Recognition system, recognition method, and recognition device

Abstract

A recognition system is provided with: an object detection unit that detects a plurality of objects; a radio wave irradiation unit that sequentially irradiates radio waves on the plurality of objects detected by the object detection unit; radio wave detection units that are respectively provided to a plurality of objects and that detect the radio waves irradiated by the radio wave irradiation unit; and a recognition unit that recognizes at least one of the plurality of objects using the time series data of the radio waves detected by the radio wave detection unit.

Description

Cross - reference to related applications

[0001] This application claims priority based on a Japanese patent application filed on December 22, 2023, with application number 2023 - 216865, the entire disclosure of which is incorporated herein by reference. Technical field

[0002] The present disclosure relates to an identification system, an identification method, and an identification device. Background art

[0003] U.S. Patent No. 10532771 discloses a method in which a request to perform an operation of a device provided in a vehicle, such as turning on the headlights, is sent to the vehicle via a wireless communication network provided in a parking lot, and the vehicle is identified by confirming whether the vehicle has performed the operation.

[0004] In the prior art, in order to identify a vehicle, it is necessary to make the vehicle perform certain operations. Therefore, there is a problem that the process for identifying the vehicle is cumbersome. In addition, there is a problem that when a device for performing an operation of the vehicle is not installed in the vehicle, the vehicle cannot be identified. Such problems are common not only in vehicles but also in any other objects such as moving bodies. Summary of the invention

[0005] The present disclosure can be implemented in the following manner.

[0006] (1) A first aspect of the present disclosure provides an identification system. The identification system includes: an object detection unit that detects a plurality of objects; a radio wave irradiation unit that sequentially irradiates the plurality of objects detected by the object detection unit with radio waves; radio wave detection units that are respectively provided on the plurality of objects and detect the radio waves irradiated by the radio wave irradiation unit; and an identification unit that uses the time - series data of the radio waves detected by the radio wave detection units to identify at least one of the plurality of objects. According to this aspect, the identification system can sequentially irradiate a plurality of objects detected by the object detection unit with radio waves. Then, the identification system can use the time - series data of the radio waves detected by the radio wave detection units respectively provided on the plurality of objects to identify at least one of the plurality of objects. In this way, it is possible to identify an object without making the object perform certain operations. Thus, even when a device for performing an operation is not installed on the object, the identification system can identify the object. (2) In the above method, it may also be that the timing data is data obtained by arranging the reception times of the radio waves of the respective multiple objects in sequence, the reception time of the radio wave is determined according to the change in the intensity of the radio wave, and the identification unit checks the order of irradiating the radio waves to the respective multiple objects and the timing data, so as to identify the objects. According to this method, the identification system can identify the objects by checking the order of irradiating the radio waves to the multiple objects and the timing data formed by arranging the reception times of the radio waves of the multiple objects in sequence. (3) In the above method, it may also be that the object is a moving body capable of moving by autonomous driving, the identification system further includes a control unit for controlling the actions of the object, and the identification unit identifies the object that becomes the control object of the control unit among the multiple objects detected by the object detection unit. According to this method, the identification system can identify the object that becomes the control object. (4) The second method of the present disclosure provides an identification method. The identification method includes: an object detection step of detecting multiple objects; a radio wave irradiation step of sequentially irradiating radio waves to the multiple objects detected in the object detection step; a radio wave detection step of detecting the radio waves irradiated in the radio wave irradiation step for each of the multiple objects; and an identification step of identifying at least one of the multiple objects using the timing data of the radio waves detected in the radio wave detection step. According to this method, radio waves can be sequentially irradiated to the multiple objects detected in the object detection step. Then, at least one of the multiple objects can be identified using the timing data of the radio waves detected in the radio wave detection step. In this way, the objects can be identified without making the objects perform certain actions. Therefore, even when no device for performing actions is installed on the objects, the objects can still be identified. (5) The third method of the present disclosure provides an identification device. The identification device includes an identification unit that uses the timing data of the radio waves detected by radio wave detection units respectively provided on multiple objects to identify at least one of the multiple objects, and the radio waves are sequentially irradiated to the multiple objects detected by the object detection unit by a radio wave irradiation unit. According to this method, the identification device can identify at least one of the multiple objects using the timing data of the radio waves sequentially irradiated to the multiple objects. In this way, the objects can be identified without making the objects perform certain actions. Therefore, even when no device for performing actions is installed on the objects, the objects can still be identified. The present disclosure can be implemented in various ways other than the above-described recognition system, recognition method, and recognition device. For example, it can be implemented in the form of a position determination device that determines the position of an object using the recognition result recognized by the recognition device, a recognition system, a recognition device, a manufacturing method of the position determination device, a recognition system, a recognition device, a control method of the position determination device, a computer program for implementing the control method, a non-transitory recording medium recording the computer program, and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 FIG. is a conceptual diagram showing the configuration of the traveling system in the first embodiment. Figure 2 FIG. is a diagram for explaining the radio wave irradiation method. Figure 3 FIG. is a block diagram showing the configuration of the traveling system in the first embodiment. Figure 4 FIG. is a diagram showing the Figure 2 detection results of the radio wave detection units provided in each vehicle shown. Figure 5 FIG. is a flowchart showing the processing sequence of the vehicle traveling control in the first embodiment. Figure 6 FIG. is a flowchart showing the recognition method of the target vehicle. Figure 7 FIG. is a block diagram showing the configuration of the traveling system in the second embodiment. Figure 8 FIG. is a flowchart showing the processing sequence of the vehicle traveling control in the second embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0008] A. First Embodiment Figure 1FIG. 0 is a conceptual diagram showing the configuration of the driving system 50 in the first embodiment. The driving system 50 is a system for moving a moving body without depending on the driving operation of a passenger riding on the moving body. The driving system 50 includes one or more vehicles 100 as moving bodies, an identification system 6, a position determination device 65, and a remote control device 70. The identification system 6 identifies at least one object among a plurality of objects. In the present embodiment, the object is the vehicle 100. The identification system 6 includes an identification device 60, one or more access points 80, and one or more object detection units 90. The identification device 60 identifies the vehicle 100. The position determination device 65 determines the position of the vehicle 100 using the identification result identified by the identification device 60. The remote control device 70 remotely controls the operation of the vehicle 100 using the position of the vehicle 100 and the like. In the present embodiment, the functions of the identification device 60, the position determination device 65, and the remote control device 70 are realized by the server 200.

[0009] The object detection unit 90 detects a plurality of vehicles 100. In the present embodiment, the object detection unit 90 is an external sensor 300. The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 in the present embodiment is a sensor that captures the vehicle 100 from the outside of the vehicle 100. The external sensor 300 includes a communication device (not shown) and can communicate with other devices such as the server 200 through wired communication or wireless communication. Specifically, the external sensor 300 is composed of a camera. The camera as the external sensor 300 captures the vehicle 100 and outputs a captured image as a detection result.

[0010] The access point 80 connects the vehicle 100 and the server 200 via a network so that they can communicate with each other. The access point 80 includes a radio wave irradiation unit 81 that irradiates radio waves to a plurality of vehicles 100 detected by the object detection unit 90. In the present embodiment, the radio wave irradiation unit 81 sequentially irradiates radio waves to a plurality of vehicles 100 detected by the external sensor 300.

[0011] Figure 2 FIG. is a diagram for explaining the radio wave irradiation method. In Figure 2 , a case where four vehicles 100A to 100D exist within the detection range RG of the external sensor 300 is exemplified. The radio wave irradiation unit 81 sequentially irradiates radio waves in the directions D1 to D4 where the vehicles 100 are present. The radio wave irradiation unit 81 irradiates radio waves in the desired directions D1 to D4 using, for example, beamforming technology. In this case, the radio wave irradiation unit 81 has a plurality of antennas. The radio wave irradiation unit 81 changes the phase and transmission power for each antenna and controls the directivity of the radio waves, thereby irradiating radio waves in the desired directions D1 to D4. In Figure 2In the example shown, the radio wave irradiation unit 81 irradiates radio waves in the order of the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4. The first direction D1 is the direction from the access point 80 toward the first vehicle 100A. The second direction D2 is the direction from the access point 80 toward the second vehicle 100B. The third direction D3 is the direction from the access point 80 toward the third vehicle 100C. The fourth direction D4 is the direction from the access point 80 toward the fourth vehicle 100D.

[0012] In the present disclosure, a "moving body" means an object capable of moving, such as a vehicle or an electric vertical take-off and landing aircraft (so-called flying car). The vehicle may be a vehicle that travels on wheels or a vehicle that travels on tracks, such as a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, a construction vehicle, etc. The vehicle includes an electric vehicle (BEV: Battery Electric Vehicle), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. When the moving body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure may be appropriately replaced with "moving body", and the expression "travel" may be appropriately replaced with "move".

[0013] The vehicle 100 is configured to be able to travel autonomously. "Autonomous driving" means driving that does not depend on the driving operation of the passenger. The driving operation means an operation related to at least one of "traveling", "steering", and "stopping" of the vehicle 100. Autonomous driving is achieved by automatic or manual remote control using a device located outside the vehicle 100 or autonomous control of the vehicle 100. In the vehicle 100 traveling autonomously, a passenger who does not perform a driving operation may also be on board. Passengers who do not perform a driving operation include, for example, a person who only sits on the seat of the vehicle 100 and a person who performs an operation different from the driving operation, such as assembly, inspection, and switch operation, while riding in the vehicle 100. In addition, driving based on the driving operation of the passenger is sometimes referred to as "manned driving".

[0014] In this specification, "remote control" includes "complete remote control" that completely determines all the actions of the vehicle 100 from outside the vehicle 100 and "partial remote control" that determines a part of the actions of the vehicle 100 from outside the vehicle 100. In addition, "autonomous control" includes "complete autonomous control" in which the vehicle 100 autonomously controls its own actions without receiving any information from a device outside the vehicle 100 and "partial autonomous control" in which the vehicle 100 autonomously controls its own actions using the information received from a device outside the vehicle 100.

[0015] As Figure 1As shown, in the present embodiment, the driving system 50 is used in the factory FC where the vehicle 100 is manufactured. The reference coordinate system of the factory FC is the global coordinate system GC, and any position within the factory FC can be represented by the coordinates of X, Y, and Z in the global coordinate system GC. The factory FC includes a first place PL1 and a second place PL2. The first place PL1 and the second place PL2 are connected by a driving road TR on which the vehicle 100 can travel. In the factory FC, a plurality of external sensors 300 are provided along the driving road TR. The positions of the respective external sensors 300 in the factory FC have been adjusted in advance. The vehicle 100 moves from the first place PL1 to the second place PL2 through the driving road TR by autonomous driving.

[0016] Figure 3 It is a block diagram showing the configuration of the driving system 50 in the first embodiment. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including one or more actuators that are driven under the control of the vehicle control device 110, and a communication device 130 for communicating with external devices such as the server 200 through 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.

[0017] The vehicle control device 110 is composed of 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 bidirectionally via the internal bus 114. The input / output interface 113 is connected to the actuator group 120 and the communication device 130. The processor 111 realizes various functions including the function as the vehicle control unit 115 by executing the program PG1 stored in the memory 112.

[0018] The vehicle control unit 115 makes the vehicle 100 travel by controlling the actuator group 120. The vehicle control unit 115 can make the vehicle 100 travel by controlling the actuator group 120 using the driving control signal received from the server 200. The driving control signal is a control signal for making the vehicle 100 travel. In the present embodiment, the driving control signal includes the acceleration and the steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of including the acceleration of the vehicle 100, or may include the speed of the vehicle 100 in addition to including the acceleration of the vehicle 100.

[0019] The vehicle 100 is also provided with a radio wave detection unit 190. The radio wave detection unit 190 detects the radio waves irradiated by the radio wave irradiation unit 81. Further, the radio wave detection unit 190 associates the vehicle identification information indicating its own vehicle 100 with the reception time of the radio waves determined based on the change in the radio wave intensity, and transmits the same to the server 200. The vehicle identification information is an inherent identifier that is allocated in a non-repetitive manner among the vehicles 100 for identifying a plurality of vehicles 100. The vehicle identification information is, for example, a vehicle identification number (VIN: Vehicle Identification Number).

[0020] Figure 4 shows the arrangement in Figure 2 a schematic diagram of the detection results of the radio wave detection units 190 provided in the respective vehicles 100A to 100D shown. In Figure 4 , an example is shown of the detection results in the case where radio waves are irradiated in the order of the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4 shown in Figure 2 . The reception times TI1 to TI4 of the radio waves are, for example, the times when the radio wave intensity shows a maximum value in the intensity change data DS1 to DS4 showing the change in the radio wave intensity. The reception times TI1 to TI4 of the radio waves may also be the times when the radio wave intensity has changed by a certain degree or more from a preset initial value.

[0021] As Figure 3 shown, the server 200 is constituted 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 so as to be able to communicate bidirectionally via the internal bus 204. A communication device 205 for communicating with various devices outside the server 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 by wireless communication, and can communicate with the respective external sensors 300 by wired communication or wireless communication. The processor 201 realizes various functions including functions as a configuration status acquisition unit 211, an irradiation instruction unit 212, an identification unit 213, a position determination unit 214, and a remote control unit 215 by executing a program PG2 stored in the memory 202.

[0022] The configuration status acquisition unit 211 uses the detection results output from the external sensors 300 to acquire the number of vehicles 100 existing within the detection range RG of the external sensors 300 and the positions of the respective vehicles 100.

[0023] The irradiation instruction unit 212 determines the relative positions of the respective vehicles 100 with respect to the access point 80 based on the positions of the respective vehicles 100 obtained by the configuration status acquisition unit 211, and thus determines the directions D1 to D4 of the irradiated radio waves. Then, the irradiation instruction unit 212 determines the order when irradiating radio waves in the respective directions D1 to D4. Then, the irradiation instruction unit 212 instructs the access point 80 about the directions D1 to D4 of the irradiated radio waves and the order when irradiating radio waves in the respective directions D1 to D4.

[0024] The identification unit 213 uses the timing data DT of the radio waves detected by the radio wave detection unit 190 provided in each vehicle 100 to identify at least one vehicle 100 among the multiple vehicles 100. As Figure 4 shown, in the present embodiment, the timing data DT is data obtained by arranging the reception times TI1 to TI4 of the radio waves of the respective vehicles 100A to 100D in time series. The identification unit 213 identifies the multiple vehicles 100A to 100D, for example, by checking the order when irradiating radio waves to the multiple vehicles 100A to 100D and the timing data DT. Thereby, the identification unit 213 identifies the target vehicle 100T that is the control target of the remote control unit 215 among the multiple vehicles 100A to 100D detected by the external sensor 300.

[0025] It is assumed that, for example, in Figure 2 the shown configuration status, when irradiating radio waves in the order of the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4, the reception times TI1 to TI4 of the radio waves are as follows. In this case, among the multiple vehicles 100A to 100D existing within the detection range RG of the external sensor 300, the first vehicle 100A is irradiated with radio waves earliest. Thus, it is assumed that among the multiple vehicles 100A to 100D existing within the detection range RG of the external sensor 300, the reception time TI1 of the radio waves of the first vehicle 100A is the earliest. Among the multiple vehicles 100A to 100D existing within the detection range RG of the external sensor 300, the fourth vehicle 100D is irradiated with radio waves latest. Thus, it is assumed that among the multiple vehicles 100A to 100D existing within the detection range RG of the external sensor 300, the reception time TI4 of the radio waves of the fourth vehicle 100D is the latest. The second vehicle 100B is irradiated with radio waves later than the first vehicle 100A and earlier than the third vehicle 100C. Thus, it is assumed that the reception time TI2 of the radio waves of the second vehicle 100B is later than that of the first vehicle 100A and earlier than that of the third vehicle 100C. The third vehicle 100C is irradiated with radio waves later than the second vehicle 100B and earlier than the fourth vehicle 100D. Thus, it is assumed that the reception time TI3 of the radio waves of the third vehicle 100C is later than that of the second vehicle 100B and earlier than that of the fourth vehicle 100D. In summary, it is assumed that in Figure 2In the configuration shown, when radio waves are irradiated in the order of the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4, the timing data DT is as follows. In this case, as Figure 4 shown, the timing data DT is assumed to be data showing the case where radio waves are received in the order of the first vehicle 100A, the second vehicle 100B, the third vehicle 100C, and the fourth vehicle 100D.

[0026] Therefore, the recognition unit 213 checks the order when radio waves are irradiated to the multiple vehicles 100A to 100D and the timing data DT, and binds the vehicle identification information to each of the vehicles 100A to 100D in the captured image. Thus, the recognition unit 213 recognizes the multiple vehicles 100A to 100D. Then, the recognition unit 213 determines the vehicle 100 to which the vehicle identification information of the preset target vehicle 100T among the multiple vehicles 100A to 100D detected by the external sensor 300 is bound as the target vehicle 100T. Thus, the recognition unit 213 recognizes the target vehicle 100T relative to the non-target vehicle 100N other than the target vehicle 100T.

[0027] The position determination unit 214 uses the recognition result of the vehicle 100 recognized by the recognition unit 213 to bind the vehicle identification information to the position of each vehicle 100 obtained by the configuration status acquisition unit 211, thereby determining the position of each vehicle 100. Thus, the position determination unit 214 determines the position of the target vehicle 100T.

[0028] The remote control unit 215 uses the detection result based on the sensor to generate a travel control signal for controlling the actuator group 120 of the vehicle 100, and sends the travel control signal to the vehicle 100, thereby causing the vehicle 100 to travel by remote control.

[0029] In addition, at least a part of the functions of the server 200 can be implemented either by the vehicle control device 110 or by the external sensor 300.

[0030] Figure 5 It is a flowchart showing the processing sequence of the travel control of the vehicle 100 in the first embodiment. Figure 5 The process shown is executed, for example, after the recognition of the target vehicle 100T is completed. In Figure 5 the processing sequence, the processor 201 of the server 200 executes the program PG2, thereby functioning as the configuration status acquisition unit 211, the irradiation instruction unit 212, the recognition unit 213, the position determination unit 214, and the remote control unit 215. In addition, the processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1.

[0031] In step S1, the processor 201 of the server 200 obtains vehicle position information using the detection result output from the external sensor 300. The vehicle position information is the position information that serves as the basis for generating the driving 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 S1, the processor 201 obtains the vehicle position information using the captured image obtained from the camera as the external sensor 300.

[0032] Specifically, in step S1, the processor 201, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the positioning points of the vehicle 100 in the coordinate system of the captured image, that is, the local coordinate system, and converts the calculated coordinates into the coordinates in the global coordinate system GC, thereby obtaining the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into the detection model DM using artificial intelligence. The detection model DM is prepared, for example, inside or outside the driving system 50 and is pre-stored in the memory 202 of the server 200. As the detection model DM, for example, a learned machine learning model learned in a manner to achieve either semantic segmentation or instance segmentation can be cited. As this machine learning model, for example, a convolutional neural network (hereinafter referred to as CNN) learned by supervised learning using a learning dataset can be used. The learning dataset has, for example, a plurality of training images including the vehicle 100 and labels indicating which region among the regions representing the vehicle 100 and the regions other than the vehicle 100 each region in the training image represents. When learning the CNN, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) in a manner to reduce the error between the output result of the detection model DM and the label. In addition, the processor 201, for example, uses the optical flow method to estimate the orientation of the vehicle 100 based on the direction of the movement vector of the vehicle 100 calculated from the position change of the feature points of the vehicle 100 between frames of the captured image, thereby being able to obtain the orientation of the vehicle 100.

[0033] In step S2, the processor 201 of the server 200 determines the target position that the vehicle 100 should go to next. In the present embodiment, the target position is represented by the coordinates of X, Y, and Z in the global coordinate system GC. In the memory 202 of the server 200, a reference path RR as the path that the vehicle 100 should travel is pre-stored. The path is represented by nodes indicating the departure point, nodes indicating waypoints, nodes indicating the destination, and links connecting the respective nodes. The processor 201 uses the vehicle position information and the reference path RR to determine the target position that the vehicle 100 should go to next. The processor 201 determines the target position on the reference path RR that is further ahead than the current position of the vehicle 100.

[0034] In step S3, the processor 201 of the server 200 generates a driving control signal for causing the vehicle 100 to travel toward the determined target position. The processor 201 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. Overall, when the traveling speed is lower than the target speed, the processor 201 determines the acceleration in such a manner as to accelerate the vehicle 100, and when the traveling speed is higher than the target speed, the processor 201 determines the acceleration in such a manner as to decelerate the vehicle 100. Further, when the vehicle 100 is located on the reference path RR, the processor 201 determines the steering angle and the acceleration in such a manner that the vehicle 100 does not deviate from the reference path RR, and when the vehicle 100 is not located on the reference path RR, in other words, when the vehicle 100 has deviated from the reference path RR, the processor 201 determines the steering angle and the acceleration in such a manner as to return the vehicle 100 to the reference path RR.

[0035] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeatedly performs acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and transmission of the driving control signal, etc. at a prescribed cycle.

[0036] In step S5, the processor 111 of the vehicle 100 receives the driving control signal transmitted from the server 200. In step S6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, whereby the vehicle 100 travels at the acceleration and the steering angle indicated by the driving control signal. The processor 111 repeatedly performs reception of the driving control signal and control of the actuator group 120 at a prescribed cycle. According to the driving system 50 in the present embodiment, the vehicle 100 can be made to travel by remote control, and the vehicle 100 can be moved without using conveying equipment such as a crane or a conveyor.

[0037] Figure 6 It is a flowchart showing a method for identifying the target vehicle 100T. When the target vehicle 100T is caused to travel by remote control, when there are a plurality of vehicles 100 within the detection range RG of the external sensor 300, it is necessary to identify the target vehicle 100T relative to the non-target vehicle 100N before starting the travel of the target vehicle 100T. Therefore, Figure 6 The process shown, for example, is executed before starting the travel of the target vehicle 100T.

[0038] When the preset start condition is satisfied (step S101: Yes), the configuration status acquisition unit 211 of the server 200 executes step S102. In step S102, the configuration status acquisition unit 211 transmits an image request signal for acquiring a captured image to the external sensor 300 that is scheduled to include the target vehicle 100T in the detection range RG. The external sensor 300 that receives the image request signal transmits the captured image to the server 200 in step S103.

[0039] When the vehicle 100 is not detected from the captured image (step S104: No), the recognition unit 213 of the server 200 makes a determination as shown in step S105. In step S105, since the recognition unit 213 cannot recognize the target vehicle 100T, it is determined that the target vehicle 100T should not start traveling.

[0040] When the vehicle 100 is detected based on the captured image (step S104: Yes), the configuration status acquisition unit 211 of the server 200 executes step S106. In step S106, the configuration status acquisition unit 211 uses the captured image to acquire the number of vehicles 100 existing in the detection range RG of the external sensor 300 and the position of each vehicle 100. In step S107, the irradiation instruction unit 212 determines the relative position of the vehicle 100 with respect to the access point 80 based on the position of each vehicle 100 acquired by the configuration status acquisition unit 211, and thereby determines the directions D1 to D4 in which the radio waves are irradiated. In step S108, the irradiation instruction unit 212 determines the order in which the radio waves are irradiated in the directions D1 to D4. In step S109, the irradiation instruction unit 212 instructs the access point 80 in which the radio waves are irradiated and the order in which the radio waves are irradiated in the directions D1 to D4.

[0041] In step S110, the radio wave irradiation unit 81 of the access point 80 sequentially irradiates radio waves in the directions D1 to D4 where the vehicle 100 is located, according to the instruction received from the irradiation instruction unit 212 of the server 200. In step S111, the radio wave detection unit 190 of the vehicle 100 detects the radio waves irradiated by the radio wave irradiation unit 81. In step S112, the radio wave detection unit 190 associates the vehicle identification information indicating the own vehicle 100 with the reception times TI1 to TI4 of the radio waves determined according to the change in the radio wave intensity, and transmits the association to the server 200.

[0042] When it is impossible to obtain the reception times TI1 to TI4 of any of the vehicles 100 detected from the captured image within a preset time (step S113: No), the identification unit 213 determines, as shown in step S105, that the travel of the target vehicle 100T should not be started. Further, when it is determined as "No" in step S113, the identification system 6 may also execute steps S110 to S112 again to try to obtain the reception times TI1 to TI4 of all the vehicles 100 detected from the captured image again.

[0043] When the reception times TI1 to TI4 of all the vehicles 100 detected from the captured image are obtained within a preset time (step S113: Yes), the identification unit 213 of the server 200 executes step S114. In step S114, the identification unit 213 generates time-series data DT by arranging the reception times TI1 to TI4 of the radio waves received from the vehicles 100 in time series. In step S115, the identification unit 213 checks the order of irradiating radio waves to the multiple vehicles 100 and the time-series data DT, and binds the vehicle identification information to each vehicle 100 in the captured image. Thus, the identification unit 213 identifies the target vehicle 100T.

[0044] When the binding of the vehicle identification information to any of the vehicles 100 in the captured image is not completed within a preset time (step S116: No), the identification unit 213 determines, as shown in step S105, that the travel of the target vehicle 100T should not be started. Further, when it is determined as "No" in step S116, the identification system 6 may also execute step S114 and step S115 again to try to identify the target vehicle 100T again.

[0045] When the binding of the vehicle identification information to all the vehicles 100 in the captured image is completed within a preset time (step S116: Yes), the identification unit 213 makes a determination as shown in step S117. In step S117, since the identification unit 213 can identify the target vehicle 100T, it is determined that the travel of the target vehicle 100T can be started.

[0046] According to the above first embodiment, the identification system 6 checks the order of irradiating radio waves to the multiple vehicles 100 and the time-series data DT, and thus can identify the vehicles 100. In this way, it is possible to identify the vehicles 100 without causing the vehicles 100 to perform certain actions. Thus, even when no device for performing actions is installed on the vehicles 100, the identification system 6 can still identify the vehicles 100.

[0047] In addition, according to the above-described first embodiment, the recognition system 6 can recognize the target vehicle 100T to be controlled. In this way, the vehicle position information of the target vehicle 100T can be obtained. Thus, by generating a driving control signal using the vehicle position information of the target vehicle 100T, the target vehicle 100T can be driven by remote control.

[0048] B. Second Embodiment Figure 7 FIG. is a block diagram showing the configuration of the driving system 50v in the second embodiment. The vehicle 100v in the present embodiment can also travel by autonomous control of the vehicle 100v. Other configurations are the same as those in the first embodiment unless otherwise specified.

[0049] In the present embodiment, the processor 111v of the vehicle control device 110v functions as the vehicle control unit 115v by executing the program PG1v stored in the memory 112v. The vehicle control unit 115v obtains the output result based on the sensor, generates a driving control signal using the output result, and outputs the generated driving control signal to cause the actuator group 120 to operate, thereby enabling the vehicle 100v to travel by autonomous control. In the present embodiment, in the memory 112v, in addition to the program PG1v, a detection model DM and a reference path RR are also pre-stored.

[0050] Figure 8 FIG. is a flowchart showing the processing sequence of the driving control of the vehicle 100v in the second embodiment. In Figure 8 the processing sequence, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing the program PG1v.

[0051] In step S901, the processor 111v of the vehicle control device 110v obtains vehicle position information using the detection result output from the camera as the external sensor 300. In step S902, the processor 111v determines the target position to which the vehicle 100v should go next. In step S903, the processor 111v generates a driving control signal for causing the vehicle 100v to travel toward the determined target position. In step S904, the processor 111v controls the actuator group 120 by using the generated driving control signal, thereby causing the vehicle 100v to travel according to the parameters indicated by the driving control signal. The processor 111v repeatedly obtains vehicle position information, determines the target position, generates a driving control signal, and controls the actuator at a predetermined cycle. According to the driving system 50v in the present embodiment, even without remotely controlling the vehicle 100v through the server 200, the vehicle 100v can travel by autonomous control of the vehicle 100v.

[0052] C. Other Embodiments C-1. Other Embodiment 1 When radiating radio waves from the radio wave radiating unit 81 of the access point 80 in specific directions D1 to D4, if there are multiple vehicles 100, 100v along the specific directions D1 to D4, the radio waves are radiated in the following order. In this case, the vehicles 100, 100v with a smaller distance from the access point 80 are radiated with radio waves earlier, and the vehicles 100, 100v with a larger distance from the access point 80 are radiated with radio waves later. Thus, in this case, the recognition unit 213 determines the order when radiating radio waves to the multiple vehicles 100, 100v according to the distance from the access point 80. Then, the recognition unit 213 uses the determined order and the timing data DT to recognize the vehicles 100, 100v. According to such a method, even when there are multiple vehicles 100, 100v in the radiating directions D1 to D4 of the radio waves, the vehicles 100, 100v can also be recognized.

[0053] C-2. Other Embodiment 2 It is also possible to radiate radio waves from the radio wave radiating units 81 of multiple access points 80 arranged in different locations in the directions D1 to D4 where the vehicles 100, 100v are present. In this case, the differences in the reception times TI1 to TI4 and the reception intensities of the radio waves depend not only on the order when radiating radio waves to each of the directions D1 to D4, but also on the distances between the vehicles 100, 100v and the access points 80. Thus, the recognition unit 213, for example, uses the order when the respective radio wave radiating units 81 radiate radio waves to the multiple vehicles 100, 100v, the timing data DT, the distances between the respective vehicles 100, 100v and the respective access points 80, and the magnitude relationship of the reception intensities of the radio waves to recognize the vehicles 100, 100v. According to such a method, it is possible to recognize the vehicles 100, 100v using the detection results of the radio waves radiated from the radio wave radiating units 81 of multiple access points 80 arranged in different locations.

[0054] C-3. Other Embodiment 3 In the above-described embodiments, the objects to be recognized are the vehicles 100, 100v that can move autonomously. In contrast, in other embodiments, the objects may also be objects other than the vehicles 100, 100v. For example, the objects may also be moving bodies other than the vehicles 100, 100v.

[0055] C-4. Other Embodiment 4 In each of the above-described embodiments, the external sensor 300 is not limited to a camera, and for example, it may also be a ranging device. The ranging device is, for example, LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may also be three-dimensional point cloud data representing the vehicles 100, 100v. In this case, the server 200, the vehicles 100, 100v may also obtain the vehicle position information by performing template matching using the three-dimensional point cloud data as the detection result and the reference point cloud data prepared in advance.

[0056] C-5. Other Embodiment 5 In the above-described first embodiment, the server 200 performs the processes from obtaining the vehicle position information to generating the driving control signal. In contrast, at least a part of the processes from obtaining the vehicle position information to generating the driving control signal may be performed by the vehicle 100. For example, it may be any of the following methods (1) to (3).

[0057] (1) The server 200 may obtain the vehicle position information, determine the target position that the vehicle 100 should go to next, and generate a path from the current position of the vehicle 100 represented by the obtained vehicle position information to the target position. The server 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 200 may send the generated path to the vehicle 100. The vehicle 100 may generate a driving control signal in such a way that the vehicle 100 travels on the path received from the server 200, and control the actuator group 120 using the generated driving control signal.

[0058] (2) The server 200 may obtain the vehicle position information and send the obtained vehicle position information to the vehicle 100. The vehicle 100 may determine the target position that the vehicle 100 should go to next, generate a path from the current position of the vehicle 100 represented by the received vehicle position information to the target position, generate a driving control signal in such a way that the vehicle 100 travels on the generated path, and control the actuator group 120 using the generated driving control signal.

[0059] (3) In the methods of (1) and (2) above, an internal sensor may be mounted on the vehicle 100, and the detection result output from the internal sensor is used in at least one of the generation of the path and the generation of the driving control signal. The internal sensor is a sensor mounted on the vehicle 100. The internal sensor may include, for example, a sensor for detecting the motion state of the vehicle 100, a sensor for detecting the operation state of each part of the vehicle 100, and a sensor for detecting the surrounding environment of the vehicle 100. Specifically, the internal sensor may include, for example, a camera, LiDAR, millimeter-wave radar, ultrasonic sensor, GPS sensor, acceleration sensor, gyro sensor, etc. For example, in the method of (1) above, it may be that the server 200 obtains the detection result of the internal sensor and reflects the detection result of the internal sensor in the path when generating the path. In the method of (1) above, it may also be that the vehicle 100 obtains the detection result of the internal sensor and reflects the detection result of the internal sensor in the driving control signal when generating the driving control signal. In the method of (2) above, it may be that the vehicle 100 obtains the detection result of the internal sensor and reflects the detection result of the internal sensor in the path when generating the path. In the method of (2) above, it may be that the vehicle 100 obtains the detection result of the internal sensor and reflects the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0060] C-6. Other Embodiment 6 In the second embodiment above, an internal sensor may be mounted on the vehicle 100v, and the detection result output from the internal sensor is used in at least one of the generation of the path and the generation of the driving control signal. For example, it may be that the vehicle 100v obtains the detection result of the internal sensor and reflects the detection result of the internal sensor in the path when generating the path. It may be that the vehicle 100v obtains the detection result of the internal sensor and reflects the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0061] C-7. Other Embodiment 7 In the above-described second embodiment, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. In contrast, an internal sensor may be mounted on the vehicle 100v, and the vehicle 100v may acquire vehicle position information using the detection results of the internal sensor, determine a target position to which the vehicle 100v should next travel, generate a path from the current position of the vehicle 100v indicated by the acquired vehicle position information to the target position, generate a driving control signal for traveling on the generated path, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using the detection results of any external sensor 300. Further, the vehicle 100v may acquire a target arrival time and / or traffic congestion information from outside the vehicle 100v and reflect the target arrival time and / or traffic congestion information in at least one of the path and the driving control signal.

[0062] C-8. Other Embodiment 8 In the above-described first embodiment, the server 200 automatically generates a driving control signal transmitted to the vehicle 100. In contrast, the server 200 may also generate a driving control signal transmitted to the vehicle 100 according to the operation of an external operator located outside the vehicle 100. For example, it may also be that the external operator operates a control device including 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, a brake pedal, and a communication device for communicating with the server 200 by wired communication or wireless communication, and the server 200 generates a driving control signal corresponding to the operation applied to the control device.

[0063] C-9. Other Embodiment 9 In each of the above-described embodiments, the vehicles 100 and 100v only need to have a configuration that enables movement through autonomous driving. For example, it can also be a platform configuration with the following-described configuration. Specifically, in order for the vehicles 100 and 100v to perform the three functions of "driving", "steering", and "stopping" through autonomous driving, it is sufficient to have at least the vehicle control devices 110 and 110v and the actuator group 120. When the vehicles 100 and 100v obtain information from the outside for autonomous driving, it is sufficient for the vehicles 100 and 100v to further have the communication device 130. That is, the vehicles 100 and 100v capable of moving through autonomous driving may not be equipped with at least a part of the interior components such as the driver's seat and the instrument panel, may not be equipped with at least a part of the exterior components such as the bumper and the fender, and may not be equipped with the body shell. In this case, the remaining components such as the body shell can be assembled to the vehicles 100 and 100v during the period until the vehicles 100 and 100v are shipped from the factory FC, or the remaining components such as the body shell can be assembled to the vehicles 100 and 100v after the vehicles 100 and 100v are shipped from the factory FC in a state where the remaining components such as the body shell are not assembled to the vehicles 100 and 100v. Each component can be assembled from any direction such as the upper side, the lower side, the front side, the rear side, the right side, or the left side of the vehicles 100 and 100v, and can be assembled from the same direction or from different directions respectively. In addition, for the platform configuration, the position determination can be performed in the same manner as the vehicles 100 and 100v in the first embodiment.

[0064] C-10. Other Embodiment 10 Vehicles 100 and 100v can also be manufactured by combining multiple modules. A module means a unit composed of one or more components aggregated according to the composition and functions of vehicles 100 and 100v. For example, the chassis of vehicles 100 and 100v can be manufactured by combining a front module that forms the front part of the chassis, a central module that forms the central part of the chassis, and a rear module that forms the rear part of the chassis. In addition, the number of modules forming the chassis is not limited to three, and can also be two or less or four or more. Additionally, in addition to the chassis, parts of vehicles 100 and 100v that are different from the chassis can be modularized, or instead of the chassis, parts of vehicles 100 and 100v that are different from the chassis can be modularized. Further, various modules can also include any exterior components such as bumpers and grilles, and any interior components such as seats and consoles. Additionally, not limited to vehicles 100 and 100v, any type of moving body can be manufactured by combining multiple modules. Such modules can be manufactured, for example, by joining multiple components using welding or fasteners, or by integrally molding at least a part of the module into one component using casting. The molding method of integrally molding at least a part of the module into one component is also referred to as Giga-casting or Mega-casting. By using Giga-casting, each part of a moving body that was previously formed by joining multiple components can be formed into one component. For example, the above-mentioned front module, central module, and rear module can also be manufactured using Giga-casting.

[0065] C-11. Other Embodiment 11 Transporting vehicles 100 and 100v by driving vehicles 100 and 100v under unmanned conditions is also called "self-propelled transportation". Additionally, the configuration for realizing self-propelled transportation is also called "vehicle remote control autonomous driving transportation system". Further, the production method of manufacturing vehicles 100 and 100v using self-propelled transportation is also called "self-propelled production". In self-propelled production, for example, in a factory FC for manufacturing vehicles 100 and 100v, at least a part of the transportation of vehicles 100 and 100v is realized by self-propelled transportation.

[0066] C-12. Other Embodiment 12 In the above-described embodiments, part or all of the functions and processes implemented by software can also be implemented by hardware. Additionally, part or all of the functions and processes implemented by hardware can also be implemented by software. As the hardware for implementing various functions in the above-described embodiments, for example, various circuits such as integrated circuits and discrete circuits can be used.

[0067] The present disclosure is not limited to the above-described embodiments, and can be implemented in various configurations without departing from the gist thereof. For example, the technical features of the embodiments corresponding to the technical features in each of the embodiments described in the "Summary of the Invention" section can be appropriately replaced and combined in order to solve part or all of the above problems or to achieve part or all of the above effects. In addition, as long as the technical features are not described as an essential part in this specification, they can be appropriately deleted.

Claims

1. An identification system comprising: an object detection unit for detecting a plurality of objects; a radio wave irradiation unit that sequentially irradiates the plurality of objects detected by the object detection unit with radio waves; an electric wave detection unit provided at each of the plurality of objects and detecting the electric wave irradiated by the electric wave irradiation unit; and The identification unit identifies at least one of the plurality of objects using the time series data of the radio wave detected by the radio wave detection unit.

2. The identification system according to claim 1, wherein: The time series data is data obtained by arranging the reception time of the radio waves of each of the plurality of objects in time series, and the reception time of the radio waves is determined according to the change in the intensity of the radio waves. The recognition unit recognizes the objects by comparing the order in which the radio waves are irradiated to the plurality of objects with the time series data.

3. The identification system according to claim 1, wherein: The object is a mobile object that can be moved by unmanned driving, The recognition system further includes a control unit that controls the movement of the object. The recognition unit recognizes the object to be controlled by the control unit among the plurality of objects detected by the object detection unit.

4. A recognition method, comprising: An object detection process for detecting a plurality of objects; a radio wave irradiation step of sequentially irradiating the plurality of objects detected in the object detection step with radio waves; a radio wave detecting step of detecting the radio wave irradiated in the radio wave irradiating step for each of the plurality of objects; as well as and a recognition step of recognizing at least one of the plurality of objects using the time series data of the radio waves detected in the radio wave detection step.

5. An identification device, The apparatus comprises a recognition unit for recognizing at least one of the plurality of objects using time series data of radio waves detected by radio wave detection units respectively provided at the plurality of objects, The radio wave irradiation unit sequentially irradiates the plurality of objects detected by the object detection unit with the radio wave.

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