Remote control device, control device, and control method
A remote control device that generates a control command for remote control of a movable body is provided. The remote control device uses measurement results of a plurality of distance measurement devices, and sends the control command to the movable body. The remote control device specifies one or more processing-object distance measurement devices from the plurality of distance measurement devices, and each of the processing-object distance measurement devices is a distance measurement device that is used in estimating at least one of the position and orientation of the movable body. The remote control device executes the estimating using three-dimensional point cloud data that is obtained through measurement by the processing-object distance measurement devices.
1 . A remote control device comprising:
one or more memories, and
one or more processors in communication with the one or more memories, configured to perform processes including:
determining whether an accuracy of remote control of a movable body by the remote control device is higher than a reference level;
based upon the determination that the accuracy of the remote control is higher than the reference level, determining whether an allowable processing time of a movable body is higher than a needed processing time;
based upon the determination that the allowable processing time of the movable body is higher than the needed processing time, specifying a first number of one or more processing-object distance measurement devices from a plurality of distance measurement devices, wherein
the first number is greater than a reference number,
each of the one or more processing-object distance measurement devices is a distance measurement device that is used in estimating at least one of a position and an orientation of the movable body, and
each of the plurality of distance measurement devices is an external sensor that is positioned in an exterior of the movable body;
executing the estimating using three-dimensional point cloud data that is obtained through measurement by the each of the one or more processing-object distance measurement devices; and
sending a control command to the movable body, wherein the control command is for the remote control of the movable body, and the control command uses the at least one of a position and an orientation of the movable body estimated by the each of the one or more processing-object distance measurement devices.
2 . The remote control device according to claim 1 , wherein the processes further include increasing the first number of one or more processing-object distance measurement devices, when the accuracy of the remote control is lower than the reference level.
3 . The remote control device according to claim 1 , wherein the processes further include deciding the number of one or more processing-object distance measurement devices depending on a traveling situation of the movable body.
4 . The remote control device according to claim 1 , wherein the processes further include:
executing the estimating by performing matching between the three-dimensional point cloud data and a template point cloud; and
when a coincidence degree of the matching between the three-dimensional point cloud data and the template point cloud is less than a threshold, increasing the first number of one or more processing-object distance measurement devices, wherein the first number is greater than a second number of the processing-object distance measurement devices in a last matching.
5 . The remote control device according to claim 1 , wherein the processes further include:
repeatedly executing the estimating by performing matching between the three-dimensional point cloud data and a template point cloud; and
when a reliability degree of the matching in a preset number of times of the estimating by performing matching between the three-dimensional point cloud data and a template point cloud is less than a threshold, increasing the first number of one or more processing-object distance measurement devices, wherein the first number is greater than a third number of the processing-object distance measurement devices in a last matching.
6 . The remote control device according to claim 2 , wherein the processes further include decreasing a movement velocity of the movable body, when the first number of one or more processing-object distance measurement devices is increased.
7 . The remote control device according to claim 1 , wherein the reference number is determined based on the determination that the accuracy of the remote control is lower than the reference level.
8 . A control device comprising:
one or more memories, and
one or more processors in communication with the one or more memories, configured to perform processes including:
determining whether an accuracy of remote control of a movable body by the remote control device is higher than a reference level;
based upon the determination that the accuracy of the remote control is higher than the reference level, determining whether an allowable processing time of a movable body is higher than a needed processing time;
based upon the determination that the allowable processing time of the movable body is higher than the needed processing time, specifying a first number of one or more processing-object distance measurement devices from a plurality of distance measurement devices, wherein
the first number is greater than a reference number,
each of the one or more processing-object distance measurement devices is a distance measurement device that is used in estimating at least one of a position and an orientation of the movable body, and
each of the plurality of distance measurement devices is an external sensor that is positioned in an exterior of the movable body;
executing the estimating using three-dimensional point cloud data that is obtained through measurement by the each of the one or more processing-object distance measurement devices; and
sending a control command to the movable body, wherein the control command is for the remote control of the movable body, and the control command uses the at least one of a position and an orientation of the movable body estimated by the each of the one or more processing-object distance measurement devices.
9 . A control method for controlling a movable body, the control method comprising:
determining whether an accuracy of remote control of a movable body by the remote control device is higher than a reference level;
based upon the determination that the accuracy of the remote control is higher than the reference level, determining whether an allowable processing time of a movable body is higher than a needed processing time;
based upon the determination that the allowable processing time of the movable body is higher than the needed processing time, specifying, by the one or more processors, a first number of one or more processing-object distance measurement devices from a plurality of distance measurement devices, wherein
the first number is greater than a reference number,
each of the processing-object distance measurement devices is a distance measurement device that is used in estimating at least one of a position and an orientation of the movable body, and
each of the plurality of distance measurement devices is an external sensor that is positioned in an exterior of the movable body:
executing, by the one or more processors, the estimation processing using three-dimensional point cloud data that is obtained through measurement by the each of the one or more processing-object distance measurement devices; and
sending a control command to the movable body, wherein the control command is for the remote control of the movable body, and the control command uses the at least one of a position and an orientation of the movable body estimated by the each of the one or more processing-object distance measurement devices.