JP5366702B2 - Unmanned vehicle remote control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To safely perform high speed driving as intended by an operator. <P>SOLUTION: An unmanned vehicle includes: an area extracting means 10a for extracting an travelable area based on range-finding data acquired by a range-finding unit for acquiring range-finding data in a traveling region; a travel state acquiring means 10b for acquiring a travel state of an unmanned vehicle; and a control limit information generating means 10c for generating control limit information indicating a control limit for travel based on the acquired travel state of the unmanned vehicle and the extracted travelable area. A remote controller includes a control limit information displaying means for displaying the generated control limit information on a display unit. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an unmanned vehicle remote control system for an unmanned vehicle such as a robot traveling autonomously.

Conventionally, as this type of unmanned vehicle remote control system, there is a configuration described in Patent Document 1 under the name of a travel control device for unmanned vehicles.
An unmanned vehicle remote control system described in Patent Document 1 includes a receiving unit that receives a steering signal transmitted from an external transmitting unit to an unmanned vehicle, a steering unit that steers a wheel of the unmanned vehicle, and a wheel. Braking means for applying braking, vehicle speed detection means for detecting the speed of the unmanned vehicle, and control means for controlling the operation of each means, the control means being controlled by the receiving means when the unmanned vehicle travels. When a steering signal is received, a vehicle speed determination function for determining whether the speed of the unmanned vehicle detected by the vehicle speed detection means exceeds a predetermined speed set in advance, and the speed of the unmanned vehicle is A speed control function for lowering the speed of the unmanned vehicle to the predetermined speed by operating the braking means when a predetermined speed is exceeded, and the speed of the unmanned vehicle has been reduced to the predetermined speed It said steering means operates to has a configuration provided with the steering control function to start steering to.

Japanese Patent Application Laid-Open No. 07-9969

However, since the steering operation is limited when the traveling speed is too high, the unmanned vehicle automatically decelerates to a necessary speed when a steering operation command is issued.
In this method, since the unmanned vehicle automatically creates an operation that the operator does not intend for the operation such as speed, there is a high probability that a motion different from the operation intended by the operator is generated.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an unmanned vehicle remote control system that can safely perform high-speed traveling as intended by an operator.

An unmanned vehicle remote control system according to the present invention for solving the above problems includes a distance measuring unit for obtaining distance measurement data in a traveling area, an unmanned vehicle equipped with a driving mechanism for traveling, and A remote control device having a display unit for displaying an image acquired by the distance measuring unit and having a steering for remotely operating an unmanned vehicle based on the image displayed on the display unit via a wireless communication line It has a connectable configuration.
In the present invention, based on the distance measurement data acquired by the distance measuring unit, area extraction means for extracting the travelable area, travel state acquisition means for acquiring the travel state of the unmanned vehicle, and the acquired travel state of the unmanned vehicle And operation limit information including a steering operation warning angle range in which the driving state of the unmanned vehicle becomes unstable and a steering operation dangerous angle range in which the driving state of the unmanned vehicle becomes dangerous based on the extracted travelable area. The operation limit information generating means to be generated is provided in the unmanned vehicle, and the operation limit information display means for displaying the generated operation limit information on the display unit is provided in the remote operation device.

  According to the present invention, high-speed traveling as intended by the operator can be performed safely.

It is explanatory drawing which shows the whole structure of the unmanned vehicle remote control system which concerns on one Embodiment of this invention. It is explanatory drawing which shows roughly the structure of the unmanned vehicle which makes a part of unmanned vehicle remote control system same as the above. It is a block diagram of the control circuit provided in the unmanned vehicle same as the above. It is a block diagram which shows the function which the computer for vehicle control provided in the unmanned vehicle has. (A) is an operation angle range of an accelerator pedal, (B) is an explanatory view showing an operation angle range of a steering wheel. It is a control flowchart of an unmanned vehicle. (A) is explanatory drawing which shows schematic structure of a remote control apparatus, (B) is explanatory drawing which shows the operation limit information displayed on a display part. It is a block diagram of the control circuit provided in the remote control device. (A) is explanatory drawing for demonstrating a steering weighting mechanism, (B) is explanatory drawing for demonstrating an accelerator weighting mechanism. It is a flowchart of the main routine of remote operation by a remote control device. It is a flowchart of the subroutine of the remote control by a remote control device. It is a flowchart which shows the increase / decrease weighting process of the operating force of an accelerator pedal and a steering wheel. It is a graph which shows the input-output characteristic of a steering angle and a command angle.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings. FIG. 1 is an explanatory diagram showing the overall configuration of an unmanned vehicle remote control system according to an embodiment of the present invention, and FIG. 2 is an explanatory diagram schematically showing the configuration of an unmanned vehicle that forms part of the unmanned vehicle remote control system. FIG. FIG. 3 is a block diagram of a control circuit provided in the unmanned vehicle.

As shown in FIG. 1, an unmanned vehicle remote control system A1 according to an embodiment of the present invention is configured such that an unmanned vehicle B and a remote control device C can be connected through an electric communication line.
The unmanned vehicle B has a configuration in which various actuators are added so that the steering wheel / accelerator / brake of a general passenger vehicle can be operated by the following vehicle control and traveling computers 10 and 30. It is as follows.

  That is, the unmanned vehicle B is controlled by a vehicle control computer 10 including a CPU (Central Processing Unit), an interface circuit (none of which are shown), and the traveling computer 30 (FIG. 2). , 3).

The vehicle control computer 10 and the travel computer 30 are connected to each other via the Ethernet (registered trademark) 11.
In addition to Ethernet (registered trademark), in-vehicle networks such as CAN (Controller Area Network) can be used as the connection method.

The traveling computer 30 includes a CPU (Central Processing Unit), an interface circuit (none of which is shown), and the like, and a ranging unit for acquiring ranging data in the traveling region is provided at an input port thereof. 33 is connected.
The distance measuring unit 33 includes traveling cameras 14 and 31 and laser sensors (hereinafter referred to as “LRF”) 32a and 32b (see FIG. 3).

The LRFs 32a and 32b perform distance measurement by a time-of-flight method for measuring the time from projecting to receiving of laser light. In the present embodiment, one laser light source is used and the optical axis is optical. This is a scan type that acquires a three-dimensional shape of an object by sweeping mechanically or mechanically.
In the present embodiment, one LRF 32a is for a long distance, and the other LRF 32b is for a short distance, so that the traveling area can be covered regardless of the distance.

  The traveling cameras 14 and 31 are for acquiring image data necessary for autonomous traveling, and are arranged in a lateral direction symmetrically in the traveling direction and in the vehicle width direction.

The vehicle control computer 10 includes a CPU (Central Processing Unit), an interface circuit, a memory (all not shown), and the like.
An input port of the vehicle control computer 10 includes a wireless LAN 13 and a remote operation camera 19 as an imaging unit via an Ethernet (registered trademark) 11, a GPS (Global Positioning System) 15, a vertical gyro 16, a vehicle speed. A pulse 17 and an odometry 18 are connected via a serial line. Reference numeral 20 denotes an antenna connected to the wireless LAN 13.
In addition to the wireless LAN, a mobile phone, PHS, satellite line, or the like can be used as the communication means.

Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output port via a motor driver 21, respectively.
In FIG. 1, 9 are traveling wheels, and together with these traveling wheels 9, a motor driver 21, a steering actuator 22, and a brake / accelerator actuator 23 constitute a drive mechanism D.

  The vertical gyro 16 obtains the inclination posture in the vertical plane of the unmanned vehicle B, and therefore the optical axis posture (orientation) information of the traveling cameras 14 and 31 and the LRFs 32a and 32b described later.

The odometry 18 is a sensor for acquiring own position information based on each rotation amount of the traveling wheels 9 of the unmanned vehicle B.
The GPS 15 is for acquiring positioning information of the unmanned vehicle B.
The vehicle speed pulse 17 is for measuring the traveling speed of the unmanned vehicle B, and outputs the traveling speed of the unmanned vehicle B as pulse information.

The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 15 and the vertical gyro 16 to the remote control device C to be described later through the Ethernet (registered trademark) 11, the wireless LAN 13 and the antenna 20. Based on the operation information transmitted from the remote operation device C, the steering actuator 22 and the brake / accelerator actuator 23 are driven and controlled via the motor driver 21.
In other words, the steering actuator 22 and the brake / accelerator actuator 23 are driven based on the operation information for the unmanned vehicle B transmitted from the remote control device C.

  The vehicle control computer 10 exhibits the following functions by executing required programs stored in a memory (not shown). FIG. 4 is a block diagram illustrating functions of a vehicle control computer provided in the unmanned vehicle.

(1) A function of extracting a travelable area based on distance measurement data acquired by the distance measurement unit 33. This is referred to as “area extraction means 10a”.
In the present embodiment, the travelable area in the travel region is extracted based on both the laser beam data acquired by the LRFs 32a and 32b and the image data acquired by the travel cameras 14 and 31.
Note that the travelable area in the travel area may be extracted based only on the image data acquired by the travel cameras 14 and 31 and based only on the laser light data acquired by the LRF 32.

(2) A function of acquiring the traveling state of the unmanned vehicle B. This is referred to as “running state acquisition means 10b”.
The “traveling state” shown in the present embodiment is the traveling speed, steering angle, and inclination (relative to the horizontal plane) of the unmanned vehicle B.
These data are acquired by the vehicle speed pulse 17, the odometry 18, the rotation angle sensor 24, and the vertical gyro 16.

The upper limit value of the traveling speed is set as follows.
Safety distance: x _s = x _b + x _dr + z _c z _c : additional distance (safety margin)
The safety distance is the distance from the unmanned vehicle B to the obstacle.
Braking distance: x _b = Br (v) Generally x _b ∝v ²
Free running distance: x _dr = v _td v: Traveling speed Free running time: t _d = t _ds + t _dc + t _dt t _ds : Sensor response time
t _dc : Controller response time
t _dt : Communication delay time Management distance with emphasis on safety
v = v _max v _max : Maximum speed of the vehicle

(3) A function of generating operation limit information indicating an operation limit for traveling based on the acquired traveling state of the unmanned vehicle B and the extracted travelable area. This is referred to as “operation limit information generation means 10c”.
FIG. 5A is an explanatory view showing the operation angle range of the accelerator pedal included in the operation limit information, and FIG. 5B is an explanatory diagram showing the operation angle range of the steering wheel included in the operation limit information.
In the present embodiment, operation limit information α1, α2 corresponding to the delay time calculated by the delay time calculation means 51a included in the remote operation device C described later is generated.
The “operation limit information” includes an operation angle range of the steering wheel 56 described later and an operation angle range of the accelerator pedal 57.

  The “accelerator pedal operation angle range” includes an operable angle range 40a in which the unmanned vehicle B can be kept in a safe driving state, an operation warning angle range 40b in which the driving state becomes unstable, and the driving state becomes dangerous. The operation dangerous angle range 40c is included.

The “steering wheel operation angle range” includes an operable angle range 41a in which the unmanned vehicle B can be kept in a safe driving state, operation warning angle ranges 41b and 41b in which the driving state becomes unstable, and the driving state is dangerous. And a dangerous operation angle range 41c.
Reference numerals 40d and 41d are indicators corresponding to the actual operation angles of the accelerator pedal and the steering wheel.

(4) A function of transmitting the generated operation limit information to the remote operation device C through the telecommunication line. This function is referred to as “operation limit information transmitting unit 10d”.

(5) A function of running the unmanned vehicle B through the drive mechanism D in accordance with the operation information sent from the remote control device C. This is referred to as “autonomous traveling means 10e”.
The “operation information” includes at least the traveling direction, the traveling speed, and the acceleration / deceleration data of the unmanned vehicle B.

Next, a control flowchart of the unmanned vehicle will be described with reference to FIG. FIG. 6 is a control flowchart of the unmanned vehicle.
<Control flowchart on unmanned vehicle>
Step 1 (abbreviated as “S1” in the figure. The same applies hereinafter): Initialization processing of each part is performed, and the process proceeds to Step 2.

Step 2: The operation information and command by the operator Q transmitted from the remote operation device C are received, and the process proceeds to Step 3.
Step 3: It is determined whether or not a semi-autonomous running command has been received. If a semi-autonomous running command is received, the process proceeds to Step 4; otherwise, the process proceeds to Step 10.
That is, it has a function of determining whether or not a semi-autonomous running command has been received. This function is called “command determination means”.

Step 4: The travel area is recognized by the cameras 14 and 31 and the LRFs 32a and 32b, a travelable area is extracted, and the process proceeds to Step 5.
That is, it has a function of creating an environmental map based on distance measurement data acquired by the distance measurement unit 33 (this function is referred to as “map generation means”), and the laser light data acquired by the LRFs 32a and 32b An environment map is created based on the environment map, a travel area is recognized based on the environment map, and a travelable area is extracted.
The created environment map is sequentially stored in a memory (not shown) in the autonomous traveling control computer 10.

Step 5: Receive steering wheel and accelerator pedal operation information, and proceed to Step 6.
Step 6: The steering wheel and accelerator pedal are driven by the actuator so that the angle included in the operation information is obtained.
Step 7: Obtain the traveling state of the unmanned vehicle and proceed to Step 8.
Step 8: Generate operation limit information α1, α2 for traveling.
Step 9: An image on which the operation limit information α1, α2 and the recognition result are superimposed is transmitted to the remote operation device C.
Step 10: Perform termination processing.

Next, the remote control device will be described with reference to FIGS. FIG. 7A is an explanatory diagram illustrating a schematic configuration of the remote control device, and FIG. 7B is an explanatory diagram illustrating operation limit information displayed on the display unit. FIG. 8 is a block diagram of a control circuit provided in the remote control device, FIG. 9A is an explanatory diagram for explaining the steering weight mechanism, and FIG. 8B is an explanation for explaining the accelerator weight mechanism. FIG.
The remote control device C shown in the present embodiment has an external configuration in which a display 60 is disposed on the device main body 50.

  In the apparatus main body 50, an input / output port including a CPU (Central Processing Unit), an interface circuit (none of which is shown), and the like are connected to a wireless LAN 52, a rotation angle sensor 53, a steering weighting mechanism 54, an accelerator weighting mechanism 55, and a display 60. A control device 51 connected to the steering wheel 56 and the accelerator pedal 57 is provided. In addition, what is shown with the code | symbol 58 is an antenna.

As shown in FIG. 7A, the apparatus main body 50 has an operation panel 63 erected on one end of a base 62, and a steering wheel 56 on the upper part of the operation panel 63. Accelerator pedals 57 are respectively disposed in the lower part.
The operator Q operates the steering wheel 567, the accelerator pedal 57, and the like while sitting on a chair 64 disposed on the base 62.

The steering wheel 56 is for operating the traveling direction of the unmanned vehicle B, to which the steering weight mechanism 54 and the rotation angle sensor 53 shown in FIGS. 7A and 9 are attached.
The steering weight mechanism 54 shown in the present embodiment increases or decreases the operating force of the steering wheel 56 in the above-described operation warning angle ranges 40b and 41b of the steering wheel 56. In the present embodiment, the actuator 54a is It is the composition which has.

The accelerator pedal 57 is for operating acceleration / deceleration of the unmanned vehicle B, and the accelerator weighting mechanism 55 described above is attached thereto.
The accelerator weighting mechanism 55 weights the operating force of the accelerator pedal 57, and shows the behavior of the virtual spring shown in FIG.

  The display 60 displays the image of the travel area acquired by the remote operation camera 19 and the cameras 14 and 31, the travelable area, the operation limit information α1 and α2, and the like.

The control device 51 exhibits the following functions by executing a required program.
(6) A function of calculating a communication delay time between the unmanned vehicle B and the remote control device C. This function is referred to as “delay time calculation means 51a”.
In this embodiment, the round trip time of data is estimated between the unmanned vehicle B and the remote control device C in the manner of ping.
In addition, GPS is installed in both the unmanned vehicle B and the remote control device C, the time synchronization with high accuracy is performed by both computers using the GPS, and the delay time is estimated based on the time stamp of the received data. You may do it.

(7) A function of increasing or decreasing the operating force of the steering wheel 56 by the steering weight mechanism 54 in accordance with the above-described operation warning angle 41b of the steering wheel 56. This function is referred to as “steering increase / decrease weighting means 51b”.
Specifically, a larger operating force is required as the operating angle of the steering wheel 56 increases.

(8) A function of increasing or decreasing the operating force of the accelerator pedal 57 by the accelerator weighting mechanism 55 according to the operation warning angle 40b of the accelerator pedal 57. This function is referred to as “accelerator increase / decrease weighting means 51c”.
Specifically, as the depression angle of the accelerator pedal 57 is increased, a larger operating force is required.

(9) A function of causing the display 60 to display the generated operation limit information. This function is referred to as “operation limit information display means 51d”.
In the present embodiment, as shown in FIG. 7B, the operation limit information is displayed in a transparent and superimposed manner in a travelable area (not shown) or the like. However, the present invention is not limited to this. You may make it display on the side.

(10) A function for generating restricted operation information based on the operation limit information. This function is referred to as “operation information generation means 51e”.
This function will be described in detail in FIG. 11 below.
(11) A function of transmitting the generated operation information to the semi-autonomous unmanned vehicle B through the telecommunication line. This function is referred to as “operation information transmitting means 51f”.

  Next, remote operation by the remote operation device will be described with reference to FIGS. FIG. 10 is a flowchart of a main routine for remote operation by the remote operation device C, and FIG. 11 is a flowchart of a subroutine.

Step 1 (abbreviated as “S1” in the figure. The same applies hereinafter): Initialization processing of each part is performed, and the process proceeds to Step 2.
Step 2: The vehicle information (speed, etc.), operation limit information α1, α2 and command transmitted from the unmanned vehicle B are received, and the process proceeds to Step 3.
Step 3: Calculate the communication delay time and proceed to Step 4.

  Step 4: The travel amount of the unmanned vehicle B due to the calculated communication delay time is corrected on the images captured by the cameras 14 and 31, and is superposed on the image captured by the remote operation camera 19, so that the operation limit information α1, Display the α2, the received recognition result of the travelable area, and the received vehicle information, and proceed to Step 5.

  Step 5: The accelerator pedal is displayed while referring to the image captured by the remote operation camera 19, the operation limit information α1, α2, the received recognition result of the travelable area, the received vehicle information, and the like displayed on the display 60. 57, the steering wheel 56 is operated.

Step 6: Perform an operation force increase / decrease weighting process and generate limited operation information based on the operation limit information. Specifically, it is as follows.
In the following, the case where the operation force of the steering wheel 56 is increased or decreased will be described. However, the operation force of the accelerator pedal 57 is also increased or decreased in the same manner. The description about the increase / decrease weight of the operation force 57 is omitted.
τ = 0 θ _i <θ _a
τ = K (θ−θ _a ) θ _a <θ _i <θ _d
τ = τ _max θ _i <θ _d
k: Rotating spring constant θ _i : Steering angle θ _a : Warning angle (steering angle / acceleration at which unmanned vehicle B becomes unstable if it is further accelerated (accelerated) calculated from travel speed / external environment)
θ _d : Danger angle (calculated from travel speed / external environment, steering angle / acceleration at which unmanned vehicle B becomes dangerous if it exceeds (accelerates))
θ ₀ : Command angle

Step 6a: An operation input angle (steering angle) θ _i of the steering wheel 56 is input, and the process proceeds to Step 6b.
Step 6b: The operation input angle θ _i is compared with the command angle θ _0, and if θ _i <θ _a , the operation proceeds to step 6c, if θ _a <θ _i <θ _d , the operation proceeds to step 6d. If θ _i <θ _d , the process proceeds to step 6e.

  Step 6c: The operating force τ of the steering wheel 56 is set to “0”, and the process proceeds to Step 6f.

Step 6d: The operating force τ of the steering wheel 56 is set to K (θ _i −θ _a ), and the process proceeds to Step 6f.
Step 6e: The operating force τ of the steering wheel 56 is set to τ _max , and the process proceeds to Step 6f. Note that τ _max is a preset operation force.

Step 6f: Torque control of the steering actuator 22 is performed so that the operating force τ of the steering wheel 56 becomes the value set in Steps 6c, 6d, and 6e.
The above-described control in steps 6b to 6f is a series of processes for controlling the operation force of the steering wheel 56 in the remote operation device C.

Step 6g: The steering angle θ _i and the dangerous angle θ _d are compared, and if the steering angle θ _i > θ _d , the process proceeds to step 6i, and if not, the process proceeds to step 6h.
Step 6h: The command angle θ ₀ is set as the steering angle θ _i and the process proceeds to Step 6j.

Step 6i: The command angle θ ₀ is set as the dangerous angle θ _d and the process proceeds to Step 6j.
Step 6j: Operation information (command angle θ ₀ ) of the steering wheel 56 on the unmanned vehicle B side is output, and the process returns to Step 6b.
Step 7: Increase / decrease the operating force of the accelerator pedal 57 and the steering wheel 56.

  Next, see FIG. 12 for another example of processing for generating restricted operation information based on the operation limit information in Step 6 described above, and FIG. 13 for an example of increase / decrease weighting of the steering wheel operation force. To explain. FIG. 12 is a flowchart showing another example of processing for generating limited operation information based on the operation limit information, and FIG. 13 is a graph showing input / output characteristics of the steering wheel angle and the command angle.

The operation force increase / decrease weighting process according to another example has a configuration provided with a steering operation prohibiting means 51g (see FIG. 8) for prohibiting the operation of the steering wheel 56 having _a warning angle θa or more.
In the present embodiment, a permission / rejection setting switch 65 (see FIG. 8) is provided on the operation panel 63, and a switch state determination unit 51f for determining whether the permission / rejection setting switch 65 is on / off and the permission / rejection setting switch 65 are provided. When it is determined that the steering wheel is on, the steering operation prohibiting means 51g prohibits the steering wheel 56 from operating beyond the dangerous angle range.
Specifically, it is as follows.

Step 6a ′: The steering angle θ _i of the steering wheel 56 is input, and the process proceeds to Step 6b ′.
Step 6b ′: The steering angle θ _i is compared with the warning angle θ _a . If θ _i > θ _a , the process proceeds to step 6d ′, and if θ _i <θ _a , the process proceeds to step 6c ′.

Step 6c ′: Set the command angle θ ₀ to the steering angle θ _i and proceed to Step 6h ′.
Step 6d ′: It is determined whether the permission / rejection setting switch 65 is on / off. If it is determined that the permission / rejection setting switch 65 is on, the process proceeds to Step 6f ′. Otherwise, the process proceeds to Step 6e ′.

Step 6e ': with a steering angle theta _i of the steering wheel 56 to alert the angle theta _a, step 6h' proceeds to.
That is, as shown in FIG. 13, when the permissibility setting switch 65 is off is the output to alert the angle theta _a is limited as shown by (A).

Step 6f ′: It is determined whether or not the steering angle θ _i of the steering wheel 56 is greater than or equal to the dangerous angle θ _{d. When} it is determined that the steering angle θ _i is greater than or equal to the dangerous angle θ _d , the process proceeds to Step 6 g ′. Otherwise, go to step 6h '.
When the steering angle θ _i does not reach the critical angle θ _d , the steering wheel 56 can be operated while the load acting on the steering wheel 56 is increased. In other words, a greater operating force is required as the operating angle of the steering wheel 56 increases.

Step 6g ′: The steering angle θ _i of the steering wheel 56 is set to the dangerous angle θ _d , and the process proceeds to Step 6h ′.
That is, as shown in FIG. 13, when the permissibility setting switch 65 is on, is being limited output to the dangerous angle theta _d as shown in (b).
Step 6h ′: The steering angle θ ₀ of the steering wheel 56 is output toward the unmanned vehicle B.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
· In the above embodiment, the steering angle theta _i, by dividing the _{θ i <θ a, θ a} <θ i <θ d, and θ _i <θ _d like, and for example adding corresponding weights respectively However, the present invention is not limited to this, and for example, a corresponding weight may be applied for each fixed angle.

・ When adding a function to complement accuracy, the following can be done.
As a complement to the vehicle speed pulse, an acceleration sensor for measuring the speed of the unmanned vehicle (integrated) / the inclination of the vehicle (by detecting gravity) and a tachometer for calculating the speed of the unmanned vehicle are provided. Also good.
A tilt angle sensor for detecting the tilt of the unmanned vehicle (relative to the horizontal plane) may be provided as a complement to the vertical gyro.

In the above-described embodiment, the example in which the whole unmanned vehicle is controlled by the two computers, the vehicle control computer and the traveling computer, has been described as an example. You may make it control by a computer. Furthermore, it can be shared by three or more computers.

10a Area extraction means 10b Travel state acquisition means 10c Operation limit information generation means 10d Operation limit information transmission means 10e Autonomous travel means 19 Imaging unit (remote control camera)
33 Distance measuring units 40b, 41b Operation warning angle range 40c, 41c Operation danger angle range 51a Delay time calculation means 51b Steering increase / decrease weighting means 51c Acceleration increase / decrease weighting means 51d Operation limit information display means 51e Operation information generation means 51f Operation information transmission means 51g Steering operation prohibiting means 51h Switch state determining means 54 Steering weight mechanism 55 Accelerator weighting mechanism 56 Steering wheel 57 Accelerator pedal 60 Display unit (display)
65 Permission setting switch A1 Unmanned vehicle remote control system B Unmanned vehicle C Remote control device D Drive mechanism α1, α2 Operation limit information

Claims (7)

A ranging unit for acquiring ranging data in the traveling area, an unmanned vehicle equipped with a driving mechanism for traveling, and a display unit for displaying an image acquired by the ranging unit, the display unit In the unmanned vehicle remote control system capable of connecting via a wireless communication line with a remote control device having a steering for remotely operating the unmanned vehicle based on the image displayed on
An area extracting means for extracting a travelable area based on the distance measurement data acquired by the distance measurement unit;
Driving state acquisition means for acquiring the driving state of the unmanned vehicle;
Based on the obtained unmanned vehicle travel state and the extracted travelable area, the steering operation warning angle range in which the unmanned vehicle travel state becomes unstable and the steering operation dangerous angle in which the unmanned vehicle travel state becomes dangerous An unmanned vehicle is provided with operation limit information generating means for generating operation limit information including a range ,
An unmanned vehicle remote operation system, characterized in that an operation limit information display means for displaying generated operation limit information on a display unit is provided in a remote operation device. The unmanned vehicle remote control system according to claim 1, further comprising a steering weighting mechanism for weighting a steering operation force in a steering operation warning angle range . The unmanned vehicle remote control system according to claim 2, further comprising a steering increase / decrease weighting means for increasing / decreasing the steering operation force by a steering weighting mechanism in accordance with a steering operation warning angle . A ranging unit for acquiring ranging data in the traveling area, an unmanned vehicle equipped with a driving mechanism for traveling, and a display unit for displaying an image acquired by the ranging unit, the display unit In the unmanned vehicle remote control system capable of connecting via a wireless communication line with a remote control device having an accelerator pedal for remotely operating the unmanned vehicle based on the image displayed on
An area extracting means for extracting a travelable area based on the distance measurement data acquired by the distance measurement unit;
Driving state acquisition means for acquiring the driving state of the unmanned vehicle;
Based on the acquired unmanned vehicle travel state and the extracted travelable area, the accelerator pedal operation warning angle range that makes the unmanned vehicle travel state unstable and the accelerator pedal operation that makes the unmanned vehicle travel state dangerous An unmanned vehicle is provided with operation limit information generating means for generating operation limit information including a dangerous angle range,
An unmanned vehicle remote operation system, characterized in that an operation limit information display means for displaying generated operation limit information on a display unit is provided in a remote operation device . The unmanned vehicle remote control system according to claim 4, further comprising an accelerator weighting mechanism for weighting an operation force of the accelerator pedal in an operation warning angle range of the accelerator pedal . 6. The unmanned vehicle remote control system according to claim 5, further comprising an accelerator increase / decrease weighting means for increasing / decreasing the operation force of the accelerator pedal by an accelerator weighting mechanism in accordance with an operation warning angle of the accelerator pedal . A delay time calculating means for calculating a communication delay time between the unmanned vehicle and the remote control device is provided;
The unmanned vehicle remote operation system according to any one of claims 1 to 6, wherein the operation limit information generating means generates operation limit information according to the calculated delay time .

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