US 12,291,199 B2
Moving body control system
Kenta Maeda, Tokyo (JP); and Junya Takahashi, Tokyo (JP)
Assigned to Hitachi, Ltd., Tokyo (JP)
Appl. No. 16/754,831
Filed by Hitachi, Ltd., Tokyo (JP)
PCT Filed Oct. 20, 2017, PCT No. PCT/JP2017/038001
§ 371(c)(1), (2) Date Apr. 9, 2020,
PCT Pub. No. WO2019/077739, PCT Pub. Date Apr. 25, 2019.
Prior Publication US 2021/0197808 A1, Jul. 1, 2021
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); B60W 40/04 (2006.01); G09G 1/16 (2006.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 30/18163 (2013.01); B60W 40/04 (2013.01); G09G 1/165 (2013.01); B60W 2400/00 (2013.01); B60W 2554/404 (2020.02); B60W 2554/80 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A moving body control system, comprising:
a moving body control device that controls a moving body; and
a control device that controls the moving body from a remote place,
wherein the moving body control device is configured to:
obtain external information around the moving body,
acquire movement information of the moving body,
receive remote control information from the control device,
calculate a control amount for controlling a movement of the moving body based on at least one of the external information and the movement information,
switch an autonomous movement and a remote control of the moving body based on the remote control information received from the control device, and
transmit at least one of the external information, the movement information, and the control amount to the control device, and
wherein the control device is configured to:
receive at least one of the external information, the movement information, and the control amount from the moving body control device,
transmit the remote control information to the moving body control device,
receive second external information from an external sensor,
determine whether a first object externally located within a detection range of the moving body and a second object externally located within the detection range of the moving body are the same object based at least in part on the external information and the second external information,
based at least in part on a determination of whether the first object and the second object are the same object, determine an autonomous mobility of the moving body in the future, the autonomous mobility including a target acceleration calculated based on the determination of whether the first object and the second object are the same object, and
generate the remote control information including switching to a remote control in response to a determination that a deviation between the target acceleration and an initial target acceleration is larger than a predetermined value.