| CPC G05D 1/0022 (2013.01) [G05D 1/0061 (2013.01)] | 8 Claims |
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1. A control device that controls a moving body being a target of a remote operation performed by a remote operator, the control device comprising one or more processors mounted on the moving body and configured to:
during the remote operation of the moving body, perform a communication with a remote operator terminal on a side of the remote operator to receive remote operation information including a first operation amount caused by the remote operator;
acquire a delay amount of a communication from the remote operator terminal to the moving body based on a result of reception of the remote operation information;
execute a delay compensation process that compensates for a delay of the first operation amount based on the delay amount to calculate a first correction operation amount;
execute an upsampling process that increases a sampling frequency of the first correction operation amount by estimating the first correction operation amount in a non-sampling period; and
control the moving body based on the first correction operation amount.
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