Communication control system, server device, and communication control method

Abstract

And a server device configured to perform wireless communication with the mobile body via the communication relay device, the server device being configured to determine a use frequency band from among frequency band candidates including the first frequency band and the second frequency band using at least one of the mobile body information and the manufacturing state information, and control the communication relay device to perform wireless communication via the use frequency band.

Description

Technical Field

[0001] The present disclosure relates to a communication control system, a server device, and a communication control method. Background Art

[0002] A wireless communication device that switches a communication method according to the traveling speed of a vehicle as a communication target is known (Japanese Unexamined Patent Application Publication No. 2012-175686 (JP2012-175686A)). The wireless communication device disclosed in JP2012-175686A includes a wireless LAN communication unit and a Transmission Control Protocol / Internet Protocol (TCP / IP) communication unit, and switches a communication path for wirelessly communicating with a vehicle according to the traveling speed of the vehicle. Summary of the Invention

[0003] However, in JP2012-175686A, it is necessary to prepare in advance a plurality of communication paths having different communication methods, and there is a problem that the system configuration is complicated. The problems described above are common not only to vehicles but also to any kind of moving body.

[0004] The present disclosure can be implemented in the following forms.

[0005] A first aspect of the present disclosure provides a communication control system configured to control wireless communication between a moving body and a communication device. The communication control system includes: a band determination unit configured to determine a use band, which is to be used as a band for wireless communication, from among band candidates including a first band and a second band higher than the first band, by using at least one of moving body information and manufacturing state information; and a communication controller configured to control wireless communication performed by the communication device to perform wireless communication via the use band. The moving body information is information about the state of the moving body, and the manufacturing state information is information about the manufacturing state of the moving body.

[0006] According to the first aspect of the present disclosure, a use band, which is to be used as a band for wireless communication, is determined from among band candidates including a first band and a second band, and the communication device is controlled to perform wireless communication via the use band. Therefore, by switching the use band, the communication method can be easily switched. Compared with a form in which the communication method is switched by switching a pre-prepared communication path, the complexity of the system configuration of the wireless communication between the moving body and the communication device can be suppressed. In addition, the use band is determined by using at least one of the moving body information and the manufacturing state information. Therefore, by using an appropriate band according to at least one of the moving body information and the manufacturing state information, wireless communication between the moving body and the communication device can be achieved.

[0007] In the first aspect of the present disclosure, the moving body information may include moving body position information indicating the position of the moving body.

[0008] According to the first aspect of the present disclosure, since the moving body information includes the moving body position information, wireless communication between the moving body and the communication device can be achieved by using an appropriate frequency band according to the position of the moving body.

[0009] In the first aspect of the present disclosure, the frequency band determination unit may be configured to: by using the moving body position information, when the moving body is in the working area which is an area where work is performed on the moving body, determine the second frequency band as the used frequency band, and the frequency band determination unit may be configured to: by using the moving body position information, when the moving body is not in the working area, determine the first frequency band as the used frequency band.

[0010] According to the first aspect of the present disclosure, by using the moving body position information, when the moving body is in the working area, the second frequency band is determined as the used frequency band, and when the moving body is not in the working area, the first frequency band is determined as the used frequency band. Therefore, wireless communication between the moving body and the communication device can be achieved by using an appropriate frequency band depending on whether the moving body is in the working area.

[0011] In the first aspect of the present disclosure, the work may include at least one of assembling components to the moving body, painting the moving body, and inspecting the moving body.

[0012] According to the first aspect of the present disclosure, the work includes at least one of assembling components to the moving body, painting the moving body, and inspecting the moving body. Therefore, wireless communication between the moving body and the communication device can be achieved by using an appropriate frequency band depending on whether the moving body is in the process of assembling components to the moving body, painting the moving body, and inspecting the moving body.

[0013] In the first aspect of the present disclosure, the moving body information may include speed information indicating the speed of the moving body, the frequency band determination unit may be configured to, by using the speed information, indicate whether the speed of the moving body is lower than a threshold, the frequency band determination unit may be configured to, when the speed of the moving body is lower than the threshold, determine the second frequency band as the used frequency band, and the frequency band determination unit may be configured to, when the speed of the moving body is equal to or higher than the threshold, determine the first frequency band as the used frequency band.

[0014] According to the first aspect of the present disclosure, by using the speed information, when the speed of the moving body is lower than the threshold, the second frequency band is determined as the used frequency band, and when the speed of the moving body is equal to or higher than the threshold, the first frequency band is determined as the used frequency band. Therefore, wireless communication between the moving body and the communication device can be achieved by using an appropriate frequency band according to the speed of the moving body.

[0015] In a first aspect of the present disclosure, the band determination unit may be configured to use the speed of the moving body indicated by using control information regarding the movement control of the moving body as speed information.

[0016] According to the first aspect of the present disclosure, the speed of the moving body indicated by using control information is used as speed information, so that the speed of the moving body can be easily indicated, and it is possible to easily implement the determination of an appropriate band according to the speed of the moving body.

[0017] In a first aspect of the present disclosure, the manufacturing state information may include component information regarding components to be attached to the moving body.

[0018] According to the first aspect of the present disclosure, since the manufacturing state information includes component information, wireless communication between the moving body and the communication device can be achieved by using an appropriate band according to the attachment state of the components to the moving body.

[0019] In a first aspect of the present disclosure, the band determination unit may be configured to: by using the component information, indicate whether the moving body is in a process before a pre-specified designated process; in the case where the moving body is in a process before the designated process, determine the second band as the used band; and in the case where the moving body is in a process after the designated process, determine the first band as the used band.

[0020] According to the first aspect of the present disclosure, as the component information, it is indicated whether the moving body is in a process before the designated process. In the case where the moving body is in a process before the designated process, the second band is determined as the used band. In the case where the moving body is in a process after the designated process, the first band is determined as the used band. Therefore, wireless communication between the moving body and the communication device can be achieved by using an appropriate band depending on whether the moving body is in a process before the designated process.

[0021] In a first aspect of the present disclosure, the band determination unit may be configured to: by using the component information, indicate the number of attached components attached to the moving body; in the case where the number of attached components is less than a threshold, determine the second band as the used band; and in the case where the number of attached components is equal to or greater than the threshold, determine the first band as the used band.

[0022] According to the first aspect of the present disclosure, as the component information, the number of attached components is indicated, and in the case where the number of attached components is less than a predetermined threshold, the second band is determined as the used band. In the case where the number of attached components is equal to or greater than the threshold, the first band is determined as the used band. Therefore, wireless communication between the moving body and the communication device can be achieved by using an appropriate band according to the number of attached components.

[0023] In a first aspect of the present disclosure, a band determination unit may be configured to: indicate whether a pre-specified designated component has been attached to a moving body by using component information; determine a second band as the used band in a case where the designated component has not been attached to the moving body; and determine a first band as the used band in a case where the designated component has been attached to the moving body.

[0024] According to the first aspect of the present disclosure, as component information, it indicates whether the designated component has been attached to the moving body. In a case where the designated component has not been attached to the moving body, the second band is determined as the used band. In a case where the designated component has been attached to the moving body, the first band is determined as the used band. Therefore, by using an appropriate band depending on whether the designated component has been attached to the moving body, wireless communication between the moving body and the communication device can be achieved.

[0025] In a first aspect of the present disclosure, the manufacturing state information may include information on the takt time of the factory where the moving body is manufactured, and the band determination unit may be configured to determine the second band as the used band in a case where the takt time is longer than a threshold, and the band determination unit may be configured to determine the first band as the used band in a case where the takt time is equal to or shorter than the threshold.

[0026] According to the first aspect of the present disclosure, the manufacturing state information includes information on the takt time of the factory where the moving body is manufactured. In a case where the takt time is longer than a predetermined threshold, the second band is determined as the used band. In a case where the takt time is equal to or shorter than the threshold, the first band is determined as the used band. Therefore, by using an appropriate band according to the takt time, wireless communication between the moving body and the communication device can be achieved.

[0027] In a first aspect of the present disclosure, the communication controller may be configured to perform wireless communication targeted at a large amount of information in a case where the second band is determined as the used band. The communication controller may be configured to perform wireless communication targeted at a small amount of information in a case where the first band is determined as the used band. The large amount of information may be greater than the small amount of information.

[0028] According to the first aspect of the present disclosure, in a case where the second band is determined as the used band, wireless communication is performed targeted at information having a larger amount of information compared to the case of using the first band. Therefore, compared with a form in which only the second band is used in a case where communication targeted at information having a large amount of information is required, a reduction in the degree of freedom of the execution timing of communication targeted at information having a large amount of information can be suppressed.

[0029] In a first aspect of the present disclosure, a communication device may include a communication relay device, and the communication relay device may be configured to relay wireless communication between a moving body and an external device located outside the moving body.

[0030] According to the first aspect of the present disclosure, wireless communication between the moving body and the communication relay device can be achieved by using an appropriate frequency band.

[0031] A second aspect of the present disclosure provides a server device configured to perform wireless communication with a moving body via a communication relay device. The server device includes a processor configured to: determine a used frequency band to be used for wireless communication from among frequency band candidates including a first frequency band and a second frequency band higher than the first frequency band by using at least one of moving body information and manufacturing state information; and control the communication relay device to perform wireless communication via the used frequency band. The moving body information is information about the state of the moving body, and the manufacturing state information is information about the manufacturing state of the moving body.

[0032] According to the second aspect of the present disclosure, a used frequency band to be used for wireless communication is determined from among frequency band candidates including the first frequency band and the second frequency band, and the communication relay device is controlled to perform wireless communication via the used frequency band. Therefore, by switching the used frequency band, the communication method can be easily switched. Compared with a form of switching the communication method by switching a pre-prepared communication path, the complexity of the system configuration of the wireless communication between the moving body and the communication relay device can be suppressed. In addition, the used frequency band is determined by using at least one of the moving body information and the manufacturing state information. Therefore, by using an appropriate frequency band according to at least one of the moving body information and the manufacturing state information, wireless communication between the moving body and the communication relay device can be achieved.

[0033] A third aspect of the present disclosure provides a communication control method for controlling wireless communication between a moving body and a communication device. The communication control method includes: determining a used frequency band to be used for wireless communication from among frequency band candidates including a first frequency band and a second frequency band higher than the first frequency band by using at least one of moving body information and manufacturing state information, and controlling the communication device to perform wireless communication via the used frequency band. The moving body information is information about the state of the moving body, and the manufacturing state information is information about the manufacturing state of the moving body.

[0034] According to a third aspect of the present disclosure, a used frequency band to be used for wireless communication is determined from among frequency band candidates including a first frequency band and a second frequency band. The communication device is controlled to perform wireless communication via the used frequency band. Thus, by switching the used frequency band, the communication method can be easily switched. Compared with a form of switching the communication method by switching a pre-prepared communication path, the complexity of the system configuration of the wireless communication between the moving body and the communication device can be suppressed. In addition, the used frequency band is determined by using at least one of the moving body information and the manufacturing state information. Therefore, by using an appropriate frequency band according to at least one of the moving body information and the manufacturing state information, wireless communication between the moving body and the communication device can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals denote like elements, and in which: Figure 1 is a conceptual diagram showing the configuration of a control system according to a first embodiment; Figure 2 is a block diagram showing the configuration of the control system; Figure 3 is a flowchart showing the processing procedure of the travel control of a vehicle according to the first embodiment; Figure 4 is a flowchart showing the procedure of the frequency band switching process according to the first embodiment; Figure 5 is a flowchart showing the procedure of the frequency band switching process according to the second embodiment; Figure 6 is a flowchart showing the procedure of the frequency band switching process according to the third embodiment; Figure 7 is a block diagram showing the configuration of a control system according to a fourth embodiment; and Figure 8 is a flowchart showing the processing procedure of the travel control of a vehicle according to the fourth embodiment; DETAILED DESCRIPTION First Embodiment A-1 System Configuration

[0036] Figure 1 is a conceptual diagram showing the configuration of a control system 50 according to the first embodiment. The control system 50 includes one or more vehicles 100 as moving bodies, a server device 200, and one or more external sensors 300.

[0037] In the present disclosure, a "moving body" refers to an object capable of moving, such as a vehicle or an electric vertical take-off and landing aircraft (so-called flying car). The vehicle can be a vehicle that travels using wheels or a vehicle that travels using crawlers, and is, for example, a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, and a construction vehicle. The vehicle includes a battery electric vehicle (BEV), a gasoline vehicle, a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), and a fuel cell electric vehicle (FCEV). In addition, when the moving body is not a vehicle, the expressions "vehicle" and "automobile" in the present disclosure can be appropriately replaced with "moving body", and the expression "travel" can be appropriately replaced with "move".

[0038] The vehicle 100 is configured to travel via driverless operation. "Driverless" means driving that does not depend on driving operations performed by an occupant. The driving operation refers to an operation related to at least one of "travel", "steering", and "stop" of the vehicle 100. Driverless operation is achieved by automatic or manual remote control using a device located outside the vehicle 100 or by autonomous control of the vehicle 100. An occupant who does not perform a driving operation can board the vehicle 100 that travels via driverless operation. Examples of occupants who do not perform a driving operation include a person who simply sits on the seat of the vehicle 100, a person who performs work different from driving operations, such as assembly, inspection, and switch operation, while riding in the vehicle 100, and the like. Driving by a driving operation performed by an occupant can be referred to as "drivered".

[0039] In this specification, "remote control" includes "full remote control" in which all operations of the vehicle 100 are determined completely from outside the vehicle 100 and "partial remote control" in which a part of the operations of the vehicle 100 are determined from outside the vehicle 100. In addition, "autonomous control" includes "full autonomous control" in which the vehicle 100 autonomously controls its operations without receiving any information from a device outside the vehicle 100 and "partial autonomous control" in which the vehicle 100 autonomously controls its operations by using information received from a device outside the vehicle 100. In the following description, the driving control of the vehicle 100 achieved by remote control or autonomous control will also be referred to as "driving control". The driving control is an example of "movement control" according to the present disclosure.

[0040] In this embodiment, the control system 50 is used in a factory FC that manufactures the vehicle 100. The reference coordinate system of the factory FC is the global coordinate system GC. That is, any position in the factory FC is represented by the coordinates of X, Y, and Z in the global coordinate system GC. The factory FC includes a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a trajectory TR on which the vehicle 100 can travel. A plurality of external sensors 300 are installed in the factory FC along the trajectory TR. The positions of each of the external sensors 300 in the factory FC are adjusted in advance. The vehicle 100 moves from the first location PL1 to the second location PL2 via the trajectory TR by autonomous driving.

[0041] The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 in this embodiment is a sensor that captures the vehicle 100 from the outside of the vehicle 100. Specifically, the external sensor 300 is configured by a camera. The camera serving as the external sensor 300 captures a captured image including the vehicle 100 and outputs the captured image as a detection result. The external sensor 300 includes a communication device (not shown) and can communicate with other devices such as the server device 200 via wired communication or wireless communication.

[0042] Figure 2 is a block diagram showing the configuration of the control system 50. The vehicle 100 includes: a vehicle control device 110 that controls each unit of the vehicle 100; an actuator group 120 including one or more actuators driven under the control of the vehicle control device 110; and a communication device 130 that communicates with an external device such as the server device 200 via wireless communication. The actuator group 120 includes an actuator of a driving device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100. In addition, the vehicle 100 may include various sensors (not shown), such as a vehicle speed sensor and a yaw rate sensor.

[0043] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected to be communicable with each other bidirectionally via the internal bus 114. The actuator group 120 and the communication device 130 are connected to the input / output interface 113. The processor 111 realizes various functions including the function as the vehicle controller 115 by executing a program PG1 stored in the memory 112.

[0044] The vehicle controller 115 controls the actuator group 120 to drive the vehicle 100. The vehicle controller 115 may drive the vehicle 100 by controlling the actuator group 120 using the driving control signal received from the server device 200. The driving control signal is a control signal for driving the vehicle 100. In the present embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, instead of or in addition to the acceleration of the vehicle 100, the driving control signal may further include the speed of the vehicle 100 as a parameter.

[0045] The server device 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected to be communicable with each other bidirectionally via the internal bus 204. A communication device 205 for communicating with various devices external to the server device 200 is connected to the input / output interface 203. The communication device 205 may communicate with the vehicle 100 wirelessly via the access point AP, and may communicate with each external sensor 300 via wired communication or wireless communication.

[0046] The access point AP relays the wireless communication between the vehicle 100 and the server device 200. In the present embodiment, the server device 200 is an example of an "external device" according to the present disclosure. The access point AP relays the wireless communication between the server device 200 and the external sensor 300 and the wireless communication between the server device 200 and the process management device 400 described later. In the present embodiment, the access point AP serves as a wireless local area network (LAN) access point AP. The access point AP performs wireless LAN communication with the vehicle 100, and also performs communication with the server device 200 via a wired network including a router device (not shown). The access point AP may perform wireless LAN communication with the server device 200. The access point AP is an example of a "communication relay device" according to the present disclosure. The communication between the server device 200 and the external sensor 300 and the communication between the server device 200 and the process management device 400 described later may be achieved by wired communication instead of wireless communication via the access point AP.

[0047] In this embodiment, the access point AP is configured to perform communication by switching a plurality of predetermined frequency bands in response to the control of the communication controller 214 described later. In this embodiment, the access point AP is configured to perform communication by switching between the 2.4 GHz band and the 5.0 GHz band, which are frequency bands for wireless communication. Here, the 2.4 GHz band is an example of the "first frequency band" according to the present disclosure, and the 5.0 GHz band is an example of the "second frequency band" according to the present disclosure. Generally, compared with communication using a higher frequency band, communication using a lower frequency band has the characteristic that radio waves are less likely to be blocked even in the presence of obstacles. On the other hand, compared with communication using a lower frequency band, communication using a higher frequency band has the characteristic that high-speed communication can be performed. The access point AP is not limited to the 2.4 GHz band and the 5.0 GHz band. Any frequency band such as the 6 GHz band can be used for communication in addition to or instead of at least any one of the 2.4 GHz band and the 5.0 GHz band. The communication device 130 and the communication device 205 automatically switch the frequency band to be used in response to the switching of the used frequency band in the access point AP.

[0048] The processor 201 implements various functions including the function of the remote controller 210 by executing the program PG2 stored in the memory 202. In this embodiment, the processor 201 serves as the remote controller 210, the frequency band determination unit 212, and the communication controller 214.

[0049] The remote controller 210 acquires the detection result of the sensor, generates a driving control signal for controlling the actuator group 120 of the vehicle 100 by using the detection result, and sends the driving control signal to the vehicle 100. As a result, the vehicle 100 travels via the remote controller. The processing procedure of the driving control implemented by the remote control device according to this embodiment will be described later. In addition to the driving control signal, the remote controller 210 can also generate, for example, a control signal for controlling various accessories provided in the vehicle 100 or actuators for operating various devices such as wipers, electric windows, or lights, and output the generated control signal. That is, the remote controller 210 can operate various types of devices or various accessories via the remote controller.

[0050] The band determination unit 212 determines, using at least any one of vehicle information and manufacturing status information, a band (hereinafter, also referred to as "usage band") to be used for wireless communication between the server device 200 and the vehicle 100 from among band candidates including the 2.4 GHz band and the 5.0 GHz band at the access point AP. "Vehicle information" refers to information on the status of the vehicle 100. The vehicle information is an example of "mobile body information" according to the present disclosure. "Manufacturing status information" refers to information on the manufacturing status of the vehicle 100. Specific examples of the vehicle information and the manufacturing status information will be described later. The communication controller 214 controls the access point AP to perform wireless communication via the usage band. Specific processing in the band determination unit 212 and the communication controller 214 will be described later. The control system 50 including the server device 200 including the band determination unit 212 and the communication controller 214 according to the present embodiment also serves as a "communication control system" that controls wireless communication between the vehicle 100 and the access point AP.

[0051] The process management device 400 is a device that manages the manufacturing process of the vehicle 100. The process management device 400 is configured by a computer. The process management device 400 acquires information from various devices in the factory FC to generate information on the manufacturing process of the vehicle 100 as a product. In the following description, the information on the manufacturing process of the product will be referred to as process information. In the present embodiment, the process information includes information indicating time, location, worker, product, and type related to work to be performed, information indicating time, location, worker, product, and type related to work that has been performed, and information indicating the progress status of the work. The process management device 400 includes a communication device (not shown) and transmits the process information to the server device 200 via wired communication or wireless communication. The functions of the process management device 400 may be implemented in the same device as the server device 200. A-2 Travel Control

[0052] Figure 3 is a flowchart showing the processing procedure of the travel control of the vehicle 100 according to the first embodiment. In step S110, the remote controller 210 acquires vehicle position information of the vehicle 100 by using the detection result output from the external sensor 300. The vehicle position information is position information that is the basis for generating a travel control signal. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S110, the remote controller 210 acquires vehicle position information by using a captured image obtained from a camera (i.e., the external sensor 300).

[0053] Specifically, in step S110, the remote controller 210 detects the external shape of the vehicle 100, for example, from the captured image. For example, the remote controller 210 calculates the coordinates of the positioning points of the vehicle 100 in the coordinate system of the captured image (i.e., the local coordinate system), and converts the calculated coordinates into the coordinates in the global coordinate system GC to obtain the position of the vehicle 100. For example, by inputting the captured image into the detection model DM using artificial intelligence, the external shape of the vehicle 100 included in the captured image can be detected. The detection model DM is prepared inside or outside the control system 50 and is pre-stored in the memory 202 of the server device 200. Examples of the detection model DM include trained machine learning models that have been trained to implement any one of semantic segmentation and instance segmentation. As the machine learning model, for example, a convolutional neural network (hereinafter referred to as CNN) that has been trained by supervised learning using a training data set can be used. The training data set has, for example, a plurality of training images including the vehicle 100 and labels indicating whether each region in the training image is a region indicating the vehicle 100 or a region indicating a region other than the vehicle 100. When training the CNN, the parameters of the CNN are preferably updated by backpropagation (error backpropagation method) to reduce the error between the output result of the detection model DM and the labels. The remote controller 210 can obtain the direction of the vehicle 100 by estimating the direction of the vehicle 100 based on the direction of the movement vector of the vehicle 100, and the direction of the movement vector of the vehicle 100 is calculated from the position change of the feature points of the vehicle 100 between the frames of the captured image by using, for example, the optical flow method.

[0054] In step S120, the remote controller 210 determines the target position to which the vehicle 100 should travel next. In the present embodiment, the target position is represented by the coordinates of X, Y, and Z in the global coordinate system GC. A reference path RR as the path that the vehicle 100 should travel is pre-stored in the memory 202 of the server device 200. The path is represented by nodes indicating the starting point, nodes indicating the passing points, nodes indicating the destination, and links connecting the respective nodes. The remote controller 210 determines the target position to which the vehicle 100 should travel next by using the vehicle position information and the reference path RR. The remote controller 210 determines the target position on the reference path RR in front of the current position of the vehicle 100.

[0055] In step S130, the remote controller 210 generates a driving control signal for causing the vehicle 100 to travel toward the determined target position. The remote controller 210 calculates the traveling speed of the vehicle 100 based on the change in the position of the vehicle 100, and compares the calculated traveling speed with the target speed. As a whole, the remote controller 210 determines the acceleration such that the vehicle 100 accelerates when the traveling speed is lower than the target speed, and determines the acceleration such that the vehicle 100 decelerates when the traveling speed is higher than the target speed. When the vehicle 100 is located on the reference path RR, the remote controller 210 determines the steering angle and the acceleration such that the vehicle 100 does not deviate from the reference path RR. When the vehicle 100 is not located on the reference path RR, in other words, when the vehicle 100 deviates from the reference path RR, the remote controller 210 determines the steering angle and the acceleration such that the vehicle 100 returns to the reference path RR.

[0056] In step S140, the remote controller 210 transmits the generated driving control signal to the vehicle 100. The remote controller 210 repeatedly executes the acquisition of the position of the vehicle 100, the determination of the target position, the generation of the driving control signal, the transmission of the driving control signal, etc. at a predetermined cycle.

[0057] In step S150, the vehicle controller 115 receives the driving control signal transmitted from the server device 200. In step S160, the vehicle controller 115 controls the actuator group 120 by using the received driving control signal so that the vehicle 100 travels at the acceleration and the steering angle indicated by the driving control signal. The vehicle controller 115 repeatedly executes the reception of the driving control signal and the control of the actuator group 120 at a predetermined cycle. With the control system 50 according to the present embodiment, the vehicle 100 can travel via the remote controller, and the vehicle 100 can be moved without using transportation equipment such as a crane or a conveyor. A-3 Band Switching Process

[0058] Figure 4 is a flowchart showing the process of the band switching process according to the first embodiment. In the present embodiment, the above-described driving control is executed as the basic control, and the band switching process is executed in combination with the above-described driving control. The band switching process is repeatedly executed during the period when the server device 200 operates.

[0059] In step S210, the band determination unit 212 specifies the position of the vehicle 100. In the present embodiment, the band determination unit 212 specifies the position of the vehicle 100 by using the vehicle position information acquired by the remote controller 210. The vehicle position information is an example of the "moving body position information" according to the present disclosure. The vehicle position information is included in the above-described vehicle information.

[0060] In step S220, the band decision unit 212 determines whether the vehicle 100 is located in the work area. The "work area" refers to an area predetermined as an area where some work is performed on the vehicle 100, and, for example, refers to an area where work such as assembling parts to the vehicle 100, painting the vehicle 100, or inspecting the vehicle 100 is performed. In the following description, an area where transportation of the vehicle 100 between work areas or transportation of the vehicle 100 after completion is performed and work on the vehicle 100 is not performed will also be referred to as a "transport area."

[0061] In the case where it is determined that the vehicle 100 is located in the working area (step S220: Yes), in step S230, the band determination unit 212 determines the 5.0 GHz band as the use band. In the working area, in addition to transmitting control signals for controlling various operations in the vehicle 100, the following information is exchanged. This information is used to perform downloading of procedures or process information such as assembly, painting, inspection, etc. of the above-mentioned parts of the vehicle 100, or uploading of inspection results, work execution status of the work, etc. from the vehicle 100. As described above, in the working area, information with a larger amount of information is communicated compared to the transportation area where basically only the travel control signal is transmitted. Therefore, the band determination unit 212 determines the 5.0 GHz band as the use band, in which higher-speed communication is possible than in the 2.4 GHz band.

[0062] On the other hand, in the case where it is determined that the vehicle 100 is not located in the work area (step S220: No), in other words, in the case where the vehicle 100 is located in the transport area, in step S240, the band determination unit 212 determines the 2.4 GHz band as the use band. In the work area, work is performed on the vehicle 100, so the vehicle 100 stops or travels at a low speed, while in the transport area, no work is performed on the vehicle 100. Therefore, the vehicle 100 travels at a higher speed than in the work area, and the frequency of the vehicle 100 traveling across obstacles such as pillars or component racks is higher than in the work area. Therefore, the band determination unit 212 determines the 2.4 GHz band, in which radio waves are difficult to be shielded even in the presence of obstacles, as the use band.

[0063] In step S250, the communication controller 214 controls the access point AP to perform wireless communication via the used frequency band. The server device 200 repeatedly performs the above-described processing.

[0064] The control system 50 according to the first embodiment determines the used frequency band from among the 2.4 GHz frequency band and the 5.0 GHz frequency band, and controls the access point AP to perform wireless communication via the used frequency band. Therefore, by switching the used frequency band, the communication method can be easily switched. Compared with the form of switching the communication method by switching a plurality of pre-prepared communication paths, the complexity of the system configuration of the wireless communication between the vehicle 100 and the access point AP can be suppressed. In addition, since the used frequency band is determined by using at least one of the vehicle information and the manufacturing state information, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate frequency band according to at least one of the vehicle information and the manufacturing state information.

[0065] Furthermore, since the vehicle information includes vehicle position information, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate frequency band according to the position of the vehicle 100.

[0066] In addition, using the vehicle position information, when the vehicle 100 is located in the working area, the 5.0 GHz frequency band is determined as the used frequency band, and when the vehicle 100 is not located in the working area, the 2.4 GHz frequency band is determined as the used frequency band. Therefore, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate frequency band depending on whether the vehicle 100 is located in the working area.

[0067] The work performed in the working area includes at least one of assembling components to the vehicle 100, painting the vehicle 100, and inspecting the vehicle 100. Therefore, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate frequency band depending on whether the vehicle 100 is located in the area where at least one of assembling components to the vehicle 100, painting the vehicle 100, and inspecting the vehicle 100 is performed. B Second Embodiment

[0068] Figure 5 is a flowchart showing the process of the frequency band switching process according to the second embodiment. As Figure 5 shown, the server device 200 according to the second embodiment is different from the server device 200 according to the first embodiment in that step S220A is executed instead of step S220. Since the system configuration of the server device 200 according to the second embodiment and other processes in the frequency band switching process are the same as those of the server device 200 according to the first embodiment, the same configurations and the same processes are denoted by the same reference numerals, and their detailed descriptions will be omitted.

[0069] In step S220A, the band determination unit 212 determines whether the vehicle 100 is in a process before a pre-specified process (hereinafter, also referred to as the "specified process"). For example, when the vehicle 100 is in an area corresponding to the process specified as the specified process, the band determination unit 212 determines that the vehicle 100 is in the specified process. The band determination unit 212 can use the process information received from the process management device 400 to indicate the process in which the vehicle 100 is located.

[0070] The "specified process" refers to a process in which the assembled state of a component with respect to the vehicle 100 is a predetermined state. That is, it is possible to indicate the assembled state of a component with respect to the vehicle 100 depending on whether the vehicle 100 is in a process before the specified process. For example, a process in which the number of components attached to the vehicle 100 is equal to or greater than a predetermined number or a process in which a large component such as a body shell is attached to the vehicle 100 can be specified as the specified process. As described above, the specified process is determined in relation to the components attached to the vehicle 100, and whether the vehicle 100 is in a process before the specified process is an example of the "component information" according to the present disclosure. The component information is included in the above-described manufacturing state information.

[0071] In the case where it is determined that the vehicle 100 is in a process before the specified process (step S220A: Yes), in step S230, the band determination unit 212 determines the 5.0 GHz band as the used band. When the vehicle 100 is in a process before the specified process, the number of components attached to the vehicle 100 is smaller than when the vehicle 100 is in a process after the specified process. In other words, there are few obstacles between the communication device 130 provided in the vehicle 100 that performs communication and the access point AP. In the above case, since radio waves are hardly shielded, the band determination unit 212 determines the 5.0 GHz band capable of high-speed communication as the used band.

[0072] On the other hand, in the case where it is determined that the vehicle 100 is not in a process before the specified process (step S220A: No), in other words, when the vehicle 100 is in a process after the specified process, in step S240, the band determination unit 212 determines the 2.4 GHz band as the used band. When the vehicle 100 is in a process after the specified process, the number of components attached to the vehicle 100 is larger than when the vehicle 100 is in a process before the specified process. In addition, there are many obstacles between the communication device 130 provided in the vehicle 100 that performs communication and the access point AP. In this way, in the above case, since radio waves are likely to be shielded, the band determination unit 212 determines the 2.4 GHz band in which radio waves are hardly shielded even in the presence of obstacles as the used band.

[0073] In the server device 200 according to the second embodiment, whether the vehicle 100 is in the process before the specified process is specified as component information. In the case where the vehicle 100 is in the process before the specified process, the 5.0 GHz band is determined as the used band. In the case where the vehicle 100 is in the process after the specified process, the 2.4 GHz band is determined as the used band. Therefore, by using an appropriate band depending on whether the vehicle 100 is in the process before the specified process, wireless communication between the vehicle 100 and the access point AP can be achieved. C Third Embodiment

[0074] Figure 6 is a flowchart showing the process of the band switching process according to the third embodiment. As Figure 6 shown, the server device 200 according to the third embodiment is different from the server device 200 according to the first embodiment in that step S210B and step S220B are executed instead of step S210 and step S220. Since the system configuration of the server device 200 according to the third embodiment and other processes in the band switching process are the same as those of the server device 200 according to the first embodiment, the same configurations and the same processes are denoted by the same reference numerals, and their detailed descriptions will be omitted.

[0075] In step S210B, the band determination unit 212 acquires the control information of the vehicle 100. "Control information" refers to information related to the driving control of the vehicle 100. In the present embodiment, the band determination unit 212 acquires the driving control signal generated by the remote controller 210 as the control information. As described above, since the vehicle 100 travels in response to the received driving control signal, the band determination unit 212 can specify the state of the driving control to be executed in the vehicle 100 in the future by acquiring the driving control signal. In the present embodiment, both the remote controller 210 that generates the driving control signal and the band determination unit 212 are implemented in the same server device 200. Therefore, the band determination unit 212 can easily acquire the control information without communicating with a device outside the server device 200, and can easily specify the speed of the vehicle 100.

[0076] In step S220B, the band determination unit 212 determines whether the speed of the vehicle 100 achieved by the acceleration indicated by the driving control signal is lower than a predetermined threshold. In the case where it is determined that the speed of the vehicle 100 is lower than the threshold (step S220B: Yes), in step S230, the band determination unit 212 determines the 5.0 GHz band as the used band. When the speed of the vehicle 100 is lower than the threshold, the vehicle 100 crosses obstacles such as columns or component racks less frequently than when the speed of the vehicle 100 is equal to or higher than the threshold. Thus, in the above case, since the vehicle 100 crosses obstacles less frequently and radio waves are less likely to be blocked, the band determination unit 212 determines the 5.0 GHz band, which enables high-speed communication, as the used band. In the case where the speed of the vehicle 100 is included as a parameter in the driving control signal, in this step, the band determination unit 212 may determine whether the speed of the vehicle 100 indicated by the driving control signal is equal to or lower than the predetermined threshold.

[0077] On the other hand, in the case where it is determined that the speed of the vehicle 100 is not lower than the threshold (step S220B: No), that is, when the speed of the vehicle 100 is equal to or higher than the threshold, in step S240, the band determination unit 212 determines the 2.4 GHz band as the used band. When the speed of the vehicle 100 is equal to or higher than the threshold, the vehicle 100 crosses obstacles such as columns or component racks more frequently than when the speed of the vehicle 100 is lower than the threshold. In this way, in the above case, since radio waves are likely to be blocked, the band determination unit 212 determines the 2.4 GHz band, which is less likely to be blocked, as the used band.

[0078] With the server device 200 according to the third embodiment, using the speed information, and when the speed of the vehicle 100 is less than the threshold, the 5.0 GHz band is determined as the used band. When the speed of the vehicle 100 is equal to or higher than the threshold, the 2.4 GHz band is determined as the used band. Thus, by using an appropriate band according to the speed of the vehicle 100, wireless communication between the vehicle 100 and the access point AP can be achieved.

[0079] In addition, since the speed of the vehicle 100 indicated by using the control information is used as the speed information, the speed of the vehicle 100 can be easily indicated, and the determination of an appropriate band according to the speed of the vehicle 100 can be easily achieved. D Fourth Embodiment

[0080] Figure 7It is a descriptive view showing a schematic configuration of a control system 50D according to a fourth embodiment. In this embodiment, the control system 50D is different from the control system 50 according to the first embodiment in that the server device 200 is not provided. In addition, the vehicle 100D according to this embodiment can travel via autonomous control of the vehicle 100D. Other configurations are the same as those of the first embodiment unless otherwise described.

[0081] In this embodiment, the processor 111D of the vehicle control device 110D serves as a vehicle controller 115D by executing a program PG1D stored in the memory 112D. The vehicle controller 115D acquires the output result of the external sensor 300, generates a driving control signal by using the output result, and outputs the generated driving control signal to operate the actuator group 120. As a result, the vehicle 100D can travel via autonomous control. In this embodiment, the external sensor 300 is an example of an "external device" according to the present disclosure. In this embodiment, in addition to the program PG1D, a detection model DM or a reference path RR is pre-stored in the memory 112D.

[0082] Furthermore, in this embodiment, the processor 111D executes the program PG1D stored in the memory 112D. As a result, the processor 111D also serves as a band determination unit 117D and a communication controller 119D, as functional units corresponding to the band determination unit 212 and the communication controller 214 provided in the server device 200 according to the first embodiment. In this embodiment, the vehicle 100D can obtain process information from the process management device 400 in the same manner as the server device 200 according to the first embodiment. In this case, the process management device 400 is an example of an "external device" according to the present disclosure. With the vehicle 100D configured as described above, the same effects as those of the first embodiment can be obtained without using the server device 200.

[0083] Figure 8FIG. 0 is a flowchart showing a processing procedure of travel control of a vehicle 100D according to a fourth embodiment. In step S310, a vehicle controller 115D acquires vehicle position information by using a detection result output from a camera (i.e., an external sensor 300). In step S320, the vehicle controller 115D determines a target position to which the vehicle 100D should next travel. In step S330, the vehicle controller 115D generates a travel control signal for causing the vehicle 100D to travel toward the determined target position. In step S340, the vehicle controller 115D controls an actuator group 120 by using the generated travel control signal so that the vehicle 100D travels in response to parameters represented by the travel control signal. The vehicle controller 115D repeatedly executes acquisition of vehicle position information, determination of a target position, generation of a travel control signal, and control of an actuator at a predetermined cycle. With the control system 50D according to the present embodiment, even when the vehicle 100D is not remotely controlled by a server device 200, the vehicle 100D can be made to travel by autonomous control of the vehicle 100D. E Other Embodiments E1

[0084] In the first embodiment, downloading of program or process information may be executed each time it is required in each process, or may be executed in batches for a plurality of processes at any predetermined time. Uploading of inspection results, work execution status, etc. from the vehicle 100 may be executed each time the work in each process is completed, or may be executed in batches for a plurality of processes at any predetermined time. In each of the above forms, in the case of executing uploading or downloading of information, in other words, in the case where information having a larger amount of information compared with other cases is communicated, a band determination unit 212 may determine the 5.0 GHz band as a used band. The band determination unit 212 may determine the 2.4 GHz band as a used band in a process in which information is not uploaded or downloaded even in a work area. According to the above form, an appropriate band can be used according to the amount of information of the information exchanged between the vehicle 100 and other devices.

[0085] As described in each of the above embodiments, when performing communication using the 5.0 GHz band due to factors other than the position of the vehicle 100 (such as the attachment state of components to the vehicle 100 or the speed of the vehicle 100), it is possible to perform downloading of information to the vehicle 100 and uploading of information from the vehicle 100. In other words, in the case of performing communication using the 5.0 GHz band, the communication controller 214 performs wireless communication between the vehicle 100 and an external device targeting information having a larger amount of information than in the case of using the 2.4 GHz band. According to the above form, since the 5.0 GHz band is used regardless of whether the vehicle 100 needs to perform communication targeting information having a large amount of information, it is possible to perform communication targeting information having a large amount of information when high-speed communication is possible. Therefore, it is possible to suppress a decrease in the degree of freedom of the execution timing of communication targeting information having a large amount of information in the vehicle 100. E2

[0086] In the first embodiment, the band determination unit 212 determines the used band depending on whether the vehicle 100 is located in the working area, but the present disclosure is not limited thereto. The band determination unit 212 may determine the used band depending on whether the vehicle 100 is located in a predetermined area regardless of whether the area is the working area. For example, in the case where the vehicle 100 is located in an area where many obstacles such as pillars or component racks are predetermined to exist, the band determination unit 212 may determine the 2.4 GHz band as the used band. In the case where the vehicle 100 is not located in this area, the band determination unit 212 may determine the 5.0 GHz band as the used band. According to the above form, in addition to the working area, by using a more appropriate band depending on whether the vehicle 100 is located in a predetermined area, wireless communication between the vehicle 100 and the access point AP can be achieved.

[0087] The band determination unit 212 may determine the band according to the content of the inspection performed during the inspection process of the area of the working area where the inspection is performed. For example, since the information uploaded during the abnormal sound inspection of the vehicle 100 includes sound information, the amount of information is larger than the information uploaded during the process of visually determining the presence or absence of liquid leakage or the like. As described above, in the case where the vehicle 100 is located in an inspection process where the amount of information of the uploaded information is larger than that in other inspection processes, the band determination unit 212 may determine the 5.0 GHz band as the used band. In the case where the vehicle 100 is located in other inspection processes, the band determination unit 212 may determine the 2.4 GHz band as the used band. According to the above form, by using an appropriate band according to the content of the inspection to be performed during the inspection process, wireless communication between the vehicle 100 and the access point AP can be achieved. E3

[0088] In the second embodiment, the band determination unit 212 determines the used band depending on whether the vehicle 100 is in a process before a specified process, but the present disclosure is not limited thereto. For example, the band determination unit 212 may use the process in which the vehicle 100 is located to indicate the number of components attached to the vehicle 100 until the process in which the vehicle 100 is located (hereinafter, also referred to as "the number of attached components"). In the case where the number of attached components is equal to or greater than a predetermined threshold, the band determination unit 212 may determine the 2.4 GHz band as the used band. In the case where the number of attached components is less than the threshold, the band determination unit 212 may determine the 5.0 GHz band as the used band. As described above, the reason is that as the number of attached components increases, the number of obstacles present between the communication device 130 provided in the vehicle 100 performing communication and the access point AP is larger, and radio waves are more likely to be blocked. The number of attached components is an example of the "component information" according to the present disclosure. According to the above form, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate band according to the number of attached components.

[0089] In the case where a pre-specified component (hereinafter, also referred to as "specified component") has been attached to the vehicle 100, the band determination unit 212 may determine the 2.4 GHz band as the used band. In the case where the component is not attached, the band determination unit 212 may determine the 5.0 GHz band as the used band. The "specified component" refers to a component in which the assembled state of the component with respect to the vehicle 100 is in a predetermined state due to attachment. That is, it is possible to indicate the assembled state of the component with respect to the vehicle 100 depending on whether the specified component has been attached to the vehicle 100. For example, a component in which the number of components attached to the vehicle 100 due to attachment is equal to or greater than a predetermined number, or a large component such as a body shell may be designated as the specified component. Whether the specified component has been attached to the vehicle 100 is included in the "component information" according to the present disclosure. For example, by analyzing the captured image of the vehicle 100 acquired by the external sensor 300, it is possible to indicate whether the specified component has been attached to the vehicle 100. According to the above form, wireless communication between the vehicle 100 and the access point AP can be achieved depending on whether the specified component has been attached to the vehicle 100 by using an appropriate band. E4

[0090] In the third embodiment, the band determination unit 212 obtains the driving control signal generated by the remote controller 210, and determines the used band by using the speed of the vehicle 100 indicated by the driving control signal. However, the present disclosure is not limited thereto. The band determination unit 212 may obtain the speed of the vehicle 100 detected by a vehicle speed sensor installed in the vehicle 100 or a vehicle speed sensor installed near the trajectory TR, and determine the used band by using the obtained speed of the vehicle 100. According to the above form, the same effect as that of the third embodiment can be obtained. In addition, the speed of the actual vehicle 100 can be used to determine the band, and by using a more appropriate band according to the driving control state of the actual vehicle 100, wireless communication between the vehicle 100 and the access point AP can be realized. E5

[0091] In the above embodiment, the band determination unit 212 determines the used band depending on the position or speed of the vehicle 100, but the present disclosure is not limited thereto. The band determination unit 212 may determine the used band according to the manufacturing state of the vehicle 100 in the factory FC. For example, the band determination unit 212 may determine the used band depending on whether a preset target manufacturing time is longer than a predetermined threshold. The "target manufacturing time" refers to the target value of the manufacturing time for processing one vehicle 100. The target manufacturing time is determined based on the number of vehicles 100 to be produced during the operation time of the factory FC, and may be referred to as the "takt time". The target manufacturing time may be managed by, for example, the process management device 400, and may be appropriately adjusted according to the daily target manufacturing quantity and the manufacturing states of the front and rear processes. The target manufacturing time may be included in the "manufacturing state information" according to the present disclosure.

[0092] In the case where the target manufacturing time is short, in order to reduce the time required for transporting the vehicle 100, control is performed to increase the speed of the vehicle 100 to be faster than in the case where the target manufacturing time is long. That is, in the case where the target manufacturing time is short, the frequency of the vehicle 100 crossing an obstacle is higher than that in the case where the target manufacturing time is long. Therefore, the band determination unit 212 determines the 2.4 GHz band as the used band when the target manufacturing time is equal to or shorter than the threshold, and determines the 5.0 GHz band as the used band when the target manufacturing time is greater than the threshold. According to the above form, wireless communication between the vehicle 100 and the access point AP can be realized by using an appropriate band according to the target manufacturing time.

[0093] The band determination unit 212 can determine the used band by using information on inspection results of a plurality of vehicles 100 manufactured in the factory FC. In the present embodiment, the band determination unit 212 uses the number of vehicles 100 with defective inspection results as the information on the inspection results, and determines the used band depending on whether the number of vehicles 100 is equal to or greater than a predetermined threshold. The vehicles 100 with defective inspection results return to the inspection line again after correcting the defective parts, resulting in a delay with respect to the target manufacturing time. Therefore, in order to suppress such a delay with respect to the target manufacturing time, compared with the case where the number of vehicles 100 with defective inspection results is less than the threshold, when the number of vehicles 100 with defective inspection results is equal to or greater than the threshold, control is performed to increase the speed of the vehicle 100 to a higher level. That is, when the number of vehicles 100 is equal to or greater than the threshold, the vehicle 100 crosses obstacles more frequently than when the number of vehicles 100 is less than the threshold. Therefore, the band determination unit 212 determines the 2.4 GHz band as the used band when the number of vehicles 100 is equal to or greater than the threshold, and determines the 5.0 GHz band as the used band when the number of vehicles 100 is less than the threshold. According to the above form, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate band according to the inspection results of the vehicles 100 manufactured in the factory FC.

[0094] The band determination unit 212 can determine the band depending on whether the production line of the vehicle 100 in the factory FC has stopped. When the production line has stopped, the time of the production line stop is delayed with respect to the target manufacturing time. Therefore, in order to suppress such a delay with respect to the target manufacturing time, when the production line has stopped, control is performed to increase the speed of the vehicle 100 to a higher level after resuming the production line compared to before stopping the production line. That is, when the production line has stopped, the vehicle 100 crosses obstacles more frequently than before the production line stopped. Therefore, the band determination unit 212 determines the 2.4 GHz band as the used band when the production line has stopped, and determines the 5.0 GHz band as the used band when the production line has not stopped. In addition, in the above form, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate band according to the manufacturing state of the vehicle 100 in the factory FC. E6

[0095] In the first to third embodiments, the server device 200 performs wireless communication with the vehicle 100 via the access point AP. However, the present disclosure is not limited thereto. The server device 200 may perform direct wireless communication with the vehicle 100. Moreover, in the above form, the same effects as those of the above embodiments can be obtained. The server device 200 according to the above form is an example of the "communication device" according to the present disclosure.

[0096] In the fourth embodiment, the vehicle 100 performs wireless communication with an external device (such as the external sensor 300 or the process management device 400) via the access point AP. However, the present disclosure is not limited thereto. The vehicle 100 may perform direct wireless communication with an external device (such as the external sensor 300 or the process management device 400). In addition, in the above form, the same effects as those of the above embodiments can be obtained. Each external device, such as the external sensor 300 and the process management device 400 according to the above form, is an example of the "communication device" according to the present disclosure. E7

[0097] In the above embodiment, the external sensor 300 is a camera. However, the external sensor 300 does not have to be a camera and may be, for example, Light Detection And Ranging (LiDAR). In this case, the detection result output by the external sensor 300 may be three-dimensional point cloud data representing the vehicle 100. In this case, the server device 200 or the vehicle 100 may obtain vehicle position information by using template matching between the three-dimensional point cloud data as the detection result and the reference point cloud data prepared in advance. E8

[0098] In the first embodiment, the server device 200 performs the process from the acquisition of vehicle position information to the generation of a driving control signal. On the other hand, at least a part of the process from the acquisition of vehicle position information to the generation of a driving control signal may be performed by the vehicle 100. For example, the following forms (1) to (3) may be adopted.

[0099] (1) The server device 200 may acquire vehicle position information, determine the target position that the vehicle 100 should advance to next, and generate a path from the current position of the vehicle 100 represented by the acquired vehicle position information to the target position. The server device 200 may generate a path to the target position between the current position and the destination or may generate a path to the destination. The server device 200 may send the generated path to the vehicle 100. The vehicle 100 may generate a driving control signal for the vehicle 100 to travel on the path received from the server device 200 and control the actuator group 120 by using the generated driving control signal.

[0100] (2) The server device 200 can acquire vehicle position information and transmit the acquired vehicle position information to the vehicle 100. The vehicle 100 can determine the target position to which the vehicle 100 should next travel and generate a path from the current position of the vehicle 100 represented by the received vehicle position information to the target position. The vehicle 100 can generate a driving control signal for causing the vehicle 100 to travel on the generated path and control the actuator group 120 by using the generated driving control signal.

[0101] (3) In the above forms (1) and (2), an internal sensor can be installed in the vehicle 100, and the detection result output from the internal sensor can be used for at least one of the generation of the path and the generation of the driving control signal. The internal sensor is a sensor installed in the vehicle 100. The internal sensor can include, for example, a sensor that detects the motion state of the vehicle 100, a sensor that detects the operation state of each unit of the vehicle 100, and a sensor that detects the surrounding environment of the vehicle 100. Specifically, the internal sensor can include, for example, a camera, LiDAR, millimeter wave radar, ultrasonic sensor, GPS sensor, acceleration sensor, and gyro sensor. For example, in the above form (1), the server device 200 can acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the path when generating the path. In the above form (1), the vehicle 100 can acquire 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 form (2), the vehicle 100 can acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the path when generating the path. In the above form (2), the vehicle 100 can acquire 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. E9

[0102] In the fourth embodiment, an internal sensor can be installed in the vehicle 100D, and the detection result output from the internal sensor can be used for at least one of the generation of the path and the generation of the driving control signal. For example, the vehicle 100D can acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the path when generating the path. The vehicle 100D can acquire 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. E10

[0103] In the fourth embodiment, the vehicle 100D acquires vehicle position information by using the detection result of the external sensor 300. Instead, an internal sensor may be installed in the vehicle 100D. The vehicle 100D may acquire vehicle position information by using the detection result of the internal sensor, or may determine a target position to which the vehicle 100D should next travel. The vehicle 100D may generate a path from the current position of the vehicle 100D represented by the acquired vehicle position information to the target position. The vehicle 100D may generate a travel control signal for traveling on the generated path, or may control the actuator group 120 by using the generated travel control signal. In this case, the vehicle 100D can travel without using the detection result of the external sensor 300 at all. In addition, the vehicle 100D may acquire a target arrival time or traffic congestion information from outside the vehicle 100D, and reflect the target arrival time or traffic congestion information to at least one of the path and the travel control signal. All functional configurations of the control system 50D may be provided in the vehicle 100D. That is, the processing implemented by the control system 50D in the present disclosure may be implemented only by the vehicle 100D. E11

[0104] In the first embodiment, the server device 200 automatically generates a travel control signal to be transmitted to the vehicle 100. On the other hand, the server device 200 may generate a travel control signal to be transmitted to the vehicle 100 in response to an operation of an external operator located outside the vehicle 100. For example, the external operator may operate a control device that includes a display for displaying a captured image output from the external sensor 300, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, and a brake pedal, and a communication device that communicates with the server device 200 via wired communication or wireless communication. The server device 200 may generate a travel control signal in accordance with the operation applied to the control device. E12

[0105] In each of the above embodiments, the vehicle 100 only needs to be configured to be able to move in an unmanned manner, and for example, may be in the form of a platform having the configurations described later. Specifically, the vehicle 100 only needs to include at least a vehicle control device 110 and an actuator group 120 in order to present the three functions of "running", "steering", and "stopping" in an unmanned manner. When the vehicle 100 obtains information on unmanned driving from the outside, the vehicle 100 only needs to further include a communication device 130. That is, the vehicle 100 capable of moving in an unmanned manner does not need to be equipped with at least a part of the internal components such as a driver's seat and a dashboard. The vehicle 100 does not need to be equipped with at least a part of the external components such as a bumper or a fender, and does not need to be equipped with a body shell. In this case, before the vehicle 100 is shipped from the factory FC, the vehicle 100 may be equipped with the remaining components such as a body shell. After the vehicle 100 is shipped from the factory FC in a state where the vehicle 100 is not equipped with the remaining components such as a body shell, the vehicle 100 may be equipped with the remaining components such as a body shell. Each component can be equipped 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 equipped from the same direction or different directions. The position of the form of the platform can be determined in the same manner as the vehicle 100 according to the first embodiment. E13

[0106] The vehicle 100 can be manufactured by combining a plurality of modules. A module means a unit configured by a plurality of components assembled according to a part or function of the vehicle 100. For example, the platform of the vehicle 100 can be manufactured by combining a front module that forms the front part of the platform, a middle module that forms the middle part of the platform, and a rear module that forms the rear part of the platform. In addition, the number of modules that make up the platform is not limited to three, and can be two or less or four or more. In addition to or instead of the components that make up the platform, the components that make up a part of the vehicle 100 different from the platform can be modularized. Furthermore, various modules can include any external components (such as a bumper or a grille) or any internal components (such as a seat or a console). In addition to the vehicle 100, a moving body in any aspect can be manufactured by combining modules. Such a module can be manufactured by joining components via welding, fasteners, etc., or can be manufactured by integrally molding at least a part of the components that make up the module into one component via casting. The molding method for integrally molding components (especially relatively large components) is also called giga casting or mega casting. For example, the front module, middle module, and rear module can be manufactured using giga casting. E14

[0107] The transportation of the vehicle 100 via driving of the driverless vehicle 100 will also be referred to as "autonomous transportation". The configuration for implementing the autonomous transportation will also be referred to as "vehicle remote control autonomous transportation system". The production method of producing the vehicle 100 by using the autonomous transportation is also called "autonomous production". In the autonomous production, for example, in the factory FC where the vehicle 100 is manufactured, at least a part of the transportation of the vehicle 100 is achieved by the autonomous transportation. E15

[0108] In the above-described embodiments, part or all of the functions and processes implemented by software can be implemented by hardware. Optionally, part or all of the functions and processes implemented by hardware can be implemented by software. As the various circuits for implementing the various functions of the above-described embodiments, various circuits such as integrated circuits or discrete circuits can be used.

[0109] The present disclosure is not limited to the above-described embodiments, and the present disclosure can be implemented using various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to each form of the technical features described in the summary of the invention can be appropriately replaced or combined to solve part or all of the above-described objects, or to achieve part or all of the above-described effects. In cases where the technical features are not always required as described in this specification, the features can be appropriately deleted.

Claims

1. A communication control system configured to control wireless communication between a mobile object and a communication device, characterized in that: The communication control system comprises: A frequency band determination unit configured to determine a use frequency band as a frequency band to be used for the wireless communication from among frequency band candidates including a first frequency band and a second frequency band higher than the first frequency band, by using at least one of mobile body information and manufacturing status information; and a communication controller configured to control the wireless communication performed by the communication device to perform the wireless communication via the used frequency band, wherein The moving body information is information about the state of the moving body, and The manufacturing status information is information on the manufacturing status of the moving body.

2. The communication control system according to claim 1, characterized in that: The moving body information includes moving body position information indicating the position of the moving body.

3. The communication control system according to claim 2, characterized in that: the frequency band determination unit is configured to determine the second frequency band as the use frequency band when the mobile body is located in an operation area which is an area where an operation is performed on the mobile body, by using the mobile body position information; and The frequency band determination unit is configured to determine the first frequency band as the use frequency band when the moving object is not located in the operation area, by using the moving object position information.

4. The communication control system according to claim 3, characterized in that: The work includes at least one of assembling a component to the moving body, painting the moving body, and inspecting the moving body.

5. The communication control system according to claim 1, characterized in that: The moving body information includes speed information indicating the speed of the moving body; The frequency band determination unit is configured to indicate whether the speed of the moving object is lower than a threshold value by using the speed information; The frequency band determination unit is configured to determine the second frequency band as the use frequency band when the speed of the moving object is lower than the threshold value; and The frequency band determination unit is configured to determine the first frequency band as the use frequency band when the speed of the moving object is equal to or higher than the threshold value.

6. The communication control system according to claim 5, characterized in that: The frequency band decision unit is configured to use, as the speed information, a speed of the moving body specified by using control information on movement control of the moving body.

7. The communication control system according to claim 1, characterized in that: The manufacturing status information includes component information about a component to be attached to the mobile body.

8. The communication control system according to claim 7, characterized in that: The frequency band determination unit is configured as follows: indicating whether the moving body is located in a process preceding a predetermined designated process by using the component information; If the mobile object is in a process before the designation process, determining the second frequency band as the use frequency band; and When the moving object is in a process after the specifying process, the first frequency band is determined as the use frequency band.

9. The communication control system according to claim 7, characterized in that: The frequency band determination unit is configured as follows: specifying the number of attached components attached to the moving body by using the component information; When the number of the attachment components is less than a threshold value, determining the second frequency band as the use frequency band; and When the number of the attachment components is equal to or greater than the threshold, the first frequency band is determined as the use frequency band.

10. The communication control system according to claim 7, characterized in that: The frequency band determination unit is configured as follows: specifying, by using the component information, whether a pre-specified designated component has been attached to the moving body; In a case where the designated component has not yet been attached to the moving object, determining the second frequency band as the used frequency band; and In a case where the designated component is already attached to the moving object, the first frequency band is determined as the used frequency band.

11. The communication control system according to claim 1, characterized in that: The manufacturing status information includes information on a tact time of a factory that manufactures the mobile body; The frequency band determination unit is configured to determine the second frequency band as the use frequency band when the production tact time is longer than a threshold value; and The frequency band determination unit is configured to determine the first frequency band as the use frequency band when the tact time is equal to or shorter than the threshold value.

12. The communication control system according to claim 1 or 2, characterized in that: The communication controller is configured to, when the second frequency band is determined as the usage frequency band, perform the wireless communication targeting a large amount of information; the communication controller is configured to, in a case where the first frequency band is determined as the use frequency band, perform the wireless communication targeting a small amount of information; and The large amount of information is greater than the small amount of information.

13. The communication control system according to claim 1 or 2, characterized in that: The communication device includes a communication relay device; and The communication relay device is configured to relay the wireless communication between the moving body and an external device located outside the moving body.

14. A server device configured to perform wireless communication with a mobile object via a communication relay device, characterized in that: The server device includes a processor, wherein the processor is configured to: deciding a use frequency band as a frequency band to be used for the wireless communication from among frequency band candidates including a first frequency band and a second frequency band higher than the first frequency band by using at least one of mobile body information and manufacturing status information; as well as controlling the communication relay device to perform the wireless communication via the used frequency band, wherein The moving body information is information about the state of the moving body, and The manufacturing status information is information on the manufacturing status of the moving body.

15. A communication control method for controlling wireless communication between a mobile object and a communication device, characterized in that: The communication control method comprises: deciding a use frequency band as a frequency band to be used for the wireless communication from among frequency band candidates including a first frequency band and a second frequency band higher than the first frequency band by using at least one of mobile body information and manufacturing status information; and controlling the communication device to perform the wireless communication via the used frequency band, wherein: The moving body information is information about the state of the moving body, and The manufacturing status information is information on the manufacturing status of the moving body.

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