To provide a remote control system that can secure safety 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. A first parameter corresponds to an actual turning angle of the moving body. A second parameter depends on a control amount of a handle by the remote operator and does not depend on the first parameter. The remote control system determines whether or not roughness of a road surface in front of the moving body is equal to a threshold or higher, on the basis of a result of recognition performed by a recognizing sensor mounted on the moving body. When the roughness of the road surface is equal to the threshold or higher or when the roughness of the road surface is equal to the threshold or higher and a speed of the moving body is equal to a first speed threshold or higher, the remote control system calculates a reaction force control amount on the basis of the second parameter, without using the first parameter. Further the remote control system applies steering reaction force corresponding to the reaction force control amount to a handle.SELECTED DRAWING: Figure 10

    【課題】遠隔オペレータによる移動体の遠隔操作の安定性を確保する。【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。第1パラメータは、移動体の実転舵角に相当する。第2パラメータは、遠隔オペレータによるハンドルの操作量に依存し、且つ、第1パラメータに依存しない。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粗さが閾値以上であるか否かを判定する。路面粗さが閾値以上である場合、あるいは、路面粗さが閾値以上であり且つ移動体の速度が第1速度閾値以上である場合、遠隔操作システムは、第1パラメータを用いることなく、第2パラメータに基づいて反力制御量を算出する。そして、遠隔操作システムは、反力制御量に応じた操舵反力をハンドルに付与する。【選択図】図10


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    Title :

    REMOTE CONTROL SYSTEM AND REMOTE CONTROL SUPPORT METHOD


    Additional title:

    遠隔操作システム及び遠隔操作支援方法


    Contributors:

    Publication date :

    2023-11-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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