To provide a remote control system that can flexibly adjust steering reaction force depending on a situation, in remote control of a moving body by a remote operator.SOLUTION: A remote control system supports remote control of a moving body by a remote operator. The remote control system calculates a first reaction force control amount on the basis of a first parameter corresponding to an actual turning angle of the moving body. The remote control system determines a state of a road surface in front of the moving body, on the basis of a result of recognition performed by a recognizing sensor mounted on the moving body. The remote control system adjusts the first reaction force control amount in accordance with the state of the road surface and a speed of the moving body, and then applies steering reaction force corresponding to the adjusted first reaction force control amount to a handle controlled by the remote operator.SELECTED DRAWING: Figure 10
【課題】遠隔オペレータによる移動体の遠隔操作において、状況に応じて操舵反力をフレキシブルに調整する。【解決手段】遠隔操作システムは、遠隔オペレータによる移動体の遠隔操作を支援する。遠隔操作システムは、移動体の実転舵角に相当する第1パラメータに基づいて第1反力制御量を算出する。また、遠隔操作システムは、移動体に搭載された認識センサによる認識結果に基づいて、移動体の前方の路面状態を判定する。遠隔操作システムは、路面状態及び移動体の速度に応じて第1反力制御量を調整し、調整後の第1反力制御量に応じた操舵反力を遠隔オペレータが操作するハンドルに付与する。【選択図】図10
REMOTE CONTROL SYSTEM AND REMOTE CONTROL SUPPORT METHOD
遠隔操作システム及び遠隔操作支援方法
2023-11-30
Patent
Electronic Resource
Japanese
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