Mobile object control system

1 . A mobile object control system configured to control traveling of a mobile object, the mobile object control system comprising

the mobile object including a body, a seating disposed on the body, drive wheels attached to the body, and one or more actuators configured to drive the drive wheels,

a first operation terminal and a second operation terminal configured to be held by a first operator and a second operator sitting on the seating, respectively, the first operation terminal and the second operation terminal including sensors, respectively, and

a plurality of processors, wherein

the plurality of processors is configured to:

acquire a first tilt angle, a second tilt angle, a third tilt angle, and a fourth tilt angle from the sensors, wherein

the first tilt angle is a rotation angle of the first operation terminal about a first rotational axis that extends through a center of the first operation terminal and along a lateral direction of the first operation terminal,

the second tilt angle is a rotation angle of the first operation terminal along a second rotational axis that extends through the center of the first operation terminal and along a longitudinal direction of the first operation terminal,

the third tilt angle is a rotation angle of the second operation terminal along a third rotational axis that extends through a center of the second operation terminal and along a lateral direction of the second operation terminal, and

the fourth tilt angle is a rotation angle of the second operation terminal along a fourth rotational axis that extends through the center of the second operation terminal and along a longitudinal direction of the second operation terminal;

calculate a first target speed and a second target speed based on the first tilt angle and the third tilt angle, respectively, the first target speed and the second target speed being target values of a speed in a traveling direction of the mobile object;

calculate a first target turning angular velocity and a second target turning angular velocity based on the second tilt angle and the fourth tilt angle, respectively, the first target turning angular velocity and the second target turning angular velocity being target values of a turning angular velocity of the mobile object;

calculate a final target speed by combining the first target speed and the second target speed using a first ratio;

calculate a final target turning angular velocity by combining the first target turning angular velocity and the second target turning angular velocity using a second ratio different from the first ratio; and

control the one or more actuators based on the final target speed and the final target turning angular velocity.

2 . The mobile object control system according to claim 1 , wherein:

the first ratio includes a first coefficient to be used for multiplication of the first target speed and a second coefficient to be used for multiplication of the second target speed;

the second ratio includes a third coefficient to be used for multiplication of the first target turning angular velocity and a fourth coefficient to be used for multiplication of the second target turning angular velocity;

the first coefficient is larger than the second coefficient; and

the third coefficient is equal to the fourth coefficient.

3 . The mobile object control system according to claim 2 , wherein:

the first coefficient is 1; and

the second coefficient is 0.

4 . The mobile object control system according to claim 1 , wherein:

the plurality of processors includes a first processor, a second processor, and a third processor;

the mobile object further includes the first processor;

the first operation terminal includes the second processor;

the second operation terminal includes the third processor;

the second processor is configured to calculate the first target speed and the first target turning angular velocity;

the third processor is configured to calculate the second target speed and the second target turning angular velocity; and

the first processor is configured to calculate the final target speed and the final target turning angular velocity.

5 . The mobile object control system according to claim 1 , wherein:

each of the first operation terminal and the second operation terminal includes a touch panel; and

the first operation terminal is configured such that both the first ratio and the second ratio are designated by the first operator via the touch panel of the first operation terminal.

6 . The mobile object control system according to claim 4 , wherein:

the first operation terminal further includes a first storage device storing a first map and a second map, the first map defining a relationship between the first tilt angle and the first target speed, and the second map defining a relationship between the second tilt angle and the first target turning angular velocity;

the second operation terminal further includes a second storage device storing a third map and a fourth map, the third map defining a relationship between the third tilt angle and the second target speed, and the fourth map defining a relationship between the fourth tilt angle and the second target turning angular velocity;

the second processor is configured to calculate the first target speed and the first target turning angular velocity based on the first map and the second map; and

the third processor is configured to calculate the second target speed and the second target turning angular velocity based on the third map and the fourth map.

7 . The mobile object control system according to claim 6 , wherein:

the first map indicates that the first target speed increases as the first tilt angle in a positive direction increases;

the second map indicates that the first target turning angular velocity increases as the second tilt angle in a positive direction increases;

the third map indicates that the second target speed increases as the third tilt angle in a positive direction increases; and

the fourth map indicates that the second target turning angular velocity increases as the fourth tilt angle in a positive direction increases.

8 . The mobile object control system according to claim 1 , wherein:

the first rotational axis is perpendicular to the second rotational axis; and

the third rotational axis is perpendicular to the fourth rotational axis.