Remote control device and remote control system

Abstract

The present disclosure has an object to provide a remote control device and remote control system that are capable of coupling a towing vehicle and a towed vehicle without dispatching an assistant to the site even if coupling work under automatic control fails.The remote control device according to the present disclosure includes a steering detection unit that acquires, as a steering amount, an operator's steering of the towing vehicle that has been switched to remote control control when a predetermined condition is satisfied, an input detection unit that receives remote steering information including a setting for whether or not to perform remote steering, a transmission unit that transmits the steering amount and the remote steering information, a reception unit that receives rear image information behind the towing vehicle and sensor information of the towing vehicle detected by an internal sensor, a trajectory calculation unit that calculates a predicted trajectory of a predetermined portion of the towing vehicle as trajectory information based on the steering amount, the sensor information, and a motion model of the towing vehicle, and an image generation unit that generates a presentation image to be presented to the operator by superimposing the trajectory information on the rear image information.

Claims

1. A remote control device for remotely controlling a towing vehicle and connecting it to a towed vehicle, a steering detection unit that acquires, as a steering amount, steering by an operator of the towing vehicle that has been switched to remote control when a predetermined condition is satisfied; an input detection unit that receives remote control information including a setting as to whether or not to perform the remote control; a transmitter that transmits the control amount and the remote control information; a receiving unit that receives rear image information of the area behind the towing vehicle and sensor information of the towing vehicle detected by an internal sensor; a trajectory calculation unit that calculates, as trajectory information, a predicted trajectory of a predetermined portion of the towing vehicle based on the steering amount, the sensor information, and a motion model of the towing vehicle; an image generating unit that generates a presentation image to be presented to the operator by superimposing the trajectory information on the rear image information; A remote control device comprising:

2. A remote control device for remotely controlling a towing vehicle and connecting it to a towed vehicle, a control detection unit that acquires control including steering and acceleration / deceleration of the operator performing the remote control as a control amount; a transmitter that transmits the steering amount; a receiving unit that receives rear image information of the area behind the towing vehicle and sensor information of the towing vehicle detected by an internal sensor; a trajectory calculation unit that calculates, as trajectory information, a predicted trajectory of a predetermined portion of the towing vehicle based on the steering amount, the sensor information, and a motion model of the towing vehicle; an image generating unit that generates a presentation image to be presented to the operator by superimposing the trajectory information on the rear image information; A remote control device comprising:

3. A remote control device as described in claim 1 or 2, wherein the trajectory calculation unit calculates the predicted trajectory based on the steering amount, the sensor information, and a motion model of the towing vehicle and the towed vehicle.

4. A remote control device as described in claim 1, wherein the condition is a condition for switching the towing vehicle from automatic control to the remote control.

5. a recognition unit that recognizes the position of the coupling portion of the towed vehicle as towed vehicle information based on the rear image information; The remote control device according to claim 1 or 2, wherein the image generator generates the presentation image by further superimposing the towed vehicle information on the rear image information.

6. a deviation calculation unit that calculates, as deviation information, a deviation between a first coupling portion that is a predetermined portion of the towing vehicle and a second coupling portion that is a coupling portion of the towed vehicle based on the track information and the towed vehicle information; The remote control device according to claim 5 , wherein the image generator generates the presentation image by further superimposing the deviation information on the rear image information.

7. a communication delay measurement unit that measures a communication delay of a network used when receiving the rear image information and the sensor information; a position prediction unit that predicts a position of the first coupling unit as a predicted position based on the trajectory information and the communication delay; Furthermore, The remote control device according to claim 6 , wherein the image generator generates the presentation image by further superimposing the predicted position on the rear image information.

8. The receiving unit further receives forward image information of an area ahead of the towing vehicle, the trajectory calculation unit calculates, as the trajectory information, a predicted trajectory of wheels, which are predetermined parts of the towing vehicle, when moving forward, and calculates, as the trajectory information, a predicted trajectory of a coupling section, which is a predetermined part of the towing vehicle, when moving backward; 3. The remote control device according to claim 1, wherein the image generation unit generates the presentation image by superimposing a predicted trajectory of the wheels, which is the trajectory information, on the forward image when moving forward, and generates the presentation image by superimposing a predicted trajectory of the coupling, which is the trajectory information, on the rearward image when moving backward.

9. A remote control system for remotely controlling a towing vehicle and connecting it to a towed vehicle, a manipulation detection unit that acquires manipulation by an operator as a manipulation amount; an input detection unit that receives remote control information including a setting as to whether or not to perform the remote control; a command value conversion unit that converts the steering amount into a first actuator command value for controlling the towing vehicle; an automatic control unit that calculates a second actuator command value for automatically controlling the towing vehicle and determines whether a predetermined condition is satisfied; a setting unit that selects the first actuator command value or the second actuator command value based on the remote control information and outputs the selected value to an actuator of the towing vehicle; a trajectory calculation unit that calculates, as trajectory information, a predicted trajectory of a predetermined portion of the towing vehicle based on the steering amount, sensor information of the towing vehicle detected by an internal sensor, and a motion model of the towing vehicle; an image generating unit that generates a presentation image to be presented to the operator by superimposing the track information on image information behind the towing vehicle; A remote control system comprising:

10. A remote control system for remotely controlling a towing vehicle and connecting it to a towed vehicle, a control detection unit that acquires control including steering and acceleration / deceleration of the operator performing the remote control as a control amount; a command value conversion unit that converts the steering amount into an actuator command value for controlling the towing vehicle; a trajectory calculation unit that calculates, as trajectory information, a predicted trajectory of a predetermined portion of the towing vehicle based on the steering amount, sensor information of the towing vehicle detected by an internal sensor, and a motion model of the towing vehicle; an image generating unit that generates a presentation image to be presented to the operator by superimposing the track information on image information behind the towing vehicle; A remote control system comprising:

Images