when it receives an activation signal transmitted from the remote control device in response to the notification signal, A mobile device equipped with these features.

7. A remote control system, The mobile body according to claim 6, A remote control device for remotely controlling the mobile body, the remote control device which transmits the activation signal to the mobile body when it receives the notification signal, A remote control system equipped with the following features.

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