Abstract: A communication control method for controlling a communication between a transmission-side device and a reception-side device is provided. The communication control method includes data transmission processing that transmits multiple types of transmission target data in parallel from the transmission-side device to the reception-side device by using multiple communication lines. The data transmission processing includes: acquiring an available communication speed of each of the multiple communication lines; acquiring data priority of the multiple types of transmission target data; selecting the multiple communication lines one by one in sequence; and allocating the multiple types of transmission target data to the selected communication line in an order of the data priority such that the selected communication line is used up to a specified speed equal to or lower than the available communication speed of the selected communication line.

Abstract: A communication system performs a communication between a moving body capable of using multiple communication carriers and an external device. The communication system acquires actual communication quality information that is acquired in real time from a communication device group present in a first area located in a direction of movement of the moving body and indicates an actual measured value of a communication quality of each of the multiple communication carriers in the first area. The communication system determines priority of the multiple communication carriers in the first area based on the actual communication quality information regarding the first area. The communication system determines, based on the priority, at least one communication carrier to be used for the communication between the moving body and the external device in the first area.

Abstract: One object of the present disclosure is to provide a technique capable of appropriately suppressing an excessive operation by a remote operator. The present disclosure relates to a remote driving system for controlling a vehicle that is a target of remote driving by the remote operator. The remote driving system executes the following two processes. The first process is a process of determining whether or not an evaluation value, which indicates a degree of likelihood of an excessive operation by the remote operator and is calculated from a shape or a state of a road, is larger than a threshold value. The second process is a process of controlling the vehicle so that a vehicle speed of the vehicle becomes lower than a vehicle speed limit determined based on the evaluation value when the evaluation value is larger than the threshold value.

Abstract: A remote operation system supports a remote operation of a moving body performed by a remote operator. The remote operation system determines a road surface condition in front of the moving body based on a result of recognition by a recognition sensor mounted on the moving body. The remote operation system calculates a first reaction force control amount based on a first parameter corresponding to an actual turn angle of the moving body. The remote operation system adjusts the first reaction force control amount according to the road surface condition and a speed of the moving body. The remote operation system applies a steering reaction force corresponding to the adjusted first reaction force control amount to a steering wheel operated by the remote operator.

Abstract: A moving body is a target of a remote operation performed by a remote operator and has a plurality of cameras. A control device acquires a plurality of video data respectively captured by the plurality of cameras, as transmission target data to be transmitted to a remote operator terminal. The control device acquires information on a communication speed of a communication from the moving body to the remote operator terminal. The control device determines whether data reduction is necessary for limiting a total amount of data of the plurality of video data per second to the communication speed or less. When it is determined that the data reduction is necessary, the control device reduces an amount of transmission data of at least one of the plurality of video data such that the total amount of data is limited to the communication speed or less.

Abstract: A remote operator terminal communicates with a moving body being a target of a remote operation performed by a remote operator. The remote operator terminal executes a communication abnormality determination process that determines whether or not an abnormality occurs in the communication with the moving body based on a state of the communication with the moving body. When it is determined that no abnormality occurs, the remote operator terminal transmits remote operation information related to the remote operation performed by the remote operator to the moving body. On the other hand, when it is determined that the abnormality occurs, the remote operator terminal transmits information indicating a result of the communication abnormality determination process to the moving body without transmitting the remote operation information to the moving body.

Abstract: A remote operation system includes a moving body is a target of a remote operation performed by a remote operator and a remote operator terminal on the remote operator side. The remote operation system determines whether at least one of an abnormality in a communication between the moving body and the remote operator terminal, an abnormality in the moving body, and an abnormality in the remote operator terminal occurs. The remote operation system sets a gain to be larger when the abnormality occurs than when no abnormality occurs. The remote operation system calculates a reaction force control amount by multiplying a base reaction force control amount by the gain. The remote operator terminal applies an operation reaction force according to the reaction force control amount to a remote operation member operated by the remote operator.

Abstract: A management device communicates with a moving body being a target of a remote operation performed by a remote operator and a remote operator terminal on the remote operator side. During the remote operation of the moving body, the management device receives first information related to the remote operation from a first device that is one of the moving body and the remote operator terminal, and transmits the first information to a second device that is another of the moving body and the remote operator terminal. The management device determines whether an abnormality occurs in a first communication from the first device to the management device based on a communication state of the first information. When it is determined that the abnormality occurs in the first communication, the management device notifies the first device of occurrence of the abnormality in the first communication.

Abstract: A system for providing remote driving by communication between a remote driving vehicle and a remote driving apparatus. The system executes selecting a communication line from a plurality of communication lines, transmitting time series data through the selected communication line between the remote driving vehicle and the remote driving apparatus, acquiring a communication environment information of the selected communication line, and switching the selected communication line based on the communication environment information. Wherein, the transmitting the time series data includes performing a transmission hold process when the selected communication line is switched, the transmission hold process being a process holding off start of transmitting the time series data through the selected communication line after switching until a delay time of the selected communication line before switching has elapsed from a time point of switching.

Abstract: A control device controls a moving body being a target of a remote operation performed by a remote operator and having an autonomous driving function. The control device communicates with a remote operator terminal to receive remote operation information including a first operation amount caused by the remote operator. The control device performs an abnormality determination process that determines whether an abnormality occurs in the communication with the remote operator terminal and whether an abnormality occurs in the remote operator terminal. The control device determines an operation amount based on at least one of the first operation amount caused by the remote operator and a second operation amount determined by the autonomous driving function according to results of the abnormality determination process. The control device controls the moving body in accordance with the determined operation amount.

Abstract: A control device controls a moving body being a target of a remote operation performed by a remote operator. During the remote operation of the moving body, the control device performs a communication with a remote operator terminal on the remote operator side to receive remote operation information including a first operation amount caused by the remote operator. The control device acquires 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. The control device executes 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. The control device controls the moving body based on the first correction operation amount.

Abstract: A remote operation system controls a remote operation of a moving body performed by a remote operator. The remote operation system acquires an image captured by a camera installed on the moving body. The remote operation system determines, based on the image, an environmental condition under which the image is captured. The remote operation system performs visibility improvement processing that improves visibility of the image according to the environmental condition, and presents an improved image with the improved visibility to the remote operator. When the visibility improvement processing according to a weather condition among environmental conditions is performed, the remote operation system determines whether a travel restriction condition is satisfied based on weather information at a position of the moving body. When the travel restriction condition is satisfied, the remote operation system performs travel restriction processing that restricts travel of the moving body.

Abstract: A remote operation system provides information to a remote operator performing a remote operation of a moving body. The remote operation system acquires an image captured by a camera installed on the moving body. The remote operation system determines, based on the image, an environmental condition under which the image is captured. The remote operation system performs visibility improvement processing that improves visibility of the image according to the environmental condition. The remote operation system presents an improved image with the improved visibility to the remote operator. When the visibility improvement processing according to a weather condition among environmental conditions is performed, the remote operation system notifies the remote operator of assist information including weather at a position of the moving body.

Abstract: A steering control device includes a torque command value calculating unit configured to calculate a torque command value which is a target value of a motor torque when operation of a motor is controlled such that the motor torque is generated. The torque command value calculating unit includes a first component calculating unit configured to calculate a first component, a second component calculating unit configured to calculate a second component, and a torque component calculating unit configured to calculate a torque component. The first component calculating unit is configured to add a calculational hysteresis component to the first component such that hysteresis characteristics with respect to change of a specific state variable are provided. The torque component calculating unit is configured to perform calculation in a first calculation situation and calculation in a second calculation situation.

Abstract: A remote operation system controls a remote operation of a moving body by a remote operator. A communication quality of communication performed by the moving body during the remote operation is acquired. When the communication quality is equal to or higher than a threshold, a first image captured by a first camera mounted on the moving body is presented to the remote operator. When the communication quality is lower than the threshold, the remote operation system switches an image to be presented to the remote operator. In the image switching process, a substitute camera installed on an object different from the moving body is used. Specifically, the remote operation system selects, as a second camera, a substitute camera capable of imaging at least the moving body and its surroundings, and presents a second image captured by the second camera to the remote operator.

Abstract: A steering control device includes an electronic control unit. The electronic control unit is configured to calculate a target rotation angle of a shaft rotating with a turning operation of turning wheels based on a steering angle of a steering wheel acquired from a rotation angle of a reaction motor, to calculate a command value based on the target rotation angle and a steering torque acquired from a torsion angle of a torsion bar twisting with an operation of the steering wheel, and to compensate for the torsion angle by adding the torsion angle as a compensation value to the steering angle. The electronic control unit is configured to change a value of the torsion angle that is added to the steering angle according to a degree of change of a state variable used to calculate the command value.

Abstract: A winding-type battery includes a battery case, a power generating element, a cap for blocking an opening of the battery case, and a gasket for insulating the battery case from the cap. The power generating element includes a first electrode, a second electrode, a separator interposed between them, and an electrolyte. The first electrode and the second electrode are wound via the separator to form an electrode group, and the first electrode is connected to the cap via a first current collecting lead, and the second electrode is connected to the battery case via a second current collecting lead. A groove is formed near the opening end of the battery case. The gasket includes: an annular seal portion interposed between a rim of the cap and the region from the groove to the end; and a tubular portion that is integrated with the seal portion, and is disposed closer to the electrode group than the seal portion is. The first current collecting lead is connected to the cap through a hollow in the tubular portion.

Abstract: A steering control device includes a torque command value calculating unit configured to calculate a torque command value which is a target value of a motor torque when operation of a motor is controlled such that the motor torque is generated. The torque command value calculating unit includes a first component calculating unit configured to calculate a first component, a second component calculating unit configured to calculate a second component, and a torque component calculating unit configured to calculate a torque component. The first component calculating unit is configured to add a calculational hysteresis component to the first component such that hysteresis characteristics with respect to change of a specific state variable are provided. The torque component calculating unit is configured to perform calculation in a first calculation situation and calculation in a second calculation situation.

Abstract: A cylindrical secondary battery including an electrode group which includes a first columnar region in which the number of times positive electrode mixture layers are stacked in the radial direction of the electrode group is highest and a second columnar region. The first columnar region includes a 1A arc column region that includes an outer periphery-side end surface of the positive electrode mixture layers and a 1B arc column region that does not include the end surface. The negative electrode current collector includes a first exposed part located on the periphery of the negative electrode. The negative electrode current collection lead includes an overlap part that overlaps the first exposed part and a lead-out part. The overlap part of the negative electrode current collection lead is not located on the boundary between the 1A arc column region and the second columnar region of the electrode group.

Abstract: A winding-type battery includes a battery case, a power generating element, a cap for blocking an opening of the battery case, and a gasket for insulating the battery case from the cap. The power generating element includes a first electrode, a second electrode, a separator interposed between them, and an electrolyte. The first electrode and the second electrode are wound via the separator to form an electrode group, and the first electrode is connected to the cap via a first current collecting lead, and the second electrode is connected to the battery case via a second current collecting lead. A groove is formed near the opening end of the battery case. The gasket includes: an annular seal portion interposed between a rim of the cap and the region from the groove to the end; and a tubular portion that is integrated with the seal portion, and is disposed closer to the electrode group than the seal portion is. The first current collecting lead is connected to the cap through a hollow in the tubular portion.