To enable an operator performing remote driving to know a steering angle of a steering wheel on a vehicle side by an automatic driving control during execution of a cooperative mode without being affected by vibrations caused by road surface disturbances.SOLUTION: A remote driving system includes an autonomous driving vehicle and a remote driving device. A first processor of the autonomous driving vehicle calculates a target steering angle of a first steering wheel on the vehicle side during execution of automatic driving control. A first communication device transmits the target steering angle to the remote driving device. A second processor on the remote driving device side controls an electric motor to generate a drive torque that makes a steering angle of a second steering wheel match the above target steering angle during execution of a cooperative mode in which a steering actuator is controlled by the cooperation between a remote driving control and an automatic driving control, in which the steering actuator on the vehicle side is controlled based on the steering angle of the second steering wheel by the operator. The steering actuator is controlled based on the steering angle of the second steering from a second communication device during execution of the cooperative mode.SELECTED DRAWING: Figure 3

    【課題】路面外乱に起因する振動の影響を受けることなく、遠隔操作を行うオペレータが協調モードの実行中に自動運転制御による車両側のステアリングの操舵角を把握可能とする。【解決手段】遠隔運転システムは自動運転車両と遠隔運転装置とを備える。自動運転車両の第1プロセッサは、自動運転制御の実行中に車両側の第1ステアリングの目標操舵角を算出する。第1通信装置は目標操舵角を遠隔運転装置に送信する。遠隔運転装置側の第2プロセッサは、オペレータによる第2ステアリングの操舵角に基づいて車両側の転舵アクチュエータを制御する遠隔運転制御と自動運転制御との協調によって転舵アクチュエータを制御する協調モードの実行中に、第2ステアリングの操舵角を上記目標操舵角と一致させる駆動トルクを生成するように電動機を制御する。転舵アクチュエータは、協調モードの実行中に、第2通信装置からの第2ステアリングの操舵角に基づいて制御される。【選択図】図3


    Access

    Download


    Export, share and cite



    Title :

    REMOTE DRIVING SYSTEM AND REMOTE DRIVING METHOD


    Additional title:

    遠隔運転システム及び遠隔運転方法


    Contributors:

    Publication date :

    2022-08-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G16Y



    Remote driving method, remote driving device and remote driving system

    ZHAO HUAIYUAN | European Patent Office | 2020

    Free access

    REMOTE DRIVING SYSTEM AND REMOTE DRIVING METHOD

    TOKUDA YOSUKE / NISHIO MASAHIRO / TAKAHASHI SHUICHIRO et al. | European Patent Office | 2021

    Free access

    REMOTE DRIVING DEVICE AND REMOTE DRIVING SYSTEM

    AKATSUKA KOSUKE / TAKASHIMA KYO / NIWA SATORU et al. | European Patent Office | 2022

    Free access

    REMOTE DRIVING DEVICE AND REMOTE DRIVING SYSTEM

    AKATSUKA KOSUKE / TAKASHIMA TORU / NIWA SATORU et al. | European Patent Office | 2022

    Free access

    Remote driving device and remote driving system

    AKATSUKA KOSUKE / TAKASHIMA TORU / NIWA SATORU et al. | European Patent Office | 2024

    Free access