Control device, database, server device, moving body, moving body control system, control method, carrier, and control system therefor

Abstract

The control device is configured to control the movement of a moving body which is conveyed in the manufacturing process of the moving body, and the moving body is configured to be capable of being driven by unmanned driving. The control device includes a control command unit configured to generate and output a control command for moving the moving body. The control command section is configured to generate a control command using vehicle state information, which is information relating to at least one of: a magnitude of an impact force applied to the moving body; the action direction of the impact force; the weight of the moving body; a weight of a trolley configured to accommodate a member configured to be mounted to the moving body, and configured to be removably connected to the moving body to move; and a step in which the moving body is located.

Description

Technical Field

[0001] The present disclosure relates to a control device, a database, a server device, a mobile body, a mobile body control system, a control method, a trolley, and a trolley control system. Background Art

[0002] There is known technology for unmanned driving of a vehicle by remote control during the vehicle manufacturing process (for example, Japanese Patent Application No. 2017-538619). Summary of the invention

[0003] Regarding vehicles in the manufacturing process, there is a problem that the external force applied during the component installation process or the weight change accompanying the component installation may cause deviations in the movement control of the vehicle under unmanned driving. This problem is not limited to vehicles, but is common to any mobile object.

[0004] The present disclosure can be implemented as the following aspects.

[0005] Mode 1: According to one mode of the present disclosure, there is provided a control device configured to control the movement of a mobile body being transported in a manufacturing process of the mobile body, the mobile body being configured to travel unmanned. The control device includes a control command unit configured to generate and output a control command for moving the mobile body. The control command unit is configured to generate the control command using vehicle status information, which is information related to at least one of the following: the magnitude of the impact force applied to the mobile body; the direction of action of the impact force; the weight of the mobile body; the weight of a trolley, the trolley being configured to store components and being configured to be detachably connected to the mobile body for movement, the components being configured to be installed on the mobile body; and the process in which the mobile body is located. The control device of the embodiment 1 includes a control command unit that generates and outputs a control command for moving the mobile body. The control command unit generates the control command using vehicle state information. Therefore, it is possible to suppress the deviation of the movement control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Method 2: In the above embodiment, the control command unit can also be configured to generate the control command by utilizing the vehicle status information to suppress the change in the speed of the moving body due to at least one of the impact force, the installation of the component to the moving body, the connection of the trolley to the moving body, and the release of the connection between the trolley and the moving body. The control device of this mode 2 generates a control instruction by using the vehicle state information in a manner to suppress the change in the speed of the mobile body that changes due to at least one of the impact force, the installation of the component to the mobile body, the connection of the trolley to the mobile body, and the release of the connection between the trolley and the mobile body. Therefore, it is possible to suppress the change in the speed of the mobile body that changes due to at least one of the impact force, the installation of the component to the mobile body, the connection of the trolley to the mobile body, and the release of the connection between the trolley and the mobile body. Method 3: In the above embodiment, the control command unit can also be configured to generate the control command by utilizing the vehicle status information to suppress the change in the travel direction of the mobile body due to at least one of the impact force, the installation of the component to the mobile body, the connection of the trolley to the mobile body, and the release of the connection between the trolley and the mobile body. The control device of this mode 3 generates a control instruction by using the vehicle state information in a manner to suppress the change in the traveling direction of the mobile body that changes due to at least one of the impact force, the installation of the component to the mobile body, the connection of the trolley to the mobile body, and the release of the connection between the trolley and the mobile body. Therefore, it is possible to suppress the change in the traveling direction of the mobile body that changes due to at least one of the impact force, the installation of the component to the mobile body, the connection of the trolley to the mobile body, and the release of the connection between the trolley and the mobile body. Method 4: In the above embodiment, the impact force may be a force generated by at least one of a force acting when the component contacts the moving body, a force acting when the component is fixed to the moving body, and a force acting when the trolley is connected to the moving body. In the control device of this mode 4, the impact force is a force generated by at least one of a force acting when a component contacts a mobile body, a force acting when a component is fixed to a mobile body, and a force acting when a trolley is connected to the mobile body. Therefore, it is possible to suppress deviations in the movement control of the mobile body under unmanned operation that may be caused by the impact force generated by at least one of a force acting when a component contacts a mobile body, a force acting when a component is fixed to a mobile body, and a force acting when a trolley is connected to the mobile body. Mode 5: In the above embodiment, the control device may further include an information acquisition unit configured to acquire impact force information related to the impact force from a sensor configured to detect the impact force as the vehicle state information. The control command unit may also be configured to generate the control command using the acquired impact force information. The control device of this method 5 is configured to obtain impact force information related to the impact force from a sensor configured to detect the impact force, and generate a control command using the obtained impact force information. Therefore, the control command can be generated using the impact force actually applied to the mobile body. In this method, compared with a method in which a control command is generated by pre-estimating the impact force to be applied, it is possible to suppress the deviation of the movement control of the mobile body under unmanned operation that may be caused by the impact force. Mode 6: In the above embodiment, the control device may also include an information acquisition unit, which is configured to: obtain the connection release information from a sensor configured to obtain the connection release information, as the vehicle state information, the connection release information indicating whether the connection state between the trolley and the moving body is released. The control command unit may also be configured to: generate the control command using the connection release information. The control device of this method 6 is configured to obtain the connection release information from the sensor that obtains the connection release information, and generate the control command using the connection release information, wherein the connection release information indicates whether the connection state between the trolley and the moving body is released. Therefore, the control command can be generated according to the actual connection state, and the deviation of the movement control of the moving body under unmanned driving caused by the connection state with the trolley can be suppressed. Mode 7: In the above embodiment, the control device may further include an information acquisition unit configured to acquire information related to the weight of the mobile body, i.e., weight-related information, as the vehicle state information. The control instruction unit may also be configured to generate the control instruction by using the acquired weight-related information so that, when the weight of the mobile body increases, the speed of the mobile body decreases compared to before the weight of the mobile body increases. The control device of this method 7 uses the acquired weight-related information to generate a control command in a manner that reduces the speed of the moving body compared to before the weight of the moving body increases when the weight of the moving body increases. Therefore, even if the weight of the moving body increases, the increase in the braking distance of the moving body can be suppressed. Mode 8: In the above embodiment, the control device may further include a weight estimating unit configured to estimate the weight of the mobile body using the weight-related information. The control command unit may also be configured to generate the control command in a manner that reduces the speed of the mobile body compared to before the weight of the mobile body increases, using the estimated weight of the mobile body. The control device of this embodiment 8 further includes a weight estimating unit that estimates the weight of the mobile body using the weight-related information. The control command unit generates a control command using the estimated weight of the mobile body so that the speed of the mobile body is reduced compared to before the weight of the mobile body increases when the weight of the mobile body increases. Therefore, using the estimated weight of the mobile body, a control command that suppresses the speed of the mobile body can be generated. Mode 9: In the above embodiment, the control device may further include an information holding unit configured to hold position-weight correspondence information, wherein the position-weight correspondence information is information in which the position of the mobile body and the weight of the mobile body are correlated with each other. The information acquisition unit may also be configured to acquire the position of the mobile body as the weight-related information. The weight estimation unit may also be configured to estimate the weight of the mobile body at the position of the mobile body using the position-weight correspondence information and the acquired position of the mobile body. The control device of this method 9 also includes an information holding unit that holds position-weight correspondence information. The information acquisition unit acquires the position of the mobile body as weight-related information, and the weight estimation unit estimates the weight of the mobile body at the position of the mobile body using the position-weight correspondence information and the acquired position of the mobile body. In this way, the information acquisition unit can easily estimate the weight of the mobile body using the position of the mobile body. In addition, the so-called "position of the mobile body" is not limited to the coordinates showing the position of the mobile body, but has a broad meaning that also shows the process in which the mobile body is located. Mode 10: In the above embodiment, the information acquisition unit may be configured to acquire displacement information indicating the displacement of a suspension device supporting a wheel of the mobile body as the weight-related information. The weight estimation unit may be configured to estimate the weight of the mobile body using the displacement information. In the control device of this embodiment 10, the information acquisition unit acquires displacement information indicating the displacement of the suspension device as the weight-related information. The weight estimation unit estimates the weight of the mobile body using the displacement information, and thus the weight of the mobile body can be estimated with higher accuracy based on the displacement information that changes according to the actual weight of the mobile body. Mode 11: In the above-mentioned embodiment, the control command unit may be configured to generate the control command in a manner that reduces the speed of the mobile body compared to before the weight of the mobile body increases, when the mobile body is in a process before the bumper installation process of installing the bumper to the mobile body in the manufacturing process, that is, a pre-bumper installation process, and the weight of the mobile body increases compared to the weight of the mobile body in the process before the pre-bumper installation process. The control command unit may be configured to not generate the control command that reduces the speed of the mobile body compared to before the weight of the mobile body increases, when the mobile body is in a process after the bumper installation process, that is, a post-bumper installation process, and the weight of the mobile body increases compared to the weight of the mobile body in the process before the post-bumper installation process. The control device of method 11 does not generate a control instruction to reduce the speed of the moving body compared to before the weight of the moving body increases when the moving body is in a process later than the bumper installation process, i.e., the post-bumper installation process, and the weight of the moving body increases compared to the weight of the moving body in a process earlier than the post-bumper installation process. Therefore, the increase in the time required for transporting the moving body can be suppressed. Mode 12: In the above embodiment, the control command unit may be configured to generate the control command in a manner that reduces the speed of the mobile body compared to before the weight of the mobile body increased, when the mobile body is in a manned process in which an operator is present in the manufacturing process and the weight of the mobile body increases compared to the weight of the mobile body in a process preceding the manned process. The control command unit may be configured to not generate the control command in a manner that reduces the speed of the mobile body compared to before the weight of the mobile body increased, when the mobile body is in an unmanned process in which no operator is present in the manufacturing process and the weight of the mobile body increases compared to the weight of the mobile body in a process preceding the unmanned process. The control device of method 12 does not generate a control instruction to reduce the speed of the mobile body compared to before the weight of the mobile body increased, when the mobile body is in an unmanned process in the manufacturing process where there are no operators and the weight of the mobile body is increased compared to the weight of the mobile body in a process preceding the unmanned process. Therefore, the increase in the time required for the transportation of the mobile body can be suppressed. Mode 13: In the above embodiment, the control device may further include a position estimating unit configured to estimate the position of the mobile body. The control instruction unit may also be configured to generate the control instruction using a database that stores information related to the control instruction and the position information of the mobile body in association with each other, and the estimated position of the mobile body. The information related to the control instruction in the database may also be predetermined based on the vehicle state information corresponding to the position of the mobile body. The control device of this method 13 generates control instructions by using a database that manages information related to control instructions and position information of the mobile body in association with each other, and the estimated position of the mobile body, so that the control instructions can be easily generated using the database. Therefore, it is easy to suppress the deviation of the movement control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Mode 14: According to another mode of the present disclosure, a database is provided. The database stores information related to control instructions that cause the mobile body to move in the manufacturing process of the mobile body, and the mobile body is configured to travel by unmanned driving, and position information of the mobile body in association with each other. The information related to the control instructions is predetermined based on vehicle status information, and the vehicle status information is information related to at least one of the following: the magnitude of the impact force applied to the mobile body; the direction of the impact force; the weight of the mobile body; the weight of a trolley, the trolley is configured to accommodate components configured to be mounted on the mobile body, and is configured to be connected to the mobile body and move; and the process in which the mobile body is located. The database of this embodiment 14 can store information related to control commands predetermined based on vehicle state information and information about the moving object in association with each other. In addition, since the information related to the control commands is predetermined, the calculation process for generating the control commands can be omitted. Mode 15: According to another mode of the present disclosure, there is provided a server device including the control device according to any one of Modes 1 to 13 above. The server device of method 15 has a control device as described in any one of the above methods 1 to 13, and is therefore capable of suppressing deviations in the movement control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Aspect 16: According to another aspect of the present disclosure, there is provided a server device including the control device according to aspect 13 and the database according to aspect 14. The server device of method 16 is equipped with the control device described in method 13 and the database described in method 14, so that control instructions can be easily generated using the database, and deviations in the movement control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Aspect 17: According to another aspect of the present disclosure, there is provided a mobile body, comprising a driving control unit configured to execute driving control of the mobile body according to the control command output from the server device according to aspect 15 above. The mobile body of this method 17 performs driving control according to the control instructions output from the server device of the above-mentioned method 15, thereby being able to suppress the deviation of the mobile control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Mode 18: According to another mode of the present disclosure, there is provided a mobile body, comprising a driving control unit configured to execute driving control of the mobile body according to the control command output from the server device according to Mode 16 above. The mobile body of this method 18 can perform driving control according to the control instructions generated by using the database, and can easily suppress the deviation of the mobile control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Mode 19: According to another mode of the present disclosure, a mobile body is provided. The mobile body includes a driving control unit configured to: obtain a control instruction for moving the mobile body, and perform driving control of the mobile body using the obtained control instruction. The driving control unit is configured to perform: The control command obtained is modified using information related to at least one of the following: the magnitude of the impact force applied to the mobile body; the direction of action of the impact force; the weight of the mobile body; the weight of a trolley configured to accommodate components mounted on the mobile body and configured to be detachably connected to the mobile body for movement; and the process in which the mobile body is located, The driving control is performed according to the modified control instruction. The mobile body of mode 19 executes: The acquired control instruction is modified using information related to at least one of the following: the magnitude of the impact force applied to the moving body; the direction of the impact force; the weight of the moving body; the weight of the trolley; and the process in which the moving body is located, Driving control is performed according to the corrected control command. Therefore, the control command output from the server device can be corrected on the mobile body side, and the deviation of the mobile control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located can be suppressed. Mode 20: According to another mode of the present disclosure, there is provided a mobile body, which comprises: a control device according to any one of Modes 1 to 13; and a driving control unit configured to: perform driving control of the mobile body according to the control command output from the control device. The mobile body of the embodiment 20 comprises: a control device as described in any one of the embodiments 1 to 13; and a driving control unit that performs driving control of the mobile body according to a control command output from the control device. Therefore, it is possible to suppress deviations in the movement control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located, without requiring a server device. Mode 21: According to another mode of the present disclosure, there is provided a mobile body, which comprises: the control device described in Mode 13; the database described in Mode 14; and a driving control unit configured to: perform driving control of the mobile body according to the control command output from the control device. The mobile body of the embodiment 21 comprises: the control device described in the embodiment 13; the database described in the embodiment 14; and a driving control unit that performs driving control of the mobile body according to the control command output from the control device. Therefore, the driving control can be performed according to the control command generated by the database without the need for a server device, and the deviation of the mobile control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located can be easily suppressed. Aspect 22: According to another aspect of the present disclosure, there is provided a mobile object control system comprising the server device according to aspect 15 and the mobile object according to aspect 17. The mobile body control system of method 22 comprises the server device described in method 15 and the mobile body described in method 17, and is therefore capable of suppressing deviations in the mobile body's movement control under unmanned operation that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Aspect 23: According to another aspect of the present disclosure, there is provided a mobile object control system comprising the server device according to aspect 16 and the mobile object according to aspect 18. The mobile body control system of method 23 has the server device described in method 16 and the mobile body described in method 18, so it is possible to easily generate control instructions using a database, and it is possible to easily suppress deviations in the movement control of the mobile body under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Mode 24: According to another mode of the present disclosure, there is provided a mobile control system comprising: a server device configured to generate and output a control command for moving a mobile, the mobile being configured to travel unmanned; and the mobile according to Mode 19 above. The mobile body control system of mode 24 can correct the control instructions output from the server device on the mobile body side, and can suppress the deviation of the mobile body's movement control under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Mode 25: According to another mode of the present disclosure, a control method is provided for controlling the movement of a mobile body being transported in a manufacturing process of the mobile body, wherein the mobile body is configured to travel by unmanned driving. The control method includes: generating a control instruction for moving the mobile body using vehicle state information, wherein the vehicle state information is information related to at least one of the following: the magnitude of the impact force applied to the mobile body; the direction of the impact force; the weight of the mobile body; the weight of a trolley, wherein the trolley is configured to accommodate components to be mounted on the mobile body and is configured to be connected to the mobile body for movement; and the process in which the mobile body is located. The control method of mode 25 is capable of suppressing deviations in the movement control of the mobile body under unmanned operation that may be caused by at least one of the magnitude of the impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of the trolley, and the process in which the mobile body is located. Mode 26: According to another mode of the present disclosure, there is provided a trolley configured to store components in a manufacturing process of a moving body, the moving body configured to travel unmanned, and the components configured to be assembled to the moving body. The trolley comprises: a connecting portion configured to be connected to the moving body; a trolley driving portion configured to move the trolley by following the movement of the moving body in a connection state where the moving body and the trolley are connected via the connecting portion; a connection detection portion configured to detect whether the connection portion is in the connection state; and a communication device configured to send the detection result of the connection detection portion to the control device described in any one of the above modes 1 to 13. The trolley of method 26 comprises: a connection detection unit for detecting whether the connection unit is in a connected state; and a communication device for sending the detection result of the connection detection unit to the control device described in any one of the above methods 1 to 13. Therefore, the detection result of the connection detection unit can be used in the control device to suppress the deviation of the movement of the moving body caused by the connection state between the trolley and the moving body. Mode 27: In the above embodiment, the trolley may also include a drive control unit configured to control the driving of the trolley drive unit. The drive control unit may also be configured to increase the braking force of the trolley drive unit when the connection detection unit detects that the connection unit changes from the connected state to a non-connected state in which the moving body and the trolley are not connected by the connection unit. When the trolley of mode 27 detects through the connection detection unit that the connection part has changed from a connected state to a non-connected state in which the moving body and the trolley are not connected by the connection part, the braking force of the trolley driving unit is increased, so that the trolley can be quickly separated from the vicinity of the moving body, thereby preventing the trolley from interfering with the transportation of the moving body. Mode 28: In the above embodiment, the drive control unit may be configured to control the carriage drive unit so as to move the carriage to a process before the process in which the carriage is located in the manufacturing process after the braking force is increased. The dolly of this embodiment 28 can be attached to another movable body transported from a previous process. Method 29: In the above-mentioned embodiment, the movable body may also further include: a process information acquisition unit, which is configured to acquire information indicating whether a connection state process predetermined as a process to be performed in the connection state in the manufacturing process has been completed; and a connection control unit, which is configured to control the connection unit in a manner such that the movable body is in a non-connected state where it is not connected to the trolley when the movable body has completed the connection state process. The trolley of mode 29 controls the connection portion in a manner such that the moving body and the trolley are not connected to each other when the moving body has completed the connection state process, thereby being able to suppress the occurrence of deviations in the movement of the moving body caused by the connection between the trolley and the moving body in processes other than the connection state process. Mode 30: According to another mode of the present disclosure, a trolley control system is provided. The trolley control system comprises a control device described in any one of Modes 1 to 13 above; and the trolley described in Mode 29 above. The control device further comprises: a judgment unit configured to judge whether the mobile body has completed the connection state process in the manufacturing process; and a notification output unit configured to output a connection release notification indicating the release of the connection state when the mobile body has completed the connection state process. The connection control unit is configured to control the connection unit in a manner that causes the non-connected state when the connection release notification is received. The trolley control system of method 30 controls the connection part in a manner such that the moving body and the trolley are not connected to each other when the moving body has completed the connection state process. Therefore, it is possible to suppress the occurrence of deviations in the movement of the moving body caused by the connection between the trolley and the moving body in processes other than the connection state process. The present disclosure can also be implemented in various forms other than a control device, a database, a server device, a mobile body, a mobile body control system, a control method, a trolley, and a trolley control system. For example, the present disclosure can be implemented in the form of a remote control device, a conveying system of a mobile body, a database management device, a database system, a control device and a control method for a trolley, a conveying method for a mobile body, a control method for a conveying system, a computer program for implementing these control methods and a database, and a non-temporary recording medium having the computer program recorded thereon. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention are described with reference to the accompanying drawings, in which like reference numerals represent like parts, and wherein: Figure 1 It is an explanatory diagram showing a schematic configuration of a vehicle control system as a control system according to the first embodiment. Figure 2 This is a block diagram showing a schematic configuration of the vehicle according to the first embodiment. Figure 3 This is a block diagram showing a schematic configuration of a vehicle according to the first embodiment. Figure 4 This is a block diagram showing the internal functional configuration of the remote control device according to the first embodiment. Figure 5 This is a flowchart showing the vehicle driving method according to the first embodiment. Figure 6 This is an explanatory diagram showing an example of a control command generated so as to suppress a change in speed due to mounting of a component on a vehicle. Figure 7 This is an explanatory diagram showing an example of a control command generated so as to suppress a change in speed due to connection of the vehicle to the vehicle. Figure 8 1 is a flowchart showing the steps of a vehicle control method implemented by the remote control device according to the first embodiment. Fig. 9 1 is a flowchart showing the steps of a vehicle control method implemented by the remote control device according to the first embodiment. Fig.10 This is a top view of the vehicle. Fig.11 1 is a flowchart showing the procedure of a control command generation process executed in the remote control device according to the third embodiment. Fig.12 This is a block diagram showing a schematic configuration of a vehicle control device included in a vehicle according to a fifth embodiment. Fig.13 This is a flowchart showing a vehicle driving method according to the fifth embodiment. Fig.14 This is a block diagram showing a schematic configuration of a remote control device according to another embodiment. DETAILED DESCRIPTION A. First Implementation Method: A-1. System composition:

[0007] Figure 1: is an explanatory diagram showing the general structure of a vehicle control system 600 as a mobile body control system of the first embodiment. The vehicle control system 600 is used, for example, in a factory that manufactures vehicles 100. The transport object of the vehicle control system 600 is a vehicle 100 that can be driven by remote control. In the present embodiment, the vehicle control system 600 is used in the assembly process of the vehicle 100 in the manufacturing process of manufacturing the vehicle 100, and transports the vehicle 100 in a stand state within a predetermined transport interval. "Stand state" refers to a state in which the three functions of "driving", "turning" and "stopping" can be performed by remote control. More specifically, it refers to a state in which interior parts such as a driver's seat and an instrument panel have not yet been installed, exterior parts such as bumpers and fenders have not yet been installed, and the body shell has not yet been installed. In addition, for the vehicle 100 in the stand state, the remaining parts such as the body shell can be installed on the vehicle 100 before the vehicle 100 is shipped from the factory, or the remaining parts such as the body shell can be installed on the vehicle 100 after the vehicle 100 is shipped from the factory in a state where the remaining parts such as the body shell are not installed on the vehicle 100. The vehicle 100 in transportation is inspected, assembled, etc. by workers or equipment. Each component can be installed from any direction such as the upper side, lower side, front side, rear side, right side or left side of the vehicle 100, and can be installed from the same direction or from different directions.

[0008] like Figure 1 As shown, the vehicle 100 in the platform state is transported by remote control of the vehicle control system 600, and the assembly robot RB carries the component PT on the vehicle 100. The component PT is fixed on the vehicle 100 by the fixing tool TL owned by the operator, and then the vehicle 100 enters the next process. Figure 1 In the figure, only one assembly robot RB is shown, but a plurality of them may be provided depending on the type of the component PT to be mounted on the vehicle 100. In addition, when the component PT is mounted on the vehicle 100 by the assembly robot RB, it may be fixed without using the fixing tool TL by fitting with a fitting portion (not shown) pre-formed on the vehicle 100.

[0009] In the present embodiment, the fixing tool TL is configured as a motorized wrench, and is configured to be able to communicate with the remote control device 300, and output the operation state and tightening torque to the remote control device 300. In addition, the assembly robot RB is configured as a multi-joint robot having a gripping portion, and is able to communicate with the remote control device 300. As described later, the assembly robot RB receives a control instruction output from the remote control device 300, and performs the assembly action of the component PT according to the control instruction. In addition, the assembly robot RB is configured to be able to output to the remote control device 300 information indicating whether the loading of the component PT on the vehicle 100 is completed, the weight of the component PT, the impact force generated when the component PT is loaded on the vehicle 100, etc. The communication between the fixing tool TL and the remote control device 300, and the communication between the assembly robot RB and the remote control device 300 can be achieved by any method of wired and wireless.

[0010] The vehicle 100 is connected to the trolley 400 storing various parts assembled to the vehicle 100 in at least a part of the transport section based on remote control, and the trolley 400 is towed. The towing of the trolley 400 is not limited to the positional relationship in which the trolley 400 is located behind the vehicle 100, and can also be realized in the positional relationship in which the trolley 400 is located in front of or to the side of the vehicle 100. In the present embodiment, the trolley 400 stores relatively small fixing parts such as bolts installed by the operator to fix the parts PT to the vehicle 100. In addition, the trolley 400 can also store large parts such as seats and body shells installed by the assembly robot RB to the vehicle 100. In addition, the trolley 400 has wheels 432 and a connecting portion 434. The trolley 400 is towed by the vehicle 100 by detachably connecting the connecting portion 434 to a towing hook pre-set on the vehicle 100 being transported or an arbitrary convex portion of the vehicle 100. The connection portion 434 is configured as a belt or a hook, for example, and is removed from the vehicle 100 after the transportation of the vehicle 100 in the specified section is completed, and the connection is released. In the following description, the state in which the trolley 400 and the vehicle 100 are connected by the connection portion 434 is also referred to as the "connected state". The state in which the connection state is released and the trolley 400 and the vehicle 100 are not connected is also referred to as the "non-connected state". The wheel 432 is equivalent to the "trolley drive unit" in the present disclosure.

[0011] Figure 2: This is a block diagram showing the schematic structure of the trolley 400 of the first embodiment. The trolley control device 500 is mounted on the trolley 400 and performs various controls of the trolley 400. The trolley control device 500 is configured as an electronic control unit (ECU) having a CPU 510 as a central processing unit, a hard disk drive (HDD), a solid state drive (SSD), an optical recording medium, a storage device 530 such as RAM, ROM, and an interface circuit 540. The CPU 510, the storage device 530, and the interface circuit 540 are connected via an internal bus for bidirectional communication. The communication device 410, the sensor group 420, and the actuator group 430 are connected to the interface circuit 540. The communication device 410 wirelessly communicates with devices outside the vehicle 100 connected to the network such as the remote control device 300 via an access point in the factory.

[0012] The sensor group 420 is used in various controls performed by the vehicle control device 500 on the vehicle 400. In the present embodiment, the sensor group 420 includes a connection detection unit 422 that detects whether the connection unit 434 is in a connected state or a non-connected state. The connection detection unit 422 is configured, for example, as a pressure sensor provided at a contact portion between the connection unit 434 and the vehicle 100, or a distance sensor that detects the distance between the vehicle 400 and the vehicle 100. The detection result of the connection detection unit 422 is output to the remote control device 300 and the CPU 510.

[0013] Computer programs for realizing at least a part of the functions provided in this embodiment are stored in the storage device 530. By executing various computer programs stored in the memory, the CPU 510 functions as the drive control unit 512, the connection control unit 514, and the process information acquisition unit 516.

[0014] The process information acquisition unit 516 acquires information indicating whether the vehicle 100 has completed a connection state process that is predetermined as a process to be performed in the connection state in the manufacturing process. The drive control unit 512 controls the driving of the actuators in the actuator group 430 that are related to the drive control of the wheels 432 of the trolley 400. The "actuators related to the drive control of the wheels 432" include: an actuator of a drive device (not shown) that drives the wheels 432, an actuator of a braking device (not shown) that generates a braking force to decelerate the wheels 432, and an actuator of a steering device (not shown) that changes the direction of travel of the wheels 432. In the present embodiment, the drive control unit 512 controls the wheels 432 based on whether the connection state process has been completed and the state of the connection unit 434 detected by the connection detection unit 422, thereby driving the wheels 432 to drive the trolley 400. In the present embodiment, when the connection portion 434 is in the connected state, the drive control unit 512 does not drive the wheel 432 via the actuator, and the wheel 432 is driven by being towed by the vehicle 100 .

[0015] The connection control unit 514 controls the driving of the actuators in the actuator group 430 that are related to the control of the connection unit 434 provided in the carriage 400. In the present embodiment, the connection control unit 514 controls the connection unit 434 according to whether the connection state process has been completed, thereby switching the connection state and the non-connection state of the connection unit 434. The specific control related to the drive control unit 512, the connection control unit 514, and the process information acquisition unit 516 will be described later.

[0016] Figure 3 1 is a block diagram showing the general structure of the vehicle 100 of the first embodiment. The vehicle 100 is, for example, a car, a truck, a bus, and a construction vehicle. In the present embodiment, the vehicle 100 is an electric vehicle (BEV) that can be driven by unmanned driving. "Unmanned driving" refers to driving that does not rely on the driving operation of the passenger. The driving operation refers to an operation related to at least one of "driving", "turning", and "stopping" of the vehicle 100. Unmanned driving is achieved by automatic / manual remote control using a device provided outside the vehicle 100, or autonomous control of the vehicle 100. In the vehicle 100 that is driven by unmanned driving, passengers who do not perform driving operations can also be carried. Among the passengers who do not perform driving operations, for example, there are people who only sit on the seats of the vehicle 100, and people who perform operations different from driving operations such as assembly, inspection, and operation of a switch group while riding in the vehicle 100. In addition, driving performed by the driving operation of the passenger is sometimes referred to as "manual driving". The vehicle 100 includes a communication device 110 , a sensor group 120 , an actuator group 130 , and a vehicle control device 200 .

[0017] The vehicle control device 200 is mounted on the vehicle 100 and performs various controls of the vehicle 100. The vehicle control device 200 is configured as an ECU including a CPU 210 as a central processing unit, a RAM, a ROM, a storage device 230 such as a HDD or SSD, and an interface circuit 240. The CPU 210, the storage device 230, and the interface circuit 240 are connected via an internal bus so as to be able to communicate bidirectionally. The actuator group 130, the sensor group 120, and the communication device 110 are connected to the interface circuit 240. The communication device 110 wirelessly communicates with a device outside the vehicle 100 connected to the network such as a remote control device 300 via an access point in a factory.

[0018] Computer programs for realizing at least a part of the functions provided in the present embodiment are stored in the storage device 230. The functions of the driving control unit 212 and the like are realized by the CPU 210 executing various computer programs stored in the memory.

[0019] The driving control unit 212 performs driving control of the vehicle 100. "Driving control" is various controls for driving the actuator group 130 that performs the "driving", "turning", and "stopping" functions of the vehicle 100, such as adjustment of acceleration, speed, and steering angle. In the present embodiment, the actuator group 130 includes an actuator of a drive device 132 for accelerating the vehicle 100, an actuator of a brake device 134 for decelerating the vehicle 100, and an actuator of a steering device 136 for changing the direction of travel of the vehicle 100. In addition, the actuator group 130 may also include an actuator for swinging the wipers of the vehicle 100, an actuator for opening and closing the electric windows of the vehicle 100, and the like.

[0020] The actuator of the driving device 132 includes a driving battery (not shown), a driving motor (not shown) driven by the power of the driving battery, and four wheels. The driving motor is an example of a prime mover. The wheels rotate by the power transmitted from the driving motor. Other types of prime movers such as an internal combustion engine or an external combustion engine may also be provided instead of the driving motor.

[0021] When the driver is on the vehicle 100, the driving control unit 212 controls the actuator group 130 according to the driver's operation to drive the vehicle 100. In addition, regardless of whether the driver is on the vehicle 100, the driving control unit 212 controls the actuator group 130 according to the control command sent from the remote control device 300 to drive the vehicle 100.

[0022] The sensor group 120 is a general sensor group used for driving control of the vehicle 100. In the present embodiment, the measurement results of the sensor group 120 are transmitted to the vehicle control device 200. In addition, the vehicle 100 in the stand state may not be provided with the sensor group 120.

[0023] like Figure 1 As shown, the vehicle control system 600 includes a vehicle detector 80 and a remote control device 300. The vehicle detector 80 is a device for measuring vehicle information. "Vehicle information" refers to information for estimating at least one of the position of the vehicle 100 and the orientation of the vehicle 100, such as an image of the vehicle 100 or three-dimensional point cloud data of the vehicle 100. "Three-dimensional point cloud data" refers to data indicating the three-dimensional position of the point cloud. In the present embodiment, the vehicle detector 80 is configured as a camera, which obtains an image of the vehicle 100 as vehicle information.

[0024] The vehicle detector 80 is communicatively connected to the remote control device 300 by wireless communication or wired communication. The remote control device 300 can obtain the relative position and orientation of the vehicle 100 with respect to the target route in real time by acquiring vehicle information from the vehicle detector 80.

[0025] Figure 4 : is a block diagram showing the internal functional structure of the remote control device 300 of the first embodiment. The remote control device 300 generates a control command for automatically driving the vehicle 100 by remote control and sends it to the vehicle 100, and performs driving control of the vehicle 100 based on remote control. The remote control device 300, for example, causes the vehicle 100 to automatically drive by remote control, thereby transporting the vehicle 100 in a transport section within a factory. In addition, in the present embodiment, the remote control device 300 generates a control command for respectively operating the assembly robot RB and the trolley 400 by remote control, and sends it to the assembly robot RB and the trolley control device 500, respectively. The remote control device 300 is equivalent to the "server device" in the present disclosure.

[0026] The remote control device 300 is configured as an ECU including a CPU 310 as a central processing unit, a storage device 330, an interface circuit 340, and a communication device 350. The CPU 310, the storage device 330, and the interface circuit 340 are connected via an internal bus so as to be able to communicate bidirectionally. The communication device 350 is connected to the interface circuit 340. The communication device 350 communicates with the vehicle 100, the trolley control device 500, and the assembly robot RB via a network or the like.

[0027] The storage device 330 is, for example, a RAM, a ROM, a HDD, and an SSD. In the readable and writable area of ​​the storage device 330, an estimated position VL described later is stored. In addition, a computer program for realizing at least a part of the functions provided in this embodiment is stored in the storage device 330. By executing the computer program stored in the storage device 330 by the CPU 310, the CPU 310 functions as a vehicle control command unit 312, a position estimation unit 314, an information acquisition unit 316, a trolley control command unit 318, and a robot control command unit 320. However, some or all of these functions may also be constituted by hardware circuits.

[0028] The position estimation unit 314 estimates the relative position and orientation of the vehicle 100 by analyzing the image acquired by the vehicle detector 80. The vehicle control command unit 312 can estimate the position of the vehicle 100 and the orientation of the vehicle 100 using the captured image acquired by the camera as the vehicle detector 80. The position of the vehicle 100 can be acquired, for example, by calculating the coordinates of the positioning points of the vehicle 100 in the image coordinate system using the shape of the vehicle 100 detected from the captured image, and transforming the calculated coordinates into coordinates in the global coordinate system. The orientation of the vehicle 100 can be estimated, for example, by using the optical flow method based on the orientation of the movement vector of the vehicle 100 calculated from the position change of the feature points of the vehicle 100 between the frames of the captured image. The orientation of the vehicle 100 can also be calculated, for example, using the output result of the yaw rate sensor mounted on the vehicle 100.

[0029] The shape of the vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model that uses artificial intelligence. As a detection model, for example, a machine learning model that has been learned in a manner to achieve one of semantic segmentation and instance segmentation can be cited. As the machine learning model, for example, a convolutional neural network (hereinafter referred to as CNN) that has been learned by supervised learning using a learning data set can be used. The learning data set, for example, has a plurality of training images containing the vehicle 100, and correct answer labels indicating whether each area in the training image is an area representing the vehicle 100 and an area representing a region other than the vehicle 100. In addition, when learning the CNN, it is preferred to update the parameters of the CNN by backpropagation in a manner that reduces the error between the output result of the detection model and the correct answer label.

[0030] The information acquisition unit 316 acquires the vehicle state information SJ. The "vehicle state information SJ" refers to information related to at least one of the magnitude of the impact force applied to the vehicle 100, the direction of the impact force, the weight of the vehicle 100, the weight of the trolley 400, and the process in which the vehicle 100 is located. More specifically, the vehicle state information SJ includes: information showing the type of parts PT installed in each process in the manufacturing process, the weight of the parts PT installed in each process, the magnitude and direction of the impact force generated when each part PT is installed on the vehicle 100, the timing when the trolley 400 starts to connect or disconnect, and the weight of the trolley 400 in each process. In the present embodiment, the information acquisition unit 316 acquires the vehicle state information SJ pre-stored in the storage device 330 from the storage device 330.

[0031] The various elements used as the vehicle state information SJ in this embodiment and the influence of each element on the driving state of the vehicle 100 are specifically described. When each component PT is installed in the vehicle 100, the weight of the component PT is added, and the total weight of the vehicle 100 increases. When the total weight of the vehicle 100 increases, the friction with the road surface increases, and the driving resistance of the drive device 132 increases, so the vehicle 100 decelerates. In addition, when the total weight of the vehicle 100 increases, the driving torque required to achieve a specified acceleration and the braking force required to achieve a specified deceleration increase. In this embodiment, the information acquisition unit 316 adds the weight of the components PT installed in each process and records the total vehicle weight WT as the total weight of the vehicle 100 in the storage device 330. In addition, the total vehicle weight WT is included in the vehicle state information SJ. The total vehicle weight WT can also be stored in the storage device 330 in advance as the vehicle state information SJ in association with the position of the vehicle 100.

[0032] In the present embodiment, the "impact force generated when each component PT is installed on the vehicle 100" refers to the impact force derived from the following forces: the force when the component PT contacts the vehicle 100 by being mounted by the assembly robot RB, the force acting when the component PT is installed on the vehicle 100 by the fixing tool TL, and the force acting when the trolley 400 is connected to the vehicle 100. In addition, the type of impact force used as the vehicle state information SJ may also be at least one of the above-mentioned forces. In addition, the "magnitude and direction of the impact force" can be predetermined by simulation as a predetermined component weight, contact speed, contact direction for each component PT, the magnitude and direction of the impact force when the component PT is installed on the vehicle 100 by a fixing force, and the magnitude and direction of the impact force when the trolley 400 of a predetermined weight is connected to the vehicle 100 traveling at a predetermined speed. The information related to the impact force described above is equivalent to the "impact force information" in the present disclosure.

[0033] The impact force affects the driving state of the vehicle 100 according to the direction in which the impact force acts. More specifically, the impact force acting in the direction in which the vehicle 100 is traveling acts as a force that accelerates the vehicle 100, thereby accelerating the vehicle 100. On the other hand, the impact force acting in the direction opposite to the traveling direction of the vehicle 100 acts as a force that decelerates the vehicle 100, thereby decelerating the vehicle 100. In addition, the impact force acting in the direction perpendicular to the traveling direction of the vehicle 100 increases the friction between the vehicle 100 and the road surface and the driving resistance of the driving device 132, thereby decelerating the vehicle 100.

[0034] The “weight of the trolley 400” includes the weight of various components stored in the trolley 400. As the components PT stored in the trolley 400 are mounted on the vehicle 100 in the later process in the manufacturing process, the trolley 400 becomes lighter, so the weight of the trolley 400 is preset for each process. In addition, when the components PT stored in the trolley 400 are small components PT such as bolts, the weight of the trolley 400 may be preset to a fixed value because the weight of the trolley 400 changes little between processes.

[0035] When the trolley 400 is connected to the vehicle 100, the friction force acting between the road surface and the trolley 400 acts on the vehicle 100, so the vehicle 100 decelerates. In addition, the driving torque required to achieve a predetermined acceleration and the braking force required to achieve a predetermined deceleration increase. On the other hand, when the state of the trolley 400 and the vehicle 100 is released, the friction force acting between the road surface and the trolley 400 no longer acts on the vehicle 100, so the force that decelerates the vehicle 100 is lost, and the vehicle 100 accelerates.

[0036] The vehicle control command unit 312 generates control commands for causing the vehicle 100 to perform various actions and outputs them to the vehicle 100. For example, the vehicle control command unit 312 generates control commands for causing the vehicle 100 to automatically drive by remote control using the estimated position and orientation of the vehicle 100, i.e., the estimated position VL, and sends the control commands to the vehicle 100. The control commands are, for example, commands for causing the vehicle 100 to drive along a target route stored in the storage device 330. The control commands can be generated as a driving control signal including control command values ​​indicating driving force or braking force, and steering angle, respectively. When the vehicle 100 receives the driving control signal as a request for remote control, the driving control is implemented by the driving control unit 212 of the vehicle control device 200, and as a result, the vehicle 100 automatically drives.

[0037] Figure 5 is a flowchart showing a driving method of the vehicle 100 according to the first embodiment. Figure 5, the flow chart on the left shows the processing executed in the remote control device 300, and the flow chart on the right shows the processing executed in the vehicle 100. In step S110, the vehicle control command unit 312 uses the detection result of the vehicle detector 80 to obtain position information indicating the position and orientation of the vehicle 100. In the present embodiment, the position of the vehicle 100 includes the X, Y, and Z coordinates in the global coordinate system of the factory. The position of the vehicle detector 80 is pre-adjusted. The vehicle control command unit 312 detects the position of the vehicle 100 based on the detection result obtained from the vehicle detector 80, and obtains the position information of the vehicle 100 in the factory based on the detected position of the vehicle 100.

[0038] In step S120, the vehicle control command unit 312 determines the target position to which the vehicle 100 should go next. In the present embodiment, the target position is represented by the X, Y, and Z coordinates in the global coordinate system of the factory. In the storage device 330 of the remote control device 300, a target route is pre-stored as the path on which the vehicle 100 should travel. The target route is represented by a node representing a departure point, a node representing a passing point, a node representing a destination, and a link connecting each node. The vehicle control command unit 312 uses the position information of the vehicle 100 and the target route to determine the target position to which the vehicle 100 should go next. The vehicle control command unit 312 determines the target position on the target route that is ahead of the current position of the vehicle 100.

[0039] In step S130, the vehicle control command unit 312 generates a driving control signal for driving the vehicle 100 toward the determined target position. In the present embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. The vehicle control command unit 312 calculates the driving speed of the vehicle 100 according to the change of the position of the vehicle 100, and compares the calculated driving speed with the predetermined target speed of the vehicle 100. When the driving speed is lower than the target speed, the vehicle control command unit 312 determines the acceleration so as to accelerate the vehicle 100, and when the driving speed is higher than the target speed, the vehicle control command unit 312 determines the acceleration so as to decelerate the vehicle 100. When the vehicle 100 is on the target route, the vehicle control command unit 312 determines the steering angle so as not to deviate from the target route, and when the vehicle 100 is not on the target route, in other words, when the vehicle 100 deviates from the target route, the vehicle control command unit 312 determines the steering angle so as to return the vehicle 100 to the target route.

[0040] In step S140, vehicle control command unit 312 transmits the generated travel control signal to vehicle 100. Vehicle control command unit 312 repeatedly acquires the position of vehicle 100, determines the target position, generates and transmits the travel control signal in a predetermined cycle.

[0041] The driving control unit 212 of the vehicle 100 receives the travel control signal from the vehicle control command unit 312 in step S150, and controls the actuator group 130 using the received travel control signal in step S160, thereby causing the vehicle 100 to travel at the acceleration and steering angle indicated by the travel control signal. The driving control unit 212 repeatedly receives the travel control signal and controls the actuator group 130 in a predetermined cycle. As described above, by driving the vehicle 100 by remote control, the vehicle 100 can be moved without using a transport device such as a crane or a conveyor.

[0042] In the present embodiment, the vehicle control command unit 312 generates a control command by using the above-mentioned vehicle state information SJ in a manner to suppress changes in the speed of the vehicle 100 that change as described above due to impact force, installation of the component PT to the vehicle 100, connection of the trolley 400 to the vehicle 100, and release of the connection between the trolley 400 and the vehicle 100. The control command for suppressing the change in speed can be generated from scratch by taking into account the vehicle state information SJ, or on the other hand, it can be generated by adding a correction value generated by taking into account the vehicle state information SJ to the control command generated without taking into account the vehicle state information SJ. The vehicle control command unit 312 is equivalent to the "control command unit" in the present disclosure.

[0043] Reference Figure 6 and Figure 7 , an example of generation of a control instruction for suppressing a change in speed by the vehicle control instruction unit 312 will be described in more detail. Figure 6 1 is an explanatory diagram showing an example of a control command generated so as to suppress a change in speed due to attachment of the component PT to the vehicle 100 . Figure 7 This is an explanatory diagram showing an example of a control command generated so as to suppress a change in speed due to the connection of the vehicle 400 to the vehicle 100 .

[0044] First, refer to Figure 6 For explanation. Figure 6 In FIG. 1 , the horizontal axis shows time, and the vertical axis shows the total vehicle weight WT, the external force acting on the vehicle 100, and the control command value. Figure 6 In the example shown, the “external force acting on the vehicle 100” refers to the sum of the impact force acting on the vehicle 100 and the total weight of the parts PT assembled to the vehicle 100. Figure 6 In FIG. 1 , the external force acting on the vehicle 100 in the direction of decelerating the vehicle 100 is shown as a positive value. In addition, the control command value refers to a value indicating the driving force for causing the vehicle 100 to travel at a predetermined speed at each time. The larger the control command value, the greater the required driving force.

[0045] At time T0, the gross vehicle weight WT, the magnitude of the external force, and the control command value are respectively the gross vehicle weight WT0, the external force FR0, and the control command value C0. Here, the external force FR0 is the gravity applied to the vehicle 100 of the gross vehicle weight WT0, and the control command value C0 is the control command value indicating the driving force for causing the vehicle 100 to travel at a specified speed under the action of the external force FR0.

[0046] At time T1, the first component is mounted on the vehicle 100. The gross vehicle weight WT is increased from the gross vehicle weight WT0 to the gross vehicle weight WT1 by the weight of the first component. The external force increases from the external force FR0 to the external force FR1. The external force FR1 is the gravity applied to the vehicle 100 of the gross vehicle weight WT1. More specifically, when the first component is mounted on the vehicle 100, the first component is held by the assembly robot RB and contacts the vehicle 100 at a prescribed speed. Therefore, the external force acting on the vehicle 100 is temporarily added with the impact force caused by the contact, so that it is temporarily greater than the external force FR1, and when the speed of the first component becomes 0, it converges to the external force FR1. The control command value is generated in a manner that increases from the control command value C0 to the control command value C1. The control command value C1 refers to a control command value indicating the driving force used to make the vehicle 100, to which the external force FR1 acts, travel at a prescribed speed. More specifically, the control command value is generated so as to converge to the control command value C1 after temporarily commanding a value greater than the control command value C1 in accordance with the change in the external force.

[0047] exist Figure 6 In the example shown, after the first component is mounted on the vehicle 100, it is tightened once at four locations using a power wrench as a fixing tool TL at times T2, T3, T4, and T5. At each time T2, T3, T4, and T5, an impact force is applied to the vehicle 100 in the vertical downward direction, and the external force is temporarily greater than the external force FR1. The control command value is also generated in such a way that it converges to the control command value C1 after temporarily commanding a value greater than the control command value C1 in response to the change in the external force. In addition, Figure 6 In the example shown, since the impact force is applied in the vertical downward direction of the gravity, the external force is temporarily greater than the external force FR1, but when the impact force is applied vertically upward, the external force is temporarily smaller than the external force FR1. In this case, the control command value is also generated in a manner that is temporarily smaller than the control command value C1 in accordance with such a change in the external force.

[0048] At time T6, the second component is mounted on the vehicle 100. The gross vehicle weight WT is increased from the gross vehicle weight WT1 to the gross vehicle weight WT2 by adding the weight of the second component. The external force increases from the external force FR1 to the external force FR2. The external force FR2 is the gravity applied to the vehicle 100 of the gross vehicle weight WT2. More specifically, when the second component is mounted on the vehicle 100, the second component is held by the assembly robot RB and contacts the vehicle 100 at a prescribed speed, similarly to the first component. Therefore, the external force acting on the vehicle 100 is temporarily added with the impact force caused by the contact, so that it is temporarily greater than the external force FR2, and when the speed of the second component becomes 0, it converges to the external force FR2. The control command value is generated in a manner that increases from the control command value C1 to the control command value C2. The control command value C2 refers to a control command value indicating the driving force used to make the vehicle 100, to which the external force FR2 acts, travel at a prescribed speed. More specifically, the control command value is generated so as to converge to the control command value C2 after temporarily commanding a value larger than the control command value C2 in accordance with the change in the external force.

[0049] exist Figure 6 In the example shown, the second member is fixed by fitting with a fitting portion (not shown) formed in advance on the vehicle 100 when mounted on the vehicle 100. Therefore, the vehicle 100 is not impacted by the fixing tool TL after time T6, and the external force and the control command value do not change.

[0050] Next, refer to Figure 7 For explanation. Figure 7 In FIG. 1 , the horizontal axis shows time, and the vertical axis shows the total vehicle weight WT, the external force acting on the vehicle 100, the vehicle speed, and the control command value. Figure 7 In the example shown, the external force acting on the vehicle 100 and the control command value are also Figure 6 The same is shown.

[0051] At time T7, the vehicle gross weight WT, the magnitude of the external force, and the control command value are the vehicle gross weight WT3, the external force FR3, and the control command value C3, respectively. Here, the external force FR3 is the gravity applied to the vehicle 100 of the vehicle gross weight WT3, and the control command value C3 is the control command value indicating the driving force for causing the vehicle 100 to be acted upon by the external force FR3 to travel at a predetermined speed. In addition, the vehicle speed is 0, and the vehicle 400 is stopped.

[0052] At time T8, the trolley 400 is connected to the vehicle 100. The vehicle gross weight WT is increased from the vehicle gross weight WT3 to the vehicle gross weight WT4 by adding the weight of the trolley 400. After the trolley 400 is connected to the vehicle 100, the trolley 400 is towed by the vehicle 100 at the trolley speed V1. At this time, the friction force and inertia force acting when the trolley 400 is towed act on the vehicle 100, and this state can be regarded as the same as the state in which the weight of the trolley 400 is added to the vehicle 100. The external force increases from the external force FR3 to the external force FR4. The external force FR4 is the sum of the external force FR3 and the dynamic friction force applied to the trolley 400 towed at the trolley speed V1. After the trolley 400 is connected to the vehicle 100 and before the stationary trolley 400 starts to move, a static friction force greater than the dynamic friction force acts on the vehicle 100 towing the trolley 400, so the external force is temporarily greater than the external force FR4. When the force of the vehicle 100 pulling the cart 400 exceeds the static friction force, the cart 400 starts to follow, the dynamic friction force acts, and the external force converges to the external force FR4. The control command value is generated in a manner that increases from the control command value C3 to the control command value C4. The control command value C4 refers to a control command value that indicates the driving force for causing the vehicle 100 to travel at a predetermined speed under the action of the external force FR4. More specifically, the control command value is generated in a manner that converges to the control command value C4 after temporarily instructing a value greater than the control command value C4 in accordance with the change in the external force.

[0053] After time T8, until the connection between the trolley 400 and the vehicle 100 is released at time T9, the vehicle gross weight WT, the external force acting on the vehicle 100, the trolley speed, and the control command value do not change. When the connection between the trolley 400 and the vehicle 100 is released at time T9, the vehicle gross weight WT is reduced from the vehicle gross weight WT4 to the vehicle gross weight WT3 again. The external force is reduced from the external force FR4 to the external force FR3 again, and the dynamic friction caused by the traction of the trolley 400 is lost. The control command value is generated in a manner that is reduced from the control command value C4 to the control command value C3 again in accordance with the change in the external force.

[0054] After time T9, the vehicle gross weight WT, the external force acting on the vehicle 100, and the control command value do not change. After the connection between the vehicle 100 and the trolley 400 is released, the braking force is applied by the drive control unit 512 as described later, and the trolley speed is decelerated. The trolley speed becomes 0 at time T10, and the trolley 400 stops. In addition, the trolley 400 may be decelerated and stopped only by dynamic friction without being subjected to the braking force applied by the drive control unit 512. The above is the end of the description of an example of the generation of a control command for suppressing the change of speed by the vehicle control command unit 312.

[0055] In addition, Figure 6 and Figure 7In addition to the method of pre-associating vehicle state information with control commands, sometimes the total vehicle weight, external force, trolley speed and control command value are not completely consistent on the time axis, and the control command value is delayed. Such delay depends on the time required to calculate the control command value. However, regarding this delay, Figure 6 and Figure 7 Not shown in the figure.

[0056] From using Figure 6 and Figure 7 It can also be understood from the description that the above-mentioned "using the vehicle state information SJ to suppress the change in the speed of the vehicle 100 and generate a control instruction" specifically includes the following processing (a) to (c). (a) The information acquisition unit 316 acquires the "vehicle state information SJ". (b) The vehicle control command unit 312 calculates the acceleration (not limited to the front-rear direction) applied to the vehicle 100 based on the vehicle state information. (c) Calculating a control instruction value of an actuator of the driving device 132 or the steering device 136 of the vehicle 100 so as to suppress a change in at least one of the speed and the traveling direction of the vehicle 100 due to the calculated acceleration. A-2. Control method of the vehicle 100 implemented by the remote control device 300:

[0057] Figure 8 and Fig. 9 1 is a flowchart showing the steps of the control method of the vehicle 100 implemented by the remote control device 300 of the first embodiment. Figure 8 and Fig. 9 Controls shown.

[0058] exist Figure 8 In step S202 shown, the position estimating unit 314 obtains vehicle information transmitted from the vehicle detector 80 .

[0059] In step S204 , the position estimating unit 314 estimates the position and orientation of the vehicle 100 using the vehicle information as described above.

[0060] After step S204, steps S206 to S207 are executed in parallel. Fig. 9 The control of step S222 shown, and Figure 8 The control from step S224 to step S232 shown in FIG. In addition, step S206 and step S208 may also be combined with Fig. 9 The control from step S210 to step S222 is shown to be executed independently and in parallel.

[0061] exist Figure 8In step S206 shown, the robot control command unit 320 determines whether the estimated position of the vehicle 100 is a component assembly position. The "component assembly position" refers to a position preset as a position where the assembly robot RB performs assembly of the component PT to the vehicle 100 in the manufacturing process. When it is determined that the position of the vehicle 100 is not a component assembly position (step S206: "No"), the remote control device 300 ends the control.

[0062] When it is determined that the position of the vehicle 100 is the component assembly position (step S206: "Yes"), the robot control instruction unit 320 sends a control instruction to the assembly robot RB to instruct the installation of the component PT on the vehicle 100. The assembly robot RB that receives the control instruction installs the component PT on the vehicle 100 in accordance with the control instruction. The control instruction sent in this step may be a control signal that specifically instructs the movement amount of each part constituting the assembly robot RB, or it may be a control instruction that only instructs the assembly robot RB to start assembly control of the component PT. The assembly robot RB that has been instructed to start assembly control may also determine the installation position of the component PT relative to the vehicle 100 by using its own camera, etc., and install the component PT through autonomous control.

[0063] exist Fig. 9 In the flowchart shown on the left, the control executed in the remote control device 300 is shown, and the flowchart shown on the right, the control executed in the trolley control device 500 is shown. In step S210, the robot control instruction unit 320 determines whether the connection flag JF stored in the storage device 330 is in the "inactive" (OFF) state. The "connection flag JF" is overwritten by the control described later in such a way that it becomes "active" (ON) when the vehicle 100 and the trolley 400 are in a connected state, and becomes "inactive" when the vehicle 100 and the trolley 400 are in a disconnected state.

[0064] When it is determined that the connection flag JF is in the "inactive" state (step S210: "Yes"), in step S212, the trolley control command unit 318 determines whether the position of the vehicle 100 estimated in step S204 is the connection start position. The "connection start position" refers to a position pre-set as the position where the connection of the trolley 400 to the vehicle 100 starts. More specifically, the connection start position is set to the position where the connection state process starts, and the connection state process is pre-set as a process performed in the connected state. In this connection state process, the installation of the components stored in the trolley 400 is performed. When it is determined that the position of the vehicle 100 is not the connection start position (step S212: "No"), the remote control device 300 ends the control.

[0065] If the position of the vehicle 100 is determined to be the connection start position (step S212: YES), in step S214, the vehicle control instruction unit 318 sends a connection notification instructing the start of the connection state to the vehicle control device 500. The control performed by the vehicle control device 500 upon receiving the connection notification will be described later.

[0066] In step S216, the vehicle control command unit 318 overwrites the state of the connection flag JF recorded in the storage device 330 from the "inactive" state to the "active" state. Thereafter, the remote control device 300 ends the control.

[0067] Returning to step S210, when it is determined that the connection flag JF is not in the "inactive" state (step S210: "No"), in other words, when the connection flag JF is in the "active" state, in step S218, the trolley control command unit 318 determines whether the position of the vehicle 100 estimated in step S204 is the connection release position. The "connection release position" refers to a position pre-set as the position where the connection of the trolley 400 to the vehicle 100 is released. More specifically, the connection release position is set to the position where the above-mentioned connection state process is completed. That is, in step S218, the trolley control command unit 318 determines whether the vehicle 100 has completed the connection state process in the manufacturing process. The trolley control command unit 318 is equivalent to the "judgment unit" in the present disclosure. When it is determined that the position of the vehicle 100 is not the connection release position (step S218: "No"), the remote control device 300 ends the control.

[0068] When it is determined that the position of the vehicle 100 is the disconnection position (step S218: "Yes"), in step S220, the trolley control command unit 318 sends a disconnection notification indicating the disconnection state to the trolley control device 500. The trolley control command unit 318 is equivalent to the "notification output unit" in the present disclosure. The control performed by the trolley control device 500 that receives the disconnection notification will be described later.

[0069] In step S222, the carriage control command unit 318 overwrites the state of the connection flag JF recorded in the storage device 330 from the "active" state to the "inactive" state. Thereafter, the remote control device 300 ends the control.

[0070] The control in the carriage control device 500 will be described. In step S302, the process information acquisition unit 516 determines whether a connection notification is received from the remote control device 300. When it is determined that a connection notification is not received (step S302: No), the connection control unit 514 executes step S306 described later.

[0071] When it is determined that the connection notification has been received (step S302: "Yes"), in step S304, the drive control unit 512 and the connection control unit 514 perform connection control. In the present embodiment, the drive control unit 512 and the connection control unit 514 are configured to perform a pre-set connection control based on the reception of the connection notification. Before the reception of the connection notification, the trolley 400 waits at a predetermined standby position. When the connection notification is received, the drive control unit 512 drives the wheel 432 to approach the vehicle 100, and when the relative position of the vehicle 100 and the trolley 400 becomes a predetermined positional relationship, the connection control unit 514 controls the connection unit 434 so that the connection unit 434 is connected to a specified position of the vehicle 100. After the trolley 400 is connected to the vehicle 100, the drive control unit 512 stops the actuator from driving the wheel 432, and the wheel 432 is pulled by the vehicle 100 and driven. In this embodiment, after the trolley 400 is connected to the vehicle 100, the drive control unit 512 stops the actuator from driving the wheel 432, thereby suppressing the increase in power consumption caused by the driving of the wheel 432. In addition, the above-mentioned connection control may not be preset. The connection control may also be achieved by the trolley control instruction unit 318 generating and outputting a control signal for instructing the specific action of the trolley 400, and executing the control of the drive control unit 512 and the connection control unit 514 according to the received control signal.

[0072] In step S306, the connection control unit 514 determines whether a disconnection notification has been received from the remote control device 300. When it is determined that the disconnection notification has not been received (step S306: No), the vehicle control device 500 executes step S302 again.

[0073] If it is determined that the connection release notification has been received (step S306: Yes), in step S308, the connection control unit 514 executes connection release control. In this embodiment, the connection control unit 514 controls the connection unit 434 to release the connection state and enter the non-connected state in response to the reception of the connection release notification.

[0074] In step S310, when the connection detection unit 422 detects that the connection state is released and becomes a non-connected state, the drive control unit 512 controls the brake device 134 to increase the braking force and decelerate the trolley 400. In addition, the drive control unit 512 drives the wheel 432 to move the trolley 400 to a standby position in a process that is earlier in the manufacturing process than the connection release position where the trolley 400 is located. When the connection detection unit 422 detects that the connection unit 434 is in a non-connected state, the drive control unit 512 increases the braking force and decelerates the trolley 400, so that the trolley 400 can be quickly separated from the vicinity of the vehicle 100, thereby preventing the trolley 400 from obstructing the transportation of the vehicle 100. In addition, the drive control unit 512 moves the trolley 400 to the standby position in the process that is earlier in the manufacturing process, so that the trolley 400 can be attached to another vehicle 100 transported from the previous process. After that, the trolley control device 500 executes step S302 again. The vehicle control system 600 including the vehicle 400 described above and the remote control device 300 having the vehicle control instruction unit 318 for realizing control of the vehicle 400 corresponds to the “vehicle control system” in the present disclosure.

[0075] In parallel with the control from step S206 to step S222 described above, Figure 8 In step S224 shown, the information acquisition unit 316 acquires the vehicle state information SJ from the storage device 330 .

[0076] In step S226 , the information acquisition unit 316 refers to the vehicle state information SJ, and adds the weight of the component PT assembled in a process preceding the position of the vehicle 100 estimated in step S204 to the vehicle gross weight WT.

[0077] In step S228, the information acquisition unit 316 determines whether the connection flag JF recorded in the storage device 330 is in the "inactive" state. When it is determined that the connection flag JF is not in the "inactive" state (step S228: "No"), in other words, when the connection flag JF is in the "active" state, in step S232, the information acquisition unit 316 adds the weight of the trolley 400 to the total vehicle weight WT. This is because, when the trolley 400 is connected to the vehicle 100, the friction force and inertia force acting when the trolley 400 is towed act on the vehicle 100, and this state can be regarded as the same state as the state in which the weight of the trolley 400 is added to the vehicle 100. On the other hand, when it is determined that the connection flag JF is in the "inactive" state (step S228: "Yes"), step S232 is not executed.

[0078] In step S230, as a control command generation process, the vehicle control command unit 312 generates a control command using the vehicle state information SJ as described above, and transmits the control command to the vehicle 100. Thereafter, the remote control device 300 ends the control.

[0079] According to the vehicle control system 600 having the remote control device 300 of the first embodiment described above, the vehicle control command unit 312 is provided for generating and outputting a control command for moving the vehicle 100, and the vehicle control command unit 312 generates the control command using the vehicle state information SJ. Therefore, it is possible to suppress the deviation of the movement control of the vehicle 100 under unmanned driving, which may be caused by at least one of the magnitude of the impact force applied to the vehicle 100, the direction of the impact force, the weight of the vehicle 100, the weight of the trolley 400, and the process in which the vehicle 100 is located.

[0080] In addition, the vehicle state information SJ is used to generate a control command in a manner to suppress changes in the speed of the vehicle 100 that are caused by at least one of the impact force, the installation of the component PT to the vehicle 100, the connection of the trolley 400 to the vehicle 100, and the release of the connection between the trolley 400 and the vehicle 100. Therefore, changes in the speed of the vehicle 100 that are caused by at least one of the impact force, the installation of the component PT to the vehicle 100, the connection of the trolley 400 to the vehicle 100, and the release of the connection between the trolley 400 and the vehicle 100 can be suppressed.

[0081] The impact force is a force generated by at least one of a force acting when the component PT contacts the vehicle 100, a force acting when the component PT is fixed to the vehicle 100, and a force acting when the trolley 400 is connected to the vehicle 100. Therefore, it is possible to suppress deviation in the movement control of the unmanned vehicle 100 that may be generated by at least one of a force acting when the component PT contacts the vehicle 100, a force acting when the component PT is fixed to the vehicle 100, and a force acting when the trolley 400 is connected to the vehicle 100. B. Second Implementation Method:

[0082] The remote control device 300 of the second embodiment is different from the remote control device 300 of the first embodiment in that, in addition to generating a control command in a manner to suppress a change in the speed of the vehicle 100 using the vehicle state information SJ, the control command is also generated in a manner to suppress a change in the traveling direction of the vehicle 100. Since the device configuration of the remote control device 300 of the second embodiment and the steps in other controls implemented in the remote control device 300 are the same as those of the first embodiment, the same reference numerals as those of the first embodiment are attached to the same configuration and the same steps, and their detailed description is omitted.

[0083] In the second embodiment, in addition to the elements used in the first embodiment, the vehicle control command unit 312 uses the installation position of the component PT on the vehicle 100 and the connection position of the trolley 400 on the vehicle 100 as the vehicle state information SJ. The vehicle control command unit 312 generates a control command in a manner to suppress the change in the traveling direction of the vehicle 100 that changes according to the installation position of the component PT and the connection position of the trolley 400, using the installation position of the component PT on the vehicle 100 and the connection position of the trolley 400 to the vehicle 100. In the present embodiment, the installation position of the component PT and the connection position of the trolley 400 in each process are pre-stored in the storage device 330 as the vehicle state information SJ.

[0084] Fig.10 is a top view of the vehicle 100. Fig.10 , the generation of a control command for suppressing the change in the traveling direction of the vehicle 100 is described. In the following description, when referring to "toward the right of the traveling direction" or "toward the left of the traveling direction", it is also simply referred to as "toward the right" or "toward the left". Fig.10 As shown, the component PT is installed at a mounting position P1 offset to the right relative to the center axis CL of the vehicle 100. In addition, the dolly 400 is connected by the connecting portion 434 at a connecting position P2 offset to the right relative to the center axis CL of the vehicle 100. In this case, the force that decelerates the vehicle 100, such as the friction force caused by the weight of the component PT and the traction of the dolly 400, acts on the vehicle 100 biased to the right. Since the deceleration force acts biased to the right, the vehicle 100 will move in the deflection direction D2, which is a direction that is changed to the right relative to the target direction D1 predetermined as the travel direction. In addition, in the case where the impact force acts on the vehicle 100 to the right, the vehicle 100 will also move in the deflection direction D2. In another example, even if the dolly 400 is connected at the connection position P2, when the connection between the vehicle 100 and the dolly 400 is released while the vehicle 100 is moving toward the target direction D1, the deceleration force that has been applied at the connection position P2 offset to the right relative to the center axis CL of the vehicle 100 is lost, and the vehicle 100 moves to the left. That is, the moving direction of the vehicle 100 changes due to at least one of the impact force applied to the vehicle 100, the installation of the component PT to the vehicle 100, the connection of the dolly 400 to the vehicle 100, and the release of the connection between the dolly 400 and the vehicle 100. If the change in the moving direction becomes larger, the difference between the position of the vehicle 100 and the target route becomes larger, and there is a possibility that the installation of the component to the vehicle 100 is hindered.

[0085] In order to solve the above-mentioned problem, in the present embodiment, the vehicle control command unit 312 generates a control command in such a manner that the vehicle 100 is directed to the left of the target direction D1 toward the traveling direction, that is, the direction opposite to the deflection direction D2 relative to the target direction D1, that is, the correction direction D3. More specifically, the vehicle control command unit 312 generates a control command value indicating the steering angle toward the correction direction D3, and outputs it to the vehicle 100 as a control command. In addition, in the case where the vehicle 100 is configured to be able to drive the left and right wheels with different driving torques, the vehicle control command unit 312 may also generate a control command value of the driving force in such a manner that the torque of the right wheel, which is acted with a greater deceleration force than the left wheel, becomes larger than the torque of the left wheel, and sends it to the vehicle 100 as a control command. By generating the control command in this way, the force to be directed toward the deflection direction D2 and the force to be directed toward the correction direction D3 can be offset, so that the vehicle 100 can travel toward the target direction D1. In addition, similarly to the first embodiment, the generation of such control instructions is executed in accordance with the timing of mounting the component PT on the vehicle 100, fixing the component PT to the vehicle 100, starting the connection between the trolley 400 and the vehicle 100, and releasing the connection between the trolley 400 and the vehicle 100.

[0086] According to the remote control device 300 of the second embodiment described above, the vehicle state information SJ is used to generate a control command in a manner to suppress the change in the traveling direction of the vehicle 100 that changes due to at least one of the impact force, the installation of the component PT to the vehicle 100, the connection of the trolley 400 to the vehicle 100, and the release of the connection between the trolley 400 and the vehicle 100. Therefore, the change in the traveling direction of the vehicle 100 that changes due to at least one of the impact force, the installation of the component PT to the vehicle 100, the connection of the trolley 400 to the vehicle 100, and the release of the connection between the trolley 400 and the vehicle 100 can be suppressed. C. Third Implementation Method:

[0087] The remote control device 300 of the third embodiment is different from the remote control device 300 of the first embodiment in that a control is performed to reduce the running speed of the vehicle 100 according to the gross vehicle weight WT. Since the device configuration of the remote control device 300 of the third embodiment and the steps in other controls implemented in the remote control device 300 are the same as those of the first embodiment, the same reference numerals as those of the first embodiment are attached to the same configuration and the same steps, and their detailed description is omitted.

[0088] When the weight of the vehicle 100 increases, if the vehicle 100 is decelerated with the same braking force as before the weight increase, the time required to decelerate the vehicle 100 to the desired speed will be longer, and the braking distance will be longer. In such a case, when the component PT is installed on the vehicle 100, the speed of the vehicle 100 at the moment of reaching the component assembly position exceeds the specified speed, or the timing deviation of the vehicle 100 reaching the component assembly position may cause a problem that the component PT cannot be properly installed. In addition, since the braking distance becomes longer, the vehicle 100 that exceeds the specified position may contact with an obstacle and be damaged, resulting in an increase in the cycle time for repair. In order to solve this problem, in the present embodiment, the vehicle control command unit 312 uses information related to the weight of the vehicle 100 (hereinafter also referred to as "weight-related information") as the vehicle state information SJ, and generates a control command in a manner that reduces the speed of the vehicle 100 compared to before the weight increase of the vehicle 100 when the weight of the vehicle 100 increases.

[0089] Fig.11 It is a flowchart showing the steps of the control instruction generation process executed in the remote control device 300 of the present embodiment. In step S402, the information acquisition unit 316 estimates the weight of the vehicle 100. In the present embodiment, the total vehicle weight WT is correlated with the position of the vehicle 100 and is pre-stored in the storage device 330 as the vehicle state information SJ. The vehicle state information SJ of the present embodiment is equivalent to the "position-weight correspondence information" in the present disclosure. In addition, the storage device 330 is equivalent to the "information holding unit". The information acquisition unit 316 determines the total vehicle weight WT at the position of the vehicle 100 using the position of the vehicle 100 estimated by the position estimation unit 314 and the vehicle state information SJ as the position-weight correspondence information, in other words, estimates the weight of the vehicle 100. The information acquisition unit 316 of the present embodiment is equivalent to the "weight estimation unit" in the present disclosure.

[0090] In step S404, the vehicle control command unit 312 determines whether the vehicle 100 is in the bumper installation pre-process. The "bumper installation pre-process" refers to a process that is earlier than the bumper installation process of installing the bumper on the outer side of the vehicle 100. When it is determined that the vehicle 100 is in the bumper installation pre-process (step S404: "Yes"), in step S406, the vehicle control command unit 312 determines whether the vehicle 100 is in a manned process. The "manned process" refers to a process in which a worker is present.

[0091] When it is determined that the vehicle 100 is in a manned process (step S406: Yes), in step S408, the vehicle control command unit 312 generates a control command indicating a speed corresponding to the weight of the vehicle 100, and sends it to the vehicle 100. The vehicle control command unit 312 generates a control command in accordance with the weight of the vehicle 100 so that the speed of the vehicle 100 is reduced compared to before the weight of the vehicle 100 increases. After that, the remote control device 300 ends the present process.

[0092] If it is determined that the vehicle 100 is not in the pre-bumper installation process (step S404: No), that is, the vehicle 100 is in the post-bumper installation process which is a process after the bumper installation process, or if it is determined that the vehicle 100 is not in the process with people (step S406: No), that is, the vehicle 100 is in the unmanned process without an operator, in step S410, the vehicle control command unit 312 generates a control command for instructing a predetermined speed regardless of the weight of the vehicle 100, and outputs it to the vehicle 100. That is, in such a case, even if the weight of the vehicle 100 increases, a control command for reducing the speed of the vehicle 100 compared to before the weight of the vehicle 100 increases is not generated. This is because, if it is after the bumper installation process, even if the speed of the vehicle 100 is not reduced, even if the vehicle 100 contacts an obstacle due to the increase in the weight of the vehicle 100, the degree of damage to the vehicle 100 can be reduced compared to the state where the bumper is not installed, so the time required for repair can be shortened, and the increase in cycle time can be suppressed. In addition, in the unmanned process, it is not necessary to limit the speed by considering the working speed of the operator. In addition, by installing the bumper, the operator can easily identify the vehicle 100.

[0093] According to the remote control device 300 of the third embodiment described above, by using the acquired weight-related information, when the weight of the vehicle 100 increases, a control command is generated in such a manner that the speed of the vehicle 100 is reduced compared to before the weight increase of the vehicle 100. Therefore, the braking distance of the vehicle 100 that increases according to the weight of the vehicle 100 can be suppressed.

[0094] In addition, a weight estimating unit is provided for estimating the weight of the vehicle 100 using the weight-related information. The vehicle control command unit 312 generates a control command using the estimated weight of the vehicle 100 so that the speed of the vehicle 100 is reduced compared to before the weight of the vehicle 100 increases when the weight of the vehicle 100 increases. Therefore, using the estimated weight of the vehicle 100, a control command for suppressing the speed of the vehicle 100 can be generated.

[0095] In addition, an information storage unit for storing position-weight correspondence information is also provided. The information acquisition unit 316 acquires the position of the vehicle 100 as weight-related information, and the weight estimation unit estimates the weight of the vehicle 100 at the position of the vehicle 100 using the position-weight correspondence information and the acquired position of the vehicle 100. Therefore, the weight of the vehicle 100 can be easily estimated using the position of the vehicle 100.

[0096] Furthermore, when the vehicle 100 is in a process later than the bumper installation process, that is, a post-bumper installation process, and the weight of the vehicle 100 is greater than the weight of the vehicle 100 in a process earlier than the post-bumper installation process, a control command is not generated to reduce the speed of the vehicle 100 compared to before the increase in the weight of the vehicle 100. Therefore, it is possible to suppress an increase in the time required for transporting the vehicle 100.

[0097] Furthermore, when the vehicle 100 is in an unmanned process in which no operator is present in the manufacturing process and the weight of the vehicle 100 is greater than the weight of the vehicle 100 in a process preceding the unmanned process, a control instruction is not generated to reduce the speed of the vehicle 100 compared to before the increase in the weight of the vehicle 100. Therefore, an increase in the time required for transporting the vehicle 100 can be suppressed. D. Fourth Implementation Method:

[0098] The remote control device 300 of the fourth embodiment is different from the remote control device 300 of the third embodiment in that, as weight-related information, displacement information showing the displacement of a suspension device (not shown) of the vehicle 100 is used instead of the gross vehicle weight WT to estimate the weight of the vehicle 100. Since the device configuration of the remote control device 300 of the fourth embodiment and the steps in other controls implemented in the remote control device 300 are the same as those of the third embodiment, the same reference numerals as those of the third embodiment are attached to the same configuration and the same steps, and their detailed description is omitted.

[0099] exist Fig.11 In step S402 shown in FIG. 1 , in the present embodiment, the information acquisition unit 316 estimates the weight of the vehicle 100 using displacement information indicating the displacement of a suspension device (not shown) supporting a wheel of the vehicle 100 as weight-related information. The displacement information is acquired by the vehicle 100 or a sensor (not shown) pre-installed outside the vehicle 100, and is output to the information acquisition unit 316. The information acquisition unit 316 can estimate the weight of the vehicle 100 at each time using the displacement information. The relationship between the displacement information and the weight of the vehicle 100 is predetermined, for example, by experiments or simulations, and is stored in the storage device 330 as a table.

[0100] According to the remote control device 300 of the fourth embodiment described above, displacement information indicating the displacement of the suspension device is obtained as weight-related information, and the weight of the vehicle 100 is estimated using the displacement information. Therefore, the weight of the vehicle 100 can be estimated with higher accuracy based on the displacement information that changes according to the actual weight of the vehicle 100. E. Fifth Implementation Method:

[0101] Fig.12 1 is a block diagram showing the schematic structure of the vehicle control device 200e provided in the vehicle 100 of the fifth embodiment. In this embodiment, the vehicle control system 600 is different from the vehicle control system 600 of the first embodiment in that it does not include the remote control device 300. Specifically, the difference from the first embodiment is that the vehicle control device 200e provided on the vehicle 100 instead of the remote control device 300 has the function of the control device in the present disclosure. The other structures of the vehicle control system 600 are the same as those of the first embodiment unless otherwise specified.

[0102] like Fig.12 As shown in the figure, the vehicle control device 200e is different from the vehicle control device 200 shown in the first embodiment in that a CPU 210e is provided instead of the CPU 210, and a storage device 230e is provided instead of the storage device 230. Specifically, in the storage device 230e, a program for realizing functions corresponding to the vehicle control command unit 312, the position estimation unit 314, the information acquisition unit 316, the trolley control command unit 318, and the robot control command unit 320 provided in the remote control device 300 is stored in addition to the functions of the CPU 210 shown in the first embodiment. As a result, the CPU 210e also functions as the vehicle control command unit 214, the position estimation unit 216, the information acquisition unit 218, the trolley control command unit 220, and the robot control command unit 222 corresponding to the additional functions. In addition, the storage device 230e stores the estimated position VL, the vehicle state information SJ, and the connection flag JF that were previously stored in the remote control device 300. According to the vehicle 100 configured in this manner, it is possible to obtain the same effects as those of the first embodiment without using a device such as the remote control device 300 that is separate from the vehicle 100 .

[0103] Fig.131 is a flowchart showing a driving method of the vehicle 100 according to the present embodiment. In step S510, the position estimation unit 216 obtains the position and direction of the vehicle 100 using the detection result of the vehicle detector 80. In step S520, the vehicle control command unit 214 determines the target position to which the vehicle 100 should go next. In the present embodiment, an ideal path is pre-stored in the storage device 230e of the vehicle control device 200e. In step S530, the vehicle control command unit 214 generates a driving control signal for driving the vehicle 100 toward the determined target position. In step S540, the driving control unit 212 uses the generated driving control signal to control the actuator group 140 so that the vehicle 100 drives at the acceleration and steering angle indicated by the driving control signal. The driving control unit 212 repeatedly performs the acquisition of the position and direction of the vehicle 100, the determination of the target position, the generation of the driving control signal, and the control of the actuator group 140 in a predetermined cycle. According to the vehicle 100 of the present embodiment, even if the vehicle 100 is not remotely controlled by the remote control device 300 , the vehicle 100 can be driven by autonomous control. F. Other implementations: F1

[0104] In the above-mentioned embodiment, the component PT is fixed by the fixing tool TL possessed by the worker, but the present disclosure is not limited thereto. The component PT may be fixed by the fixing tool TL mounted on the assembly robot RB.

[0105] In addition, in the above-mentioned embodiment, the fixing tool TL is configured as a motorized wrench, but the present disclosure is not limited thereto. The fixing tool TL is not limited to a fastening tool such as a motorized wrench, and may be a tool that implements any fixing method accompanied by contact with the component PT mounted on the vehicle 100 or the vehicle 100, such as spot welding in which the vehicle 100 and the component PT are clamped and welded at a predetermined position. According to this mode, it is also possible to suppress changes in the speed and travel direction of the vehicle 100 caused by the contact of the tool with the component PT or the vehicle 100, and it is possible to suppress deviations in the movement control of the vehicle 100. F2

[0106] In the above-mentioned embodiment, the remote control device 300 has a trolley control command unit 318, but the present disclosure is not limited to this. Alternatively, the remote control device 300 does not have the trolley control command unit 318, and the trolley 400 is controlled autonomously. For example, the trolley 400 may also have a camera for photographing the surroundings of the trolley 400, and autonomously starts or releases the connection with the vehicle 100 when it is recognized that the vehicle 100 has reached the connection start position or the connection release position. In this method, the remote control device 300 may not send a connection notification and a connection release notification to the trolley 400. According to this method, the same effect as the above-mentioned embodiment is also achieved. In addition, since the connection notification and the connection release notification do not need to be sent to the trolley 400, the control in the remote control device 300 can be prevented from becoming complicated. F3

[0107] In the above-mentioned embodiment, the information acquisition unit 316 acquires the pre-stored vehicle status information SJ from the storage device 330, but the present disclosure is not limited to this. The information acquisition unit 316 can acquire the vehicle status information SJ from a process management device not shown in the figure. The process management device is a device for managing the manufacturing process of the vehicle 100. The process management device is composed of a computer. The process management device acquires information from various equipment in the factory and generates information related to the manufacturing process of the vehicle 100 as a product (hereinafter also referred to as "process information"). The process information includes: information indicating when, where, by which operator, and which operation is scheduled to be performed on which product, information indicating when, where, and which operator performed which operation on which product, and information indicating the progress status of the operation. The process management device has a communication device, which sends the process information to the remote control device 300 through wired communication or wireless communication. In addition, the remote control device 300 may also have the function of a process management device.

[0108] In addition, the information acquisition unit 316 may also acquire information acquired by at least one of the sensors provided by the vehicle 100 and the sensors pre-installed outside the vehicle 100 as the vehicle state information SJ. For example, the type of the component PT installed on the vehicle 100 in each process, whether the installation of the component PT to the vehicle 100 is completed, the installation position of the component PT to the vehicle 100, and whether the trolley 400 is connected to the vehicle 100 can also be determined by analyzing the image acquired by the vehicle detector 80. The weight of the vehicle 100, the weight of the trolley 400, and the weight of the component PT can be acquired by a weight sensor pre-installed on the driving road or near the driving road on which the vehicle 100 is traveling. In addition, the weight of the component PT can also be acquired by a weight sensor pre-installed on the assembly robot RB when it is held by the assembly robot RB. In addition, the weight of the component PT can also be acquired by a weight sensor pre-installed on the vehicle 100 when it is mounted on the vehicle 100. According to this method, the same effect as the above-mentioned embodiment is achieved. In addition, the weight of the vehicle 100, the weight of the trolley 400, the weight of the component PT, the installation position of the component PT on the vehicle 100, the installation timing, and the timing of connecting the trolley 400 to the vehicle 100 can be determined based on the actual state of the vehicle 100. Therefore, a control command can be generated based on the determined actual weight and timing, and the deviation of the movement control of the vehicle 100 (mobile body) under unmanned driving can be further suppressed.

[0109] In addition, the impact force acting on the vehicle 100 can also be obtained by an acceleration sensor pre-set on at least one of the vehicle 100, the assembly robot RB and the trolley 400. The information obtained by the acceleration sensor is equivalent to the "impact force information" in the present disclosure. According to this method, the same effect as the above-mentioned embodiment is achieved. In addition, the impact force actually acting on the vehicle 100 can be used to generate a control instruction. Compared with the method of generating a control instruction using a pre-set impact force, the deviation of the movement control of the unmanned vehicle 100 that may be caused by the impact force can be suppressed.

[0110] In addition, the timing of starting or disconnecting the connection of the trolley 400 can also be determined by obtaining the connection disconnection information indicating whether the connection state is disconnected as the detection result of the connection detection unit 422. According to this method, the same effect as the above-mentioned embodiment is achieved. In addition, the control command can be generated according to the actual connection state, and the deviation of the movement control of the unmanned vehicle 100 caused by the connection state with the trolley 400 can be suppressed. F4

[0111] In the above-described embodiment, the vehicle control command unit 312 generates a control command using the vehicle state information SJ acquired by the information acquisition unit 316 , but the present disclosure is not limited thereto. Fig.14 3 is a block diagram showing a schematic structure of a remote control device 300f according to another embodiment. Fig.14 As shown, the storage device 330f stores a database DB in advance. In addition, the CPU 310f may not include the information acquisition unit 316. The "database DB" stores information related to the control command and the position information of the vehicle 100 in association with each other. The "information related to the control command" is a control command predetermined for each position of the vehicle 100 based on the vehicle state information SJ corresponding to the position information of the vehicle 100, or a correction value applied to the control command generated without considering the vehicle state information SJ for each position of the vehicle 100.

[0112] In this method, the vehicle control command unit 312 refers to the database DB to determine the control command or correction value corresponding to the estimated position VL estimated by the position estimation unit 314. The vehicle control command unit 312 sends the determined control command to the vehicle 100, or the control command generated by adding the determined correction value to the control command generated without considering the vehicle state information SJ. According to this method, the same effect as the above-mentioned embodiment is achieved. In addition, the control command can be easily generated using the database DB, and the deviation of the movement control of the vehicle 100 under unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the vehicle 100, the direction of the impact force, the weight of the vehicle 100, the weight of the trolley 400, and the process in which the vehicle 100 is located can be easily suppressed. In addition, the remote control device 300f having a storage device 330f storing the database DB and a functional unit for controlling writing and reading to the database DB in the remote control device 300f can also be implemented as a database management device, a database system, and a computer program for implementing the database DB. At least one of the database management device and the database system may be realized independently of the remote control device 300. The database management device includes a storage device 330f storing the database DB and a functional unit controlling writing and reading of the database DB in the remote control device 300f. F5

[0113] In the second embodiment, the remote control device 300 generates a control command in a manner to suppress changes in the speed of the vehicle 100 and also generates a control command in a manner to suppress changes in the traveling direction of the vehicle 100, but the present disclosure is not limited thereto. The remote control device 300 may also only perform processing to generate a control command in a manner to suppress changes in the traveling direction of the vehicle 100. F6

[0114] In the above embodiment, the vehicle control command unit 312 sends a control command generated using the vehicle state information SJ to the vehicle 100, and the driving control unit 212 of the vehicle 100 drives the vehicle 100 according to the received control command, but the present disclosure is not limited to this. Alternatively, the vehicle control command unit 312 sends a control command generated without considering the vehicle state information SJ to the vehicle 100, and the driving control unit 212 of the vehicle 100 corrects the received control command using the vehicle state information SJ, and drives the vehicle 100 according to the corrected control command. In this method, the driving control unit 212 may also obtain information obtained by at least one of a sensor of the vehicle 100 and a sensor pre-installed outside the vehicle 100 as the vehicle state information SJ. According to this method, the same effect as the above embodiment is achieved. F7

[0115] In the control command generation process of the third embodiment described above, the remote control device 300 executes step S404 and step S406, but the present disclosure is not limited thereto. The remote control device 300 may also execute only one of step S404 and step S406. According to this method, the execution of the determination process in the control command generation process can be suppressed, so that the processing in the remote control device 300 can be suppressed from becoming complicated. In addition, compared with a method in which neither step S404 nor step S406 is executed, the increase in the time required for the transportation of the vehicle 100 can be suppressed.

[0116] In addition, the remote control device 300 may not execute step S404, step S406, and step S410. That is, after estimating the weight of the vehicle 100 in step S402, a control command indicating a speed corresponding to the weight of the vehicle 100 may be always generated and output in step S408. According to this method, when the weight of the vehicle 100 increases, a control command is always generated in a manner that reduces the speed of the vehicle 100 compared to before the weight of the vehicle 100 increases. Therefore, the braking distance of the vehicle 100 that increases according to the weight of the vehicle 100 can be suppressed in any process. F8

[0117] In the above-mentioned embodiment, the vehicle control system 600 is provided with a camera as the vehicle detector 80, but the present disclosure is not limited thereto. As the vehicle detector 80, the vehicle control system 600 may also be provided with a light detection and ranging (LiDAR) instead of a camera, or may be provided with a light detection and ranging in addition to a camera. In this mode, the vehicle detector 80 acquires the three-dimensional point cloud data of the vehicle 100 in addition to the image of the vehicle 100. "Three-dimensional point cloud data" refers to data indicating the three-dimensional position of the point cloud. In addition, the vehicle control command unit 312 estimates the position and orientation of the vehicle 100 in the acquired three-dimensional point cloud data. Specifically, the vehicle control command unit 312 performs template matching on the three-dimensional point cloud data using the vehicle point cloud data pre-stored in the storage device 330. Therefore, the position and orientation of the vehicle 100 in the three-dimensional point cloud data can be estimated with high accuracy. The estimated position and orientation of the vehicle 100 are stored in the storage device 330 as the estimated position VL. The vehicle point cloud data as a template can use, for example, the three-dimensional CAD data of the vehicle 100. The vehicle point cloud data includes information for determining the orientation of the vehicle 100. In the template matching of the vehicle point cloud data with respect to the three-dimensional point cloud data, for example, an Iterative Closest Point (ICP) algorithm or a Normal Distribution Transform (NDT) algorithm can be used. In addition, in the case where the position of the vehicle 100 can be estimated with high accuracy based on the three-dimensional point cloud data, template matching may not be performed. F9

[0118] In the above-mentioned embodiments, examples are shown in which the vehicle 100 is a car, a truck, a bus, a construction vehicle, and the like. However, the vehicle 100 is not limited thereto, and may be various mobile bodies. "Mobile body" refers to an object that can move, such as a vehicle, an electric vertical take-off and landing aircraft (a so-called flying car). The vehicle may be a vehicle that travels on wheels, or a vehicle that travels on tracks, such as a two-wheeled vehicle, a four-wheeled vehicle, a tank, and the like. Vehicles are not limited to electric vehicles, and include gasoline vehicles, hybrid vehicles, and fuel cell vehicles. In the case where the mobile body is other than a vehicle, the expressions "vehicle" and "car" in this disclosure may be appropriately replaced with "mobile body", and the expression "travel" may be appropriately replaced with "moving". The system that controls the movement of the mobile body described above is equivalent to the "mobile body control system" in this disclosure. F10

[0119] The vehicle 100 can be manufactured by any manufacturing method. For example, the vehicle 100 can be manufactured by combining a plurality of modules. A module refers to a unit composed of a plurality of components gathered according to the position and function of the vehicle 100. For example, the rack of the vehicle 100 can be manufactured by combining a front module constituting the front part of the rack, a central module constituting the central part of the rack, and a rear module constituting the rear part of the rack. In addition, the number of modules constituting the rack is not limited to 3, and may be 2 or less or 4 or more. In addition, in addition to the components constituting the rack, the components constituting the parts of the vehicle 100 different from the rack may be modularized, or the components constituting the parts of the vehicle 100 different from the rack may be modularized instead of the components constituting the rack. In addition, various modules may also include any exterior components such as a bumper and a grille, and any interior components such as a seat or a console. In addition, not limited to the vehicle 100, any type of mobile body may be manufactured by combining a plurality of modules. Such a module may be manufactured, for example, by joining a plurality of components by welding or a fixing tool, or may be manufactured by integrally molding at least a portion of the components constituting the module into one component by casting. The molding method of integrally molding a component, especially a relatively large component, is also called one-piece casting (Giga-casting or Mega-casting). For example, the front module, the central module, and the rear module mentioned above can also be manufactured using Giga-casting. F11

[0120] In the above embodiment, an example is shown in which the remote control device 300 performs the processing from obtaining the position and orientation of the vehicle 100 to generating the driving control signal. On the other hand, at least a part of the processing from obtaining the position and orientation of the vehicle 100 to generating the driving control signal may be performed by the vehicle 100. For example, the following methods (1) to (3) may be used.

[0121] (1) The remote control device 300 can obtain the position and orientation of the vehicle 100, determine the target position to which the vehicle 100 should go next, and generate a path from the current position of the vehicle 100 represented by the obtained position to the target position. The remote control device 300 can generate a path to the target position between the current position and the destination, or can generate a path to the destination. The remote control device 300 can send the generated path to the vehicle 100. The vehicle 100 can generate a travel control signal in a manner such that the vehicle 100 travels on the path received from the remote control device 300, and control the actuator group 140 using the generated travel control signal.

[0122] (2) The remote control device 300 may also obtain the position and orientation of the vehicle 100, and transmit the obtained position and orientation to the vehicle 100. The vehicle 100 may also determine a target position to which the vehicle 100 should go next, generate a path from the current position of the vehicle 100 indicated by the received position to the target position, generate a travel control signal so that the vehicle 100 travels on the generated path, and control the actuator group 140 using the generated travel control signal.

[0123] (3) In the above-mentioned methods (1) and (2), the vehicle 100 may be equipped with an internal sensor, and the detection result outputted from the internal sensor may be used in at least one of the generation of the route and the generation of the driving control signal. The internal sensor may include, for example, a camera, LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyroscope sensor, etc. For example, in the above-mentioned method (1), the remote control device 300 may also obtain the detection result of the internal sensor, and reflect the detection result of the internal sensor in the route when generating the route. In the above-mentioned method (1), the vehicle 100 may also obtain the detection result of the internal sensor, and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal. In the above-mentioned method (2), the vehicle 100 may also obtain the detection result of the internal sensor, and reflect the detection result of the internal sensor in the route when generating the route. In the above-mentioned method (2), the vehicle 100 may also obtain the detection result of the internal sensor, and reflect the detection result of the internal sensor in the route when generating the driving control signal. F12

[0124] In the above embodiment, the vehicle 100 may be equipped with an internal sensor, and the detection result outputted from the internal sensor may be used in at least one of the generation of the route and the generation of the travel control signal. For example, the vehicle 100 may obtain the detection result of the internal sensor, and reflect the detection result of the internal sensor in the route when generating the route. The vehicle 100 may obtain the detection result of the internal sensor, and reflect the detection result of the internal sensor in the travel control signal when generating the travel control signal. F13

[0125] In the above-mentioned embodiment, the vehicle 100 uses the detection result of the vehicle detector 80 to obtain the position and orientation of the vehicle 100. In contrast, it is also possible that an internal sensor is mounted on the vehicle 100, the vehicle 100 uses the detection result of the internal sensor to obtain the position and orientation, determines the target position to which the vehicle 100 should go next, generates a path from the current position of the vehicle 100 represented by the obtained position and orientation to the target position, generates a travel control signal for traveling on the generated path, and controls the actuator group 140 using the generated travel control signal. In this case, the vehicle 100 can travel without using the detection result of the vehicle detector 80 at all. In addition, the vehicle 100 can also obtain the target arrival time and / or congestion information from the outside of the vehicle 100, so that the target arrival time and / or congestion information is reflected in at least one of the path and the travel control signal. F14

[0126] In the above embodiment, the remote control device 300 automatically generates a travel control signal to be sent to the vehicle 100. On the other hand, the remote control device 300 may generate a travel control signal to be sent to the vehicle 100 according to the operation of an operator located outside the vehicle 100. For example, the operator may operate an operating device having a display for displaying an image output from the vehicle detector 80, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the remote control device 300 through wired communication or wireless communication, and the remote control device 300 may generate a travel control signal corresponding to the operation applied to the operating device. In this mode, the vehicle control instruction unit 312 may generate a correction value in consideration of the vehicle state information SJ, and generate a travel control signal in which the generated correction value is reflected in the travel control signal corresponding to the operation applied to the operating device. According to this mode, the same effect as the above embodiment is achieved. F15

[0127] Transporting vehicles by driving unmanned vehicles is also called "self-propelled transportation". In addition, the structure for realizing self-propelled transportation is also called "vehicle remote control autonomous driving transportation system". In addition, the production method of producing vehicles by self-propelled transportation is also called "self-propelled production". In self-propelled production, for example, in a factory that manufactures vehicles, at least a part of the transportation of vehicles is realized by self-propelled transportation.

[0128] The present disclosure is not limited to the above-mentioned embodiments, and can be implemented in various configurations within the scope of its main purpose. For example, the technical features in the embodiments corresponding to the technical features in each method described in the invention content section can be appropriately replaced or combined in order to solve part or all of the above-mentioned problems, or to achieve part or all of the above-mentioned effects. In addition, as long as the technical feature is not described as a necessary part in this specification, it can be appropriately deleted.

Claims

1. A control device configured to control the movement of a movable body being transported in a manufacturing process of the movable body, wherein the movable body is configured to travel unmanned, characterized in that: A control command unit is provided, which is configured to generate and output a control command for moving the moving body, The control instruction unit is configured to generate the control instruction using vehicle state information, wherein the vehicle state information is information related to at least one of the following: the magnitude of the impact force applied to the moving body; The direction of action of the impact force; The weight of the mobile body; The weight of a trolley configured to store the component and configured to be detachably connected to the moving body to move, and the component is configured to be mounted on the moving body; and The process in which the moving body is located.

2. The control device according to claim 1, characterized in that: The control command unit is configured to generate the control command by utilizing the vehicle status information in a manner to suppress changes in the speed of the moving body caused by at least one of the impact force, the installation of the component to the moving body, the connection of the trolley to the moving body, and the release of the connection between the trolley and the moving body.

3. The control device according to claim 1, characterized in that: The control command unit is configured to generate the control command by utilizing the vehicle status information in a manner to suppress changes in the moving direction of the mobile body caused by at least one of the impact force, the installation of the component to the mobile body, the connection of the trolley to the mobile body, and the release of the connection between the trolley and the mobile body.

4. The control device according to claim 1, characterized in that: The impact force is generated by at least one of a force acting when the component contacts the moving body, a force acting when the component is fixed to the moving body, and a force acting when the carriage is connected to the moving body.

5. The control device according to claim 4, characterized in that: The vehicle further comprises an information acquisition unit configured to acquire impact force information related to the impact force from a sensor configured to detect the impact force as the vehicle state information. The control instruction unit is configured to generate the control instruction using the acquired impact force information.

6. The control device according to claim 1, characterized in that: The apparatus further comprises an information acquisition unit configured to acquire the connection release information from a sensor configured to acquire the connection release information as the vehicle state information, wherein the connection release information indicates whether the connection state between the vehicle and the moving body is released. The control instruction unit is configured to generate the control instruction using the connection release information.

7. The control device according to claim 1, characterized in that: It also includes an information acquisition unit configured to acquire information related to the weight of the mobile body, that is, weight-related information, as the vehicle state information. The control command unit is configured to generate the control command so that, when the weight of the mobile body increases, the speed of the mobile body is reduced compared to before the weight of the mobile body increases, using the acquired weight-related information.

8. The control device according to claim 7, characterized in that: The device further comprises a weight estimating unit configured to estimate the weight of the mobile object using the weight-related information. The control command unit is configured to generate the control command so that, when the weight of the mobile body increases, the speed of the mobile body is reduced compared to before the weight of the mobile body increases, using the estimated weight of the mobile body.

9. The control device according to claim 8, characterized in that: The apparatus further comprises an information storage unit configured to store position-weight correspondence information, wherein the position-weight correspondence information is information in which the position of the mobile body and the weight of the mobile body are correlated with each other. The information acquisition unit is configured to: acquire the position of the mobile object as the weight-related information, The weight estimating unit is configured to estimate the weight of the mobile object at the position of the mobile object by using the position-weight correspondence information and the acquired position of the mobile object.

10. The control device according to claim 8, characterized in that: The information acquisition unit is configured to acquire, as the weight-related information, displacement information indicating a displacement of a suspension device supporting a wheel of the mobile body. The weight estimating unit is configured to estimate the weight of the moving object using the displacement information.

11. The control device according to claim 7, characterized in that: The control instruction unit is configured as follows: When the mobile body is in a step before the bumper mounting step of mounting the bumper to the mobile body in the manufacturing process, that is, a pre-bumper mounting step, and the weight of the mobile body is increased compared to the weight of the mobile body in the step before the pre-bumper mounting step, the control instruction is generated in such a manner that the speed of the mobile body is reduced compared to before the weight of the mobile body increases, When the movable body is in a process later than the bumper installation process, i.e., a post-bumper installation process, and the weight of the movable body is increased compared to the weight of the movable body in a process earlier than the post-bumper installation process, the control instruction for reducing the speed of the movable body compared to before the weight of the movable body increased is not generated.

12. The control device according to claim 7, characterized in that: The control instruction unit is configured as follows: When the movable body is in a manned process in the manufacturing process where a worker is present and the weight of the movable body is greater than the weight of the movable body in a process preceding the manned process, the control instruction is generated in such a manner that the speed of the movable body is reduced compared to before the weight of the movable body increased, When the movable body is in an unmanned process in the manufacturing process in which no operator is present and the weight of the movable body is increased compared to the weight of the movable body in a process preceding the unmanned process, the control instruction for reducing the speed of the movable body compared to before the weight of the movable body increased is not generated.

13. The control device according to claim 1, characterized in that: The device further comprises a position estimating unit configured to estimate the position of the moving object, The control instruction unit is configured to generate the control instruction using a database that stores information related to the control instruction and position information of the moving object in association with each other, and the estimated position of the moving object, The information related to the control command in the database is predetermined based on the vehicle state information corresponding to the position of the moving body.

14. A database, characterized in that: Include: information related to a control command for moving the movable body in a manufacturing process of the movable body, the movable body being configured to travel by unmanned driving; and The position information of the mobile object, The information related to the control command and the position information of the moving object are maintained in association with each other. The information related to the control command is predetermined according to vehicle state information, and the vehicle state information is information related to at least one of the following: the magnitude of the impact force applied to the moving body; The direction of action of the impact force; The weight of the mobile body; a weight of a trolley configured to house components to be mounted on the moving body and configured to be connected to the moving body to move; and The process in which the moving body is located.

15. A server device, characterized in that: A control device comprising any one of claims 1 to 13.

16. A server device, characterized in that: Include: The control device of claim 13; and The database of claim 14.

17. A mobile object, characterized in that: A driving control unit is provided, which is configured to execute driving control of the mobile body according to the control command output from the server device according to claim 15.

18. A mobile object, characterized in that: A driving control unit is provided, which is configured to execute driving control of the mobile body according to the control command output from the server device according to claim 16.

19. A mobile object, characterized in that: A driving control unit is provided, which is configured to: obtain a control instruction for moving the mobile body, and execute driving control of the mobile body using the obtained control instruction, The driving control unit is configured to perform the following processing: The obtained control instruction is modified using information related to at least one of the following: the magnitude of the impact force applied to the moving body; The direction of action of the impact force; The weight of the mobile body; the weight of a trolley configured to accommodate components to be mounted on the moving body and configured to be detachably connected to the moving body and to move; and The process in which the moving body is located, The driving control is performed according to the modified control instruction.

20. A mobile object, characterized in that: Include: The control device according to any one of claims 1 to 13; and A driving control unit is configured to perform driving control of the mobile body according to the control command output from the control device.

21. A mobile object, characterized in that: Include: The control device according to claim 13; The database of claim 14; and A driving control unit is configured to perform driving control of the mobile body according to the control command output from the control device.

22. A mobile body control system, characterized in that: Include: The server device according to claim 15; and The moving object according to claim 17.

23. A mobile body control system, characterized in that: Include: The server device according to claim 16; and The moving body according to claim 18.

24. A mobile body control system, characterized in that: Include: A server device configured to: generate and output a control command for moving a moving body, the moving body configured to travel by unmanned driving; and The moving body according to claim 19.

25. A control method for controlling the movement of a movable body being transported in a manufacturing process of the movable body, wherein the movable body is configured to travel unmanned, characterized in that: Contains the following processing: generating a control instruction for moving the mobile body using the vehicle state information, The vehicle status information is information related to at least one of the following: the magnitude of the impact force applied to the moving body; The direction of action of the impact force; The weight of the mobile body; a weight of a trolley configured to house components to be mounted on the moving body and configured to be connected to the moving body to move; and The process in which the moving body is located.

26. A trolley configured to store components in a manufacturing process of a moving body, the moving body configured to travel unmanned, the components configured to be assembled to the moving body, characterized in that: have: a connecting portion configured to be connected to the moving body; A carriage driving unit configured to move the carriage by following the movement of the moving body when the moving body and the carriage are connected by the connecting unit; a connection detection unit configured to detect whether the connection unit is in the connection state; as well as A communication device configured to send the detection result of the connection detection unit to the control device according to any one of claims 1 to 13.

27. The trolley according to claim 26, characterized in that: A drive control unit is further provided, which is configured to control the driving of the carriage drive unit, The drive control unit is configured to increase the braking force of the carriage drive unit when the connection detection unit detects that the connection unit has changed from the connected state to the non-connected state in which the moving body and the carriage are not connected by the connection unit.

28. The trolley according to claim 27, characterized in that: The drive control unit is configured to control the carriage drive unit so that the carriage moves to a process preceding the process in which the carriage is located among the manufacturing processes after increasing the braking force.

29. The trolley according to claim 26, characterized in that: Also available: a process information acquisition unit configured to: acquire information indicating whether the movable body has completed a connection state process in the manufacturing process that is predetermined as a process to be performed in the connection state; and The connection control unit is configured to control the connection unit so as to bring the moving body into a non-connected state in which the moving body and the carriage are not connected, when the moving body has completed the connected state step.

30. A trolley control system, characterized in that: Include: The control device according to any one of claims 1 to 13; and The trolley according to claim 29, The control device also has: a determination unit configured to: determine whether the moving body has completed the connection state process in the manufacturing process; and a notification output unit configured to output a connection release notification indicating the release of the connection state when the mobile body has completed the connection state process, The connection control unit is configured to control the connection unit so as to be in the non-connected state when receiving the connection release notification.

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