The present disclosure relates to a remote control device for controlling at least one moving body via a transmission path including at least a network, the remote control device comprising: a transmission delay distribution estimation unit for estimating a transmission delay distribution; the transmission delay distribution estimation unit estimates transmission delay distribution information including a time-varying probability distribution of the estimated transmission delay on the basis of transmission delay information in a transmission path acquired beforehand and transmission delay information acquired online. A trajectory generation unit that generates a target trajectory for the at least one moving body on the basis of the surroundings information about the surroundings of the at least one moving body; and a moving body control unit that generates a control amount for at least one moving body on the basis of the transfer delay distribution information, the target trajectory, and the moving body information, the moving body control unit comprising: a gain setting unit that sets a gain on the basis of the transfer delay distribution information; and a control amount calculation unit that generates a control amount on the basis of the target trajectory, the control gain, and the moving object information.
本公开涉及远程控制装置,其经由至少包括网络的传送路径控制至少1个移动体,其中,具备:传送延迟分布推测部,根据事先取得的传送路径中的传送延迟信息以及在线地取得的传送延迟信息而推测包括所推测的传送延迟的时变的概率分布的传送延迟分布信息;轨道生成部,根据至少1个移动体的周围的周围信息,生成至少1个移动体的目标轨道;以及移动体控制部,根据传送延迟分布信息、目标轨道以及移动体信息,生成至少1个移动体的控制量,移动体控制部具有:增益设定部,根据传送延迟分布信息,设定增益;以及控制量运算部,根据目标轨道、控制增益以及移动体信息,生成控制量。
Remote control device, remote control method, remote control system, and moving object
远程控制装置、远程控制方法、远程控制系统以及移动体
2025-02-11
Patent
Electronic Resource
Chinese
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