# US 12,761,646 B2 · Remote operating device, remote operating system, steering information display method, and non-transitory storage medium

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- Number: US 12,761,646 B2
- Document ID: US12761646B2
- Status: Granted
- Kind: B2
- Application number: 18/899,472
- Filed: 2024-09-27
- Published: 2025-01-16
- Granted: 2026-10-13
- Earliest claimed: 2021-09-17
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Shuichi Tamagawa
- Web page: https://patentgrep.com/patent/US12761646B2

## CPC

- G05D 1/0038: {by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation (images analyzed by a computer and used for automatic navigation G05D1/0246)}
- G05D 1/2247: {providing the operator with simple or augmented images from one or more cameras}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A remote operating device including a steering unit configured to steer a mobile body, a display unit configured to display steering information, and a control unit. The control unit includes a memory and a processor coupled to the memory. The processor is configured to receive actual steering information regarding the mobile body, acquire steering information for steering the steering unit, determine a difference between the actual steering information regarding the mobile body and the steering information for steering the steering unit, and cause the steering information for steering the steering unit and the actual steering information regarding the mobile body to be displayed on the display unit based on the difference.

## Claims

### Claim 1

A remote operating device comprising:
a steering unit configured to steer a mobile body;
a display unit configured to display steering information; and
a control unit including a memory and a processor coupled to the memory, wherein the processor is configured to:
receive actual steering information regarding the mobile body by communicating with the mobile body;
acquire steering information for steering the steering unit by communicating with the mobile body;
determine a communication lag between the actual steering information regarding the mobile body and the steering information for steering the steering unit; and
cause the steering information for steering the steering unit and the actual steering information regarding the mobile body to be displayed on the display unit, transforming the communication lag to a visual feature such that an operator is able to ascertain a movement of the mobile body when the steering unit has been steered.

### Claim 2 (depends on 1)

The remote operating device of claim 1, wherein the steering information for steering the steering unit is a first trajectory line, and the actual steering information regarding the mobile body is a second trajectory line.

### Claim 3 (depends on 2)

The remote operating device of claim 2, wherein a display format of the first trajectory line and the second trajectory line is changed in a case in which an overlap amount of the first trajectory line and the second trajectory line is a threshold or greater.

### Claim 4 (depends on 1)

A remote operating system comprising:
the remote operating device of claim 1; and
a mobile body configured to be remotely operated by the remote operating device.

### Claim 5

A steering information display method for performing remote operation, the method comprising:
by a processor:
receiving actual steering information regarding a mobile body by communicating with the mobile body;
acquiring steering information for steering a steering unit by communicating with the mobile body;
determining a communication lag between the actual steering information regarding the mobile body and the steering information for steering the steering unit; and
causing the steering information for steering the steering unit and the actual steering information regarding the mobile body to be displayed on a display unit, transforming the communication lag to a visual feature such that an operator is able to ascertain a movement of the mobile body when the steering unit has been steered.

### Claim 6

A non-transitory storage medium storing a program executable by a processor to perform steering information display processing for performing remote operation, the steering information display processing comprising:
receiving actual steering information regarding a mobile body by communicating with the mobile body;
acquiring steering information for steering a steering unit by communicating with the mobile body;
determining a communication lag between the actual steering information regarding the mobile body and the steering information for steering the steering unit; and
causing the steering information for steering the steering unit and the actual steering information regarding the mobile body to be displayed on a display unit, transforming the communication lag to a visual feature such that an operator is able to ascertain a movement of the mobile body when the steering unit has been steered.