Monitoring device and method

Abstract

In a plant that performs a plurality of steps for manufacturing a vehicle that travels via unmanned driving, a monitoring device monitors the vehicle that is the subject of the plurality of steps. The monitoring device includes a process acquisition unit, a torque acquisition unit, and a detection unit that detects an abnormality in an output torque of a vehicle by using process information and torque information.

Description

Technical Field

[0001] The present disclosure relates to a monitoring device and method. Background Art

[0002] The monitoring device disclosed in Japanese Unexamined Patent Application Publication No. 2019-155951 (JP 2019-155951 A) monitors the torque of a vehicle. Summary of the Invention

[0003] In a manufacturing process for manufacturing a vehicle, there is a production method in which components are assembled onto an unfinished vehicle while the vehicle is being driven via remote control or autonomous control.

[0004] In such a technique, the weight of the vehicle changes as components are assembled. Here, when the weight of the vehicle changes, the appropriate magnitude of the output torque of the vehicle also changes accordingly. Therefore, in such a technique, it is necessary to monitor the output torque of the vehicle based on the change in the weight of the vehicle, more specifically, based on the change in the state of the vehicle. However, the technique disclosed in JP 2019-155951 A does not consider the change in the state of the vehicle and cannot monitor the output torque of the vehicle based on the change in the state of the vehicle.

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

[0006] A first aspect of the present disclosure provides a monitoring device that monitors a vehicle that is an object of a plurality of processes in a factory that performs a plurality of processes for manufacturing a vehicle that travels via driverless driving. The monitoring device includes: a process acquisition unit configured to acquire process information regarding a target process among the plurality of processes for the vehicle; a torque acquisition unit configured to acquire torque information regarding the output torque of the vehicle in the target process; and a detection unit configured to detect an abnormality in the output torque of the vehicle by using the process information and the torque information.

[0007] According to the first aspect of the present disclosure, an abnormality in the output torque of the vehicle is detected by using the process information and the torque information. In a production method in which components are assembled while an unfinished vehicle is being driven, the output torque of the vehicle can be monitored based on the change in the state of the vehicle.

[0008] In the first aspect according to the present disclosure, the detection unit may be configured to detect an abnormality in the output torque based on the output torque of the vehicle indicated by the torque information, the process indicated by the process information, and a torque-related standard set in association with the process.

[0009] According to a first aspect of the present disclosure, an abnormality in the output torque is detected by using torque-related criteria set in association with the process. Therefore, in a production method of assembling components while driving an unfinished vehicle, the output torque of the vehicle can be monitored based on changes in the state of the vehicle.

[0010] In accordance with the first aspect of the present disclosure, a threshold value of the output torque in the process can be set as the torque-related criterion, and the detection unit can be configured to determine that there is an abnormality in the output torque of the vehicle when the value of the output torque is greater than the threshold value of the output torque.

[0011] According to the first aspect of the present disclosure, an abnormality in the output torque can be easily detected by using the threshold value of the output torque set for each process.

[0012] In accordance with the first aspect of the present disclosure, as the first threshold value of the output torque set for the first process among a plurality of processes, a value smaller than the second threshold value of the output torque set for the second process performed later than the first process can be set.

[0013] According to the first aspect of the present disclosure, by setting the threshold value of the output torque in a later process to be greater than the threshold value in an earlier process, an abnormality in the output torque can be accurately detected.

[0014] In accordance with the first aspect of the present disclosure, the torque-related criterion can be a criterion related to a waveform representing the output torque acquired in time series.

[0015] According to the first aspect of the present disclosure, an abnormality in the output torque can be easily detected by using a waveform representing the time-series change of the output torque.

[0016] In accordance with the first aspect of the present disclosure, the monitoring device may further include a control instruction generation unit configured to generate a control instruction for remotely controlling the driving of the vehicle and transmit the generated control instruction to the vehicle, wherein: the detection unit is configured to notify the control instruction generation unit that an abnormality in the output torque of the vehicle is detected when an abnormality in the output torque of the vehicle is detected; and the control instruction generation unit is configured to generate a control instruction for stopping the vehicle or reducing the driving speed of the vehicle to a speed lower than the current speed when notified of the abnormality in the output torque.

[0017] According to the first aspect of the present disclosure, when an abnormality in the output torque is detected, the driving control of the vehicle can be appropriately performed by stopping the vehicle or driving the vehicle at a low speed.

[0018] In a first aspect according to the present disclosure, the monitoring device may further include a notification unit configured to notify the vehicle that an abnormality in the output torque of the vehicle has been detected when the detection unit detects an abnormality in the output torque of the vehicle.

[0019] According to the first aspect of the present disclosure, when an abnormality in the output torque has occurred in a traveling vehicle, the control can be quickly changed to appropriate driving control of the vehicle, such as stopping driving.

[0020] A second aspect of the present disclosure provides a method of monitoring a vehicle that is an object of a plurality of processes in a factory that performs the plurality of processes for manufacturing a vehicle that travels autonomously. The method includes: acquiring process information about a target process among the plurality of processes for the vehicle; acquiring torque information about the output torque of the vehicle in the target process; and detecting an abnormality in the output torque of the vehicle by using the process information and the torque information.

[0021] According to the second aspect of the present disclosure, an abnormality in the output torque of the vehicle is detected by using the process information and the torque information. In a production method of assembling components while driving a vehicle in an unfinished state, the output torque of the vehicle can be monitored based on changes in the state of the vehicle.

[0022] The present disclosure can be implemented in various aspects such as a remote control system, a vehicle control device, a remote autonomous driving method, and a vehicle manufacturing method. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Hereinafter, features, advantages, techniques, and industrial significance of exemplary embodiments of the present invention will be described with reference to the drawings, in which like reference numerals represent like elements, and in which: Figure 1 is a conceptual diagram showing the configuration of a system according to a first embodiment; Figure 2 is a block diagram showing the configuration of a system according to a first embodiment; Figure 3 is a flowchart showing a processing flow for vehicle driving control according to a first embodiment; Figure 4 is a flowchart showing a processing flow for monitoring torque; Figure 5 is a diagram showing a torque table; Figure 6 is a diagram showing the reason for setting a threshold value for each process; Figure 7 is a flowchart showing a processing flow for monitoring torque according to a second embodiment; Figure 8A diagram showing an example of waveforms when an abnormality has occurred in torque; Figure 9 A flowchart showing a processing flow for monitoring torque according to the third embodiment; Figure 10 A diagram showing a schematic configuration of a system according to the fourth embodiment; Figure 11 A flowchart showing a processing flow for vehicle driving control according to the fourth embodiment; and Figure 12 A flowchart showing a processing flow for monitoring torque. DETAILED DESCRIPTION A. First Embodiment:

[0024] Figure 1 A conceptual diagram showing the configuration of a system 50 according to the first embodiment. The system 50 is used in a factory FC that manufactures a vehicle 100. The vehicle 100 is a battery electric vehicle (BEV). The vehicle 100 is the target of multiple processes performed in the factory FC. The system 50 includes one or more vehicles 100, a server 200, and multiple external sensors 300. The external sensors 300 are cameras that capture images of the vehicle 100. The server 200 is also referred to as a "monitoring device".

[0025] As described above, the vehicle 100 according to the present embodiment is a battery electric vehicle (BEV), but the vehicles to which the monitoring device and monitoring method according to the present disclosure can be applied are not limited thereto. The vehicles in the present disclosure can be vehicles that travel using wheels or vehicles that travel using tracks, such as passenger cars, trucks, buses, two-wheel vehicles, four-wheel vehicles, tanks, and construction vehicles. Vehicles include battery electric vehicles (BEVs), gasoline vehicles, hybrid vehicles, and fuel cell electric vehicles.

[0026] The vehicle 100 is capable of traveling via driverless operation. "Driverless" refers to driving that does not rely on the driving operation of an occupant. The driving operation refers to an operation related to at least one of "traveling", "turning", and "stopping" of the vehicle 100. Driverless operation is implemented through automatic or manual remote control using a device located outside the vehicle 100 or through autonomous control of the vehicle 100. The vehicle 100 traveling via driverless operation may carry occupants who do not perform driving operations. Examples of occupants who do not perform driving operations include a person simply sitting in the seat of the vehicle 100 and a person who performs work different from driving operations (such as assembly, inspection, or operating a switch) while in a state of being on board the vehicle 100. Driving performed through the driving operation of an occupant may be referred to as "drivered".

[0027] In this specification, "remote control" includes "full remote control" in which all operations of the vehicle 100 are completely determined 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. Further, "autonomous control" includes "full autonomous control" in which the vehicle 100 autonomously controls its operations without receiving any information from an external device of the vehicle 100, and "partial autonomous control" in which the vehicle 100 autonomously controls its operations by using information received from an external device of the vehicle 100.

[0028] The vehicle 100 is in a state of being manufactured and travels via driverless in the factory FC where the vehicle 100 is manufactured. 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 X, Y, and Z coordinates in the global coordinate system GC. The factory FC includes a first location PL1, a second location PL2, and a third location PL3. The first location PL1, the second location PL2, and the third location PL3 are connected by a road TR on which the vehicle 100 can travel. A plurality of external sensors 300 are installed along the road TR in the factory FC. The position of each external sensor 300 in the factory FC is pre-adjusted. The vehicle 100 moves from the first location PL1 to the second location PL2 along the road TR via driverless. Further, the vehicle 100 moves from the second location PL2 to the third location PL3 along the road TR.

[0029] The first location PL1 is a location where the work of constructing the vehicle 100 is carried out. The vehicle 100 constructed at the first location PL1 is in a state in which the vehicle 100 can travel via driverless, in other words, in a state in which the vehicle 100 can exhibit three functions of "traveling", "turning", and "stopping" via driverless.

[0030] In the present embodiment, the vehicle 100 constructed at the first location PL1 travels from the first location PL1 to the second location PL2 via driverless in the form of a platform having the configuration described below.

[0031] Specifically, in order for the vehicle 100 to exhibit the three functions of "traveling", "turning", and "stopping" via driverless, it only needs to include at least the vehicle control device 110 and the actuator group 120. When the vehicle 100 obtains information from the outside for driverless, the vehicle 100 only needs to further include the communication device 130. That is, the vehicle 100 that can move via driverless does not install at least a part of the internal components such as the driver's seat and the instrument panel, at least a part of the external components such as the bumper and the rearview mirror, and the body shell, etc.

[0032] The second location PL2 and the third location PL3 are locations where work is performed to assemble components onto the vehicle 100. At the second location PL2 and the third location PL3, for example, components are assembled onto the vehicle 100 by an assembly robot or an operator (not shown).

[0033] At the second location PL2, a body such as a body shell and a hood, interior components such as seats and instrument panels, and exterior components such as bumpers and fenders are assembled onto the vehicle 100 in the form of a platform by, for example, an assembly robot. Each component can be installed from any direction such as the upper side, lower side, front side, rear side, right side, or left side of the vehicle 100, and can also be installed from the same direction or different directions. At the third location PL3, for example, by an operator, functional units are attached to the vehicle 100. The functional units are, for example, a plurality of ECUs.

[0034] Figure 2 is a block diagram showing the configuration of the 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, a communication device 130 that communicates with an external device such as a server 200 via wireless communication, and a torque sensor 140.

[0035] The actuator group 120 includes an actuator of a drive 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.

[0036] 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 via the internal bus 114 so as to be able to communicate with each other bidirectionally. The actuator group 120, the communication device 130, and the torque sensor 140 are connected to the input / output interface 113.

[0037] The processor 111 executes a program PG1 stored in the memory 112 to implement various functions including the function as the vehicle controller 115.

[0038] The torque sensor 140 is provided on the drive shaft of the vehicle 100 and detects the torque acting on the drive shaft. The torque acting on the drive shaft is also referred to as "output torque". As the torque sensor 140, a magnetostrictive type, a strain gauge type, a capacitive type, etc. torque sensor can be adopted. The torque sensor 140 outputs an electric signal representing the detected torque to the processor 111.

[0039] The vehicle controller 115 can cause the vehicle 100 to 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 causing the vehicle 100 to travel. In the present embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. Alternatively, instead of or in addition to the acceleration of the vehicle 100, the driving control signal may include the speed of the vehicle 100 as a parameter. The vehicle controller 115 is also referred to as the "control instruction generation unit". The driving control signal is also referred to as the "control instruction".

[0040] In addition, the vehicle controller 115 transmits a torque value based on an electrical signal representing the torque supplied from the torque sensor 140 to the server 200 via the communication device 130.

[0041] The server 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 via the internal bus 204 so as to be able to communicate with each other bidirectionally.

[0042] A communication device 205 for communicating with various devices external to the server 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 via wireless communication and can communicate with each external sensor 300 via wired communication or wireless communication. That is, the server 200 can communicate with the vehicle 100 and the external sensor 300 via the communication device 205.

[0043] The memory 202 pre-stores a program PG2, a reference route RR indicating the route along which the vehicle 100 should travel, a detection model DM described later, a torque table TT described later, and the like. The processor 201 executes the program PG2 stored in the memory 202 to implement various functions including functions as a process acquisition unit 210, a torque acquisition unit 220, an abnormality detection unit 230, a position estimation unit 240, and a remote controller 250.

[0044] The process acquisition unit 210 acquires process information about the process that is the target for the vehicle 100. In the present embodiment, the process that is the target refers to the current process in which the vehicle 100 is located. Here, the process information indicates the current process in which the vehicle 100 is located. The process information includes, for example, a process number for specifying the current process and a process name indicating the current process.

[0045] For example, the process acquisition unit 210 acquires process information indicating the current process in which the vehicle 100 is located from the host server. After each process is performed, for example, the operator uses the terminal device to output a notification of the end of the process to the host server. Therefore, the host server has the latest completed process of the vehicle 100.

[0046] The torque acquisition unit 220 acquires torque information regarding the torque of the vehicle 100 from the vehicle 100. Here, the torque information represents the current torque of the vehicle 100. In the present specification, the torque of the vehicle 100 refers to the torque acting on the drive shaft among the torques required for the vehicle to travel. In other words, the torque of the vehicle 100 refers to the torque generated by the motor that drives the drive shaft of the vehicle 100.

[0047] The abnormality detection unit 230 determines whether the torque output by the vehicle 100 corresponds to the current process by using the process information and the torque information, thereby detecting an abnormality in the torque of the vehicle 100. The abnormality detection unit 230 is also referred to as the "detection unit".

[0048] The position estimation unit 240 estimates the position and orientation of the vehicle 100 by using the detection results output from the external sensor 300. Alternatively, the position estimation unit 240 may estimate only one of the position or orientation of the vehicle 100 by using the detection results output from the external sensor 300. In this case, for example, the other of the position and orientation of the vehicle 100 is determined by using the driving history of the vehicle 100.

[0049] The remote controller 250 acquires the detection results of the sensor, generates a travel control signal for controlling the actuator group 120 of the vehicle 100 by using the detection results, and transmits the travel control signal to the vehicle 100 to cause the vehicle 100 to travel via remote control. For example, in addition to generating a travel control signal, the remote controller 250 may also generate control signals for controlling various auxiliary devices provided in the vehicle 100 or for operating actuators of various devices such as wipers, electric windows, or lights, and output the generated control signals. That is, the remote controller 250 can operate various devices or various auxiliary devices via remote control. In the present specification, "remote control" includes "fully remote control" in which all operations of the vehicle 100 are completely determined 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.

[0050] The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 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 is capable of communicating with other devices such as the server 200 via wired communication or wireless communication. Specifically, the external sensor 300 is composed of a camera installed in a factory site. 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.

[0051] Figure 3 is a flowchart showing a processing flow for controlling the travel of the vehicle 100. Figure 3 The processing shown in is executed by the processor 201 (serving as the remote controller 250) of the server 200 and the processor 111 (serving as the vehicle controller 115) of the vehicle 100. Figure 3 The processing shown in, for example, is repeatedly executed at a predetermined time interval from the time point when starting to travel the vehicle 100 via remote control.

[0052] In step S1, the processor 201 of the server 200 acquires the 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 serves as a 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 S1, the processor 201 acquires the vehicle position information by using the captured image obtained from the camera serving as the external sensor 300.

[0053] Specifically, in step S1, the processor 201 detects the external shape of the vehicle 100 from, for example, a captured image, calculates the coordinates of the positioning points of the vehicle 100 in the captured image coordinate system, 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, the external shape of the vehicle 100 included in the captured image can be detected by inputting the captured image into a detection model DM using artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 50 and is pre-stored in the memory 202 of the server 200. Examples of the detection model DM include trained machine learning models that have been trained to perform either semantic segmentation or instance segmentation. As the machine learning model, for example, a convolutional neural network (CNN) that has been trained by supervised learning using a training dataset can be used. The training dataset, for example, has 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 other than the vehicle 100. When training the CNN, preferably, the parameters of the CNN are updated by backpropagation (error backpropagation method) so that the error between the output result of the detection model DM and the label is reduced. The processor 201 can estimate the direction of the vehicle 100 by using, for example, the optical flow method based on the direction of the motion vector of the vehicle 100 calculated from the position change of the feature points of the vehicle 100 between the frames of the captured image to obtain the direction of the vehicle 100.

[0054] In step S2, the processor 201 of the server 200 determines the target position that the vehicle 100 should travel to next. In this embodiment, the target position is represented by the X, Y, and Z coordinates in the global coordinate system GC. A reference route RR along which the vehicle 100 should travel is pre-stored in the memory 202 of the server 200. The route is represented by nodes indicating the starting point, nodes indicating passing points, nodes indicating the destination, and links connecting the respective nodes. The processor 201 determines the target position on the reference route RR in front of the current position of the vehicle 100 by using the vehicle position information and the reference route RR.

[0055] 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. Generally, when the traveling speed is lower than the target speed, the processor 201 determines the acceleration so that the vehicle 100 accelerates, and when the traveling speed is higher than the target speed, the processor 201 determines the acceleration so that the vehicle 100 decelerates.

[0056] Here, the processor 201 determines the acceleration that generates the torque corresponding to the weight of the vehicle 100. In the present embodiment, these components are assembled to the vehicle 100 traveling in the state being manufactured. When assembling the components, the state of the vehicle 100 (including the total weight, weight distribution, and other factors of the vehicle 100) changes. Since the torque required for the vehicle 100 to travel changes according to the change in the state of the vehicle 100.

[0057] When the vehicle 100 is located on the reference route RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference route RR, and when the vehicle 100 is not located on the reference route RR (in other words, when the vehicle 100 deviates from the reference route RR), the processor 201 determines the steering angle and acceleration so that the vehicle 100 returns to the reference route RR.

[0058] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeatedly executes the acquisition of the position of the vehicle 100, the determination of the target position, the generation of the driving control signal, and the transmission of the driving control signal at a predetermined cycle.

[0059] 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 by using the received driving control signal so that the vehicle 100 travels according to the acceleration and steering angle indicated by the driving control signal. The processor 111 repeatedly executes the reception of the driving control signal and the control of the actuator group 120 at a predetermined cycle. With the system 50 according to the present embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transportation facilities such as a crane or a conveyor.

[0060] Figure 4 is a flowchart showing the processing flow of the estimation process. By executing the Figure 4 processing shown in, the torque of the traveling vehicle 100 is monitored. Figure 4The processing shown in [figure] is executed by the processor 111 that serves as the vehicle controller 115 and the processor 201 that serves as the process acquisition unit 210, torque acquisition unit 220, and abnormality detection unit 230.

[0061] In step S11, the processor 111 of the vehicle 100 acquires, as torque information, the torque value acting on the drive wheels of the vehicle 100 based on the electrical signal representing the torque supplied from the torque sensor 140.

[0062] In step S12, the processor 111 transmits a signal indicating the torque value acting on the drive wheels of the vehicle 100 as torque information to the server 200. The processor 111, for example, repeatedly executes the processing of steps S11 and S12 at a predetermined time interval starting from the time point when the vehicle 100 starts to travel via remote control.

[0063] In step S13, the processor 201 of the server 200 receives the torque value as torque information from the vehicle 100. Each time the server 200 receives torque information from the vehicle 100, it executes the processing after step S13.

[0064] In step S14, the processor 201 queries the host server (not shown) for the process information of the vehicle 100 and the information on the torque-related standard, thereby acquiring the process information of the vehicle 100 and the information on the torque-related standard set in association with the process. The process information represents the current process in which the vehicle 100 is located. The torque-related standard is also referred to as "the torque-related standard set in association with the process".

[0065] In addition, the torque-related standard defines whether the torque output by the vehicle 100 corresponds to the current process. In the present embodiment, a threshold value of torque is set for each process in the torque-related standard. Figure 5 FIG. [figure] is a diagram showing a torque table TT that defines the threshold value of torque. The torque table TT represents the association between the process performed on the vehicle 100 and the threshold value of the torque of the vehicle 100 in that process. The torque table TT is, for example, pre-stored in the memory provided in the host server.

[0066] The threshold value of torque set for each process represents the upper limit value that the torque of the vehicle 100 is not expected to exceed in each process. In Figure 5In the example shown, a threshold value of the torque of the vehicle 100 is defined for each of the first process to the third process. Since the threshold value of the torque is set for each process, an abnormality in the output torque can be accurately detected according to the process. In step S14, the host server transmits the threshold value of the torque of the target process to the server 200 in response to a query from the processor 201, for example. The torque table TT may also be stored in the memory 202 of the server 200. In this case, in step S14, the processor 201 only needs to query the host server about the process information indicating the process in which the vehicle 100 is located.

[0067] Figure 6 FIG. is a diagram showing the reason for setting the threshold value of the torque for each process. As described above, the components are assembled onto the vehicle 100 that is traveling in the state being manufactured. Therefore, as the components are assembled, the weight of the vehicle 100 increases. Therefore, in the process in which the vehicle 100 is located, that is, the torque required for the vehicle 100 to travel varies depending on the weight of the vehicle 100. Further, the weight of the vehicle 100 in the second process that is performed later than the first process is greater than the weight of the vehicle 100 in the first process. Therefore, the torque required for the vehicle 100 to travel in the second process performed later is greater than the torque required for the vehicle 100 to travel in the first process. Further, the weight of the vehicle 100 in the third process that is performed later than the second process is greater than the weight of the vehicle 100 in the second process. Therefore, the torque required for the vehicle 100 to travel in the third process is greater than the torque required for the vehicle 100 to travel in the second process. In the present embodiment, in order to respond to the change in the weight of the vehicle 100, different values are set as the threshold value of the torque of the vehicle 100 for each process.

[0068] Furthermore, as the threshold value of the torque set for a certain process, a value smaller than the threshold value of the torque set for a process that is performed later than this process is set. The threshold value of the torque in the first process is denoted as Th1, the threshold value of the torque in the second process is denoted as Th2, and the threshold value of the torque in the third process is denoted as Th3. The threshold value Th1 of the torque in the first process is also referred to as the "first threshold value". The threshold value Th2 of the torque in the second process is also referred to as the "second threshold value". The threshold value Th2 in the second process is set to be a larger value than the threshold value Th1 in the first process. In addition, the threshold value Th3 in the third process is set to be a larger value than the threshold value Th2 in the second process. As described above, the threshold value of the torque set for a certain process is set to be a larger value than the threshold value of the torque set for a process that is performed earlier than this process. In the production method of assembling components to the unfinished vehicle 100, since the weight of the vehicle 100 gradually increases, the threshold value of the torque in a certain process is set to be greater than the threshold value in a process that is performed earlier than this process, so that an abnormality in the torque can be accurately detected.

[0069] The weight of the vehicle 100 when each process is completed is determined based on the types, quantities, etc. of the components assembled to the vehicle 100 during that process. The torque required for the vehicle 100 to travel can be calculated based on the weight of the vehicle 100 when each process is completed. Figure 5 The threshold value of the torque for each process set in the torque table TT shown is set based on the torque required for the vehicle 100 to travel in each process.

[0070] In this embodiment, the process in which the vehicle 100 is located is determined as follows. For example, in Figure 1 the example shown, the first process is performed at the first location PL1, the second process is performed at the second location PL2, and the third process is performed at the third location PL3.

[0071] When the vehicle 100 has completed the first process, the assembly of the components to the vehicle 100 in the first process is completed. In this case, the current process of the vehicle 100 is determined to be the first process. Even when the vehicle 100 is traveling on the road TR connecting the first location PL1 and the second location PL2, the first process is completed, so that the current process of the vehicle 100 is determined to be the first process.

[0072] In addition, when the vehicle 100 enters the second location PL2 and starts the second process, but the second process has not been completed, at least the first process is completed. In this case, the current process of the vehicle 100 is determined to be the first process.

[0073] When the second process of the vehicle 100 is completed, the assembly of components onto the vehicle 100 in the second process is completed. In this case, the current process of the vehicle 100 is determined to be the second process. Even when the vehicle 100 is traveling on the road TR connecting the second location PL2 and the third location PL3, the second process is completed, and thus the current process of the vehicle 100 is determined to be the second process.

[0074] In addition, when the vehicle 100 enters the third location PL3 and the third process has started but the third process has not been completed, at least the second process is completed. In this case, the current process of the vehicle 100 is determined to be the second process.

[0075] When the vehicle 100 completes the third process, the assembly of components onto the vehicle 100 in the third process is completed. In this case, the current process of the vehicle 100 is determined to be the third process.

[0076] In Figure 4 In step S15 shown, the processor 201 determines whether there is an abnormality in the torque of the vehicle 100 based on whether the torque value supplied from the vehicle 100 is greater than or equal to the threshold value set for the current process. For example, assume that the current process is the first process. In this case, the processor 201 determines whether the torque value supplied from the vehicle 100 is equal to or greater than the threshold value Th1 set for the first process. When the torque value is equal to or greater than the threshold value Th1, the processor 201 determines that there is an abnormality in the torque. In addition, when the torque value is less than the threshold value Th1, the processor 201 determines that there is no abnormality in the torque.

[0077] When the processor 201 determines that the torque value is equal to or greater than the set threshold value, that is, when it determines that there is an abnormality in the torque (step S15; Yes), the processor 201 executes the process of step S18. On the other hand, when the processor 201 determines that the torque value is less than the set threshold value, that is, when the torque is normal (step S15; No), Figure 4 the process shown in

[0078] In step S18, the processor 201 generates a driving control signal for emergency stop of the vehicle 100. The driving control signal for emergency stop instructs the vehicle 100 to stop traveling. The driving control signal includes the target stop location, the target deceleration, the target steering angle, etc. calculated by using the current position of the vehicle 100, the traveling speed of the vehicle 100, etc.

[0079] In step S20, the processor 201 transmits the generated driving control signal for emergency stop to the vehicle 100. As in Figure 3 step S5 of Figure 3In step S6, the processor 111 of the vehicle 100 controls the driving of the vehicle 100 based on the driving control signal. As a result, the vehicle 100 stops. In this embodiment, when an abnormality has occurred in the torque of the vehicle 100, the processor 201 changes the control content of the vehicle 100 by stopping the driving of the vehicle 100. In this way, appropriate driving control of the vehicle 100 can be executed in response to the occurrence of an abnormality in the output torque.

[0080] In this embodiment, based on whether the torque of the vehicle 100 corresponds to the current process, an abnormality in the torque is detected. Therefore, in a production method of assembling components while driving a vehicle 100 in an unfinished state, the output torque of the vehicle can be monitored based on changes in the state of the vehicle 100. In addition, an abnormality in the output torque can be easily detected by using a threshold value of the output torque set for each process. In a vehicle 100 that is unmanned via remote control, when an abnormality has occurred in the torque, appropriate driving control of the vehicle, such as stopping the unmanned driving via remote control, can be executed. B. Second Embodiment:

[0081] In the second embodiment, the configuration different from that in the first embodiment will be mainly described, and the description of the same configuration as that in the first embodiment will be omitted.

[0082] In the second embodiment, different torque-related criteria from those in the first embodiment are used to determine whether there is an abnormality in the torque. In the second embodiment, when at least a part of the waveform representing the time-series change of the torque of the vehicle 100 matches a preset pattern shape, it is determined that there is an abnormality in the torque.

[0083] Figure 7 is a flowchart showing the processing flow for monitoring torque in the second embodiment. By executing the processing shown in Figure 7 , the torque of the traveling vehicle 100 is monitored. Figure 7 The processing shown in is executed by the processor 111 serving as the vehicle controller 115 and the processor 201 serving as the process acquisition unit 210, the torque acquisition unit 220, and the abnormality detection unit 230. In Figure 7 , the same processing as that in the first embodiment is denoted by the same reference numerals. Further, the processing of steps S11 to S14 is the same as that in the first embodiment, and thus the description thereof will be omitted.

[0084] In step S16, it is determined whether there is an abnormality in the torque by using the waveform representing the time-series change of the torque. Specifically, first, the processor 201 generates a waveform representing the time-series change of the torque by using the torque values received from the vehicle 100 within a period of time from now backwards.

[0085] Figure 8 This is a diagram showing an example of a waveform when an abnormality has occurred in the torque. When at least a part of the waveform representing the time-series change of the torque includes a part corresponding to a preset pattern shape, the processor 201 determines that there is an abnormality in the torque. In this embodiment, the set pattern shape is a linear shape. In Figure 8 the example shown in

[0086] In Figure 7 step S16 shown in Figure 7 when the processor 201 determines that there is an abnormality in the torque (step S16; YES), the processor 201 executes the process of step S18. On the other hand, when the processor 201 determines that the torque is normal (step S18; NO),

[0087] the process shown in ends. Steps S18 and S20 are the same as those in the first embodiment, and thus their descriptions will be omitted.

[0088] In the first embodiment and the like, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 100. Alternatively, the processor 201 may generate a driving control signal to be transmitted to the vehicle 100 based on the operation of an external operator located outside the vehicle 100. For example, the external operator may operate an operating device that includes a display for displaying a captured image output from the external sensor 300, a steering wheel, an accelerator pedal, and a brake pedal for remotely operating the vehicle 100, and a communication device that communicates with the server 200 via wired communication or wireless communication. The server 200 may generate a driving control signal in response to the operation applied to the operating device.

[0089] Figure 9 This is a flowchart showing the processing flow for monitoring torque according to the third embodiment. Figure 9The processing shown in is executed by the processor 111 that serves as the vehicle controller 115 and the processor 201 that serves as the process acquisition unit 210, the torque acquisition unit 220, and the abnormality detection unit 230. In Figure 9 For the processing that is the same as the processing in the first embodiment, the same reference numerals are used to denote them. Further, the processing from steps S11 to S15 is the same as that in the first embodiment, and thus its description will be omitted.

[0090] When the processor 201 determines that there is an abnormality in the torque (step S15; YES), the processor 201 executes the processing of step S19. Specifically, when the torque value is equal to or greater than the threshold value set for the current process, the processor 201 determines that there is an abnormality in the torque. On the other hand, when the processor 201 determines that there is no abnormality in the torque (step S15; NO), Figure 9 the processing shown in ends.

[0091] In step S19, since an abnormality has occurred in the torque, the processor 201 outputs an image for sending a notification that there is an abnormality in the torque to the display used by the operator to remotely operate the vehicle 100, and sends an instruction to perform an emergency stop of the vehicle 100. As a result, the operator stops the running of the vehicle 100 based on the emergency stop instruction. Thereafter, Figure 9 the processing shown in ends.

[0092] In the present embodiment, as in the first embodiment, based on whether the output torque corresponds to the current process, an abnormality in the output torque of the vehicle 100 is detected, so that the output torque of the vehicle 100 can be monitored according to the change in the state of the vehicle 100 in the production method of assembling components while running the vehicle 100 in an unfinished state. In the vehicle 100 that is unmanned via remote control, when an abnormality has occurred in the torque, appropriate driving control of the vehicle, such as stopping the unmanned driving via remote control, can be executed. D. Fourth Embodiment:

[0093] Figure 10 is a diagram showing a schematic configuration of a system 50v according to the fourth embodiment. In the present embodiment, the system 50v is different from that in the first embodiment in that the server 200 is not provided. Further, the vehicle 100v according to the present embodiment can run via autonomous control of the vehicle 100v. Unless otherwise described, other configurations are the same as those in the first embodiment. The vehicle control device 110v is composed of a computer including a processor 111v, a memory 112v, an input / output interface 113, and an internal bus 114. Hereinafter, the configurations different from those in the first embodiment will be mainly described, and the description of the same configurations will be omitted.

[0094] The memory 112v pre-stores a program PG1v, a reference route RR indicating the route along which the vehicle 100 should travel, a detection model DM, a torque table TT, and the like.

[0095] In the present embodiment, the processor 111v of the vehicle control device 110v executes the program PG1v stored in the memory 112v to function as a vehicle controller 115v, a process acquisition unit 121, a torque acquisition unit 122, an abnormality detection unit 123, and a position estimation unit 124.

[0096] The vehicle controller 115v can obtain the output result of the sensor, generate a driving control signal by using the output result, and output the generated driving control signal to operate the actuator group 120, so that the vehicle 100v travels via autonomous control.

[0097] The process acquisition unit 121 acquires process information indicating the current process in which the vehicle 100 is located in a manner similar to the process acquisition unit 210 according to the first embodiment. The torque acquisition unit 122 acquires torque information regarding the torque of the vehicle 100 in a manner similar to the torque acquisition unit 220 according to the first embodiment. The abnormality detection unit 123 detects an abnormality in the torque of the vehicle 100 by determining whether the torque output by the vehicle 100 corresponds to the current process in a manner similar to the abnormality detection unit 230 according to the first embodiment by using the process information and the torque information. The position estimation unit 124 estimates the position and orientation of the vehicle 100 by using the detection result output from the external sensor 300 in a manner similar to the position estimation unit 240 according to the first embodiment.

[0098] Figure 11 is a flowchart showing the processing flow of the driving control of the vehicle 100v according to the fourth embodiment. The processor 111v serving as the vehicle controller 115v executes Figure 11 the processing shown in.

[0099] In step S101, the processor 111v uses the detection result output from the camera, which is an external sensor 300, to obtain vehicle position information. In step S102, the processor 111v determines the target position to which the vehicle 100v should next travel. In step S103, the processor 111v generates a driving control signal for causing the vehicle 100v to travel toward the determined target position. In step S104, the processor 111v controls the actuator group 120 by using the generated driving control signal, so that the vehicle 100v travels according to the parameters indicated by the driving control signal. The processor 111v repeatedly executes the acquisition of vehicle position information, the determination of the target position, the generation of the driving control signal, and the control of the actuator at a predetermined cycle. With the system 50v according to the present embodiment, the vehicle 100v can be made to travel via autonomous control of the vehicle 100v without the server 200 remotely controlling the vehicle 100v.

[0100] Figure 12 is a flowchart showing the processing flow of the estimation process. Figure 12 The processing shown in is executed by the processor 111v serving as the vehicle controller 115v, the process acquisition unit 121, the torque acquisition unit 122, and the abnormality detection unit 123.

[0101] In step S211, the processor 111v obtains, as torque information, the torque value acting on the drive wheels of the vehicle 100 based on the electric signal indicating torque supplied from the torque sensor 140. The processor 111v repeatedly executes the processing after step S211 at a predetermined time interval, for example, from the time point when the vehicle 100 starts traveling.

[0102] In step S214, the processor 111v obtains the process information of the vehicle 100 by querying a host server (not shown) about the process information of the vehicle 100. The process information indicates the current process in which the vehicle 100 is located.

[0103] In step S215, the processor 111v determines whether there is an abnormality in the torque of the vehicle 100 by referring to the torque table TT stored in the memory 112v based on whether the torque value is equal to or greater than the threshold set for the current process. When the processor 111v determines that the torque value is equal to or greater than the threshold set for the current process (step S215; YES), the processor 111v executes the processing of step S218. On the other hand, when the processor 111v determines that the torque value is less than the threshold (step S215; NO), Figure 12 the processing shown in ends.

[0104] In step S218, the processor 111v generates a driving control signal for an emergency stop of the vehicle 100. The driving control signal includes a target stop point, a target deceleration, a target steering angle, etc. calculated by using the current position of the vehicle 100, the driving speed of the vehicle 100, etc.

[0105] In step S220, the processor 111v controls the actuator group 120 by using the generated driving control signal to stop the driving of the vehicle 100v according to the parameters represented by the driving control signal. In this embodiment, similarly, when an abnormality has occurred in the torque of the vehicle 100v, the vehicle 100v stops. Therefore, appropriate driving control of the vehicle 100v can be executed. In addition, an abnormality in the torque is detected based on whether the torque of the vehicle 100v corresponds to the current process. Therefore, in a production method of assembling components while driving the vehicle 100v in an unfinished state, the output torque of the vehicle can be appropriately monitored according to changes in the state of the vehicle 100v. In addition, an abnormality in the output torque can be easily detected by using a threshold value of the output torque set for each process. In the vehicle 100 performing autonomous driving, when an abnormality has occurred in the torque, appropriate driving control of the vehicle, such as stopping autonomous driving, can be executed. E. Other embodiments:

[0106] (E1) In the second embodiment, an example is described in which the pattern shape set for the waveform representing the time-series change of the torque to detect an abnormality in the torque is a linear shape. In addition, other shapes can be adopted as the set pattern shape. For example, a needle-shaped waveform representing a rapid change in the torque within a very short preset period can be used. In this case, the waveform can represent the torque increasing rapidly and then decreasing, or the torque decreasing rapidly and then increasing. Multiple pattern shapes can be defined to detect an abnormality in the torque. In the configurations according to the first embodiment, the third embodiment, and the fourth embodiment, the method of detecting an abnormality in the torque described in the other embodiment (E1) can be adopted.

[0107] In the second embodiment, regardless of the process, it is determined whether a part of the waveform representing the time-series change of the torque corresponds to a preset pattern shape. However, when the pattern shape is defined, the combination of the pattern shapes for detecting an abnormality can be different for each process.

[0108] (E2) In addition, the method of detecting an abnormality in the torque when a part of the waveform representing the time-series change of the torque described in the second embodiment corresponds to a preset pattern shape, and the method of detecting an abnormality in the torque by using the set threshold value described in the first embodiment can be used in combination. Similarly, in the configurations according to the third embodiment and the fourth embodiment, the above two methods can also be used in combination.

[0109] (E3)In addition, for example, when a rapid change in torque occurs, an abnormality in the torque can be determined. Specifically, when the slope of the waveform representing the time-series change of the torque (the slope of the tangent at a certain point) is equal to or greater than a threshold value, an abnormality in the torque can be determined.

[0110] For example, assume that the time required to reach the target value of the torque in the first process is substantially the same as the time required to reach the target value of the torque in the second process. In this case, the slope of the waveform representing the change in torque in the later-performed second process tends to be greater than the slope of the waveform representing the change in torque in the earlier-performed first process. When comparing the weight of the vehicle 100 before the first process with the weight of the vehicle 100 after the first process, the weight of the vehicle 100 after the first process is greater. Therefore, the torque required for the vehicle 100 to travel after the first process is greater. Therefore, it is desirable to set the threshold value of the slope of the waveform based on the weight of the vehicle, that is, based on the process. Specifically, the threshold value of the slope of the waveform in the later-performed process is greater than the threshold value of the slope of the waveform in the earlier-performed process. In the first embodiment, the third embodiment, and the fourth embodiment, the method of detecting an abnormality in the torque described in the other embodiment (E3) can be adopted.

[0111] (E4)In the first embodiment, the second embodiment, and the fourth embodiment, an example is described in which the processor 201 is used as the remote controller 250, and when an abnormality exists in the torque, a driving control signal for emergency stop of the vehicle 100 is transmitted to the vehicle 100 to perform an emergency stop of the vehicle 100. Alternatively, the processor 201 can generate a driving control signal for sending an instruction to decelerate the vehicle 100 and transmit the generated driving control signal to the vehicle 100. In this case, it is desirable that the speed after deceleration is very low. The vehicle 100 that has received the driving control signal travels while being decelerated. When an abnormality has occurred in the torque of the vehicle 100, the processor 201 changes the control content of the vehicle 100 by driving the vehicle 100 at a low speed. In this way, appropriate driving control of the vehicle 100 can be executed in response to the occurrence of an abnormality in the output torque.

[0112] Alternatively, the processor 201 can transmit a driving control signal for sending an instruction to decelerate the vehicle 100 to the vehicle 100, and then, after a certain period of time, transmit a driving control signal for sending an instruction to stop the vehicle 100 to the vehicle 100. In this case, the vehicle 100 first decelerates and then stops. When an abnormality has occurred in the torque of the vehicle 100, the processor 201 can execute appropriate driving control of the vehicle 100 by driving the vehicle 100 at a low speed.

[0113] (E5) In the fourth embodiment, a configuration for the vehicle 100v to detect an abnormality in the output torque by itself is described. Alternatively, the processor 201, which serves as the abnormality detection unit 230 of the server 200 described in the first embodiment, may detect an abnormality in the output torque of the vehicle 100v. In this case, the vehicle controller 115v of the vehicle 100v periodically transmits a torque value based on the electrical signal representing torque supplied from the torque sensor 140 to the server 200.

[0114] When the processor 201 of the server 200 determines that there is an abnormality in the torque of the vehicle 100v, instead of generating a driving control signal for emergency stop as described in the first embodiment, the processor 201 of the server 200 sends a notification that an abnormality in the torque has been detected. In this case, the processor 201 serves as a notification unit that sends a notification that an abnormality in the torque of the vehicle has been detected. Further, the processor 201 may notify the host server of the abnormality in the torque of the vehicle 100v. The host server may notify the operator of the current position of the vehicle 100v and the occurrence of the abnormality in the torque. As a result, for example, the operator can perform the required processing on the vehicle 100v immediately after parking.

[0115] When the server 200 notifies the vehicle 100v that an abnormality in the torque of the vehicle 100v has been detected, the vehicle 100v stops traveling, thereby changing the control content of the vehicle 100v. Alternatively, the vehicle 100v may change the control content to low-speed traveling. When an abnormality has occurred in the torque of the autonomously driving vehicle 100v, appropriate driving control of the vehicle, such as stopping autonomous driving, can be performed.

[0116] (E6) In the first and second embodiments, when the server 200 detects an abnormality in the torque, the server 200 outputs a signal indicating that the abnormality in the torque has been detected by transmitting a driving control signal for emergency stop to the vehicle 100. Alternatively, the server 200 may output a signal indicating that the abnormality in the torque has been detected by transmitting a driving control signal for emergency stop to the vehicle 100 and notifying the host server or the operator in the factory FC of the detected abnormality in the torque. As a result, for example, the operator can perform the required processing on the vehicle 100v immediately after parking.

[0117] In the third embodiment, the server 200 may output a signal indicating that the abnormality in the torque has been detected by sending a notification of an instruction for emergency stop of the vehicle 100 and notifying the host server or the operator in the factory FC of the detected abnormality in the torque. As a result, for example, the operator can perform the required processing on the vehicle 100v immediately after parking.

[0118] In the fourth embodiment, the vehicle 100v can output a signal indicating an abnormality in the detected torque by performing the emergency stop control of the vehicle 100 and notifying the host server or the operator in the factory FC of the abnormality in the detected torque. As a result, for example, the operator can perform the required processing on the vehicle 100v immediately after stopping the vehicle.

[0119] (E7) In the first embodiment, it was described that since the weight of the vehicle 100 gradually increases, the threshold value of the torque in a certain process is set to be greater than the threshold value in the process that was performed earlier than this process.

[0120] However, the threshold value of the torque in a certain process can be less than the threshold value of the torque in the process that was performed earlier than this process. For example, in a certain process A, the operator can assemble components while being inside the vehicle 100. When process A is completed, the operator gets out of the vehicle 100. In a process B that is performed later than process A, the robot can assemble components without entering the vehicle 100. In this case, the weight of the vehicle 100 in process B is less than the weight of the vehicle 100 with the operator inside in process A, which was performed earlier than process B. In this case, the threshold value of the torque is set for each process based on the assumed weight of the vehicle 100 or the combined weight of the vehicle 100 and the operator.

[0121] (E8) Additionally, in Figure 5 the torque table TT shown, the upper limit value of the set torque is used as the threshold value. However, in the torque table TT, both the upper limit value and the lower limit value of the torque can be set as the threshold values. The lower limit value represents the threshold value below which the torque of the vehicle 100 is not expected to decrease in each process. In this case, the server 200 can detect an abnormality in the torque even when torque for traveling is not required in the corresponding process.

[0122] (E9) In each of the above embodiments, the external sensor 300 is a camera. In contrast, the external sensor 300 is not necessarily always a camera; for example, the external sensor 300 can be a Light Detection And Ranging (LiDAR) as a distance measuring device. In this case, the detection result output by the external sensor 300 can be three-dimensional point cloud data representing the vehicle 100. In this case, the server 200 or the vehicle 100 can obtain the vehicle position information via template matching using the three-dimensional point cloud data as the detection result and the reference point cloud data prepared in advance.

[0123] (E10)In the first embodiment, the server 200 performs the processes from the acquisition of vehicle position information to the generation of a driving control signal. On the other hand, the vehicle 100 can perform at least a part of the processes from the acquisition of vehicle position information to the generation of a driving control signal. For example, the following forms (1) to (3) can be used.

[0124] (1) The server 200 can acquire vehicle position information, determine the target position to which the vehicle 100 should next travel, and generate a route from the current position of the vehicle 100 represented by the acquired vehicle position information to the target position. The server 200 can generate a route to the target position between the current position and the destination, or can also generate a route to the destination. The server 200 can transmit the generated route to the vehicle 100. The vehicle 100 can generate a driving control signal for causing the vehicle 100 to travel on the route received from the server 200, and control the actuator group 120 by using the generated driving control signal.

[0125] (2) The server 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, generate a route from the current position of the vehicle 100 represented by the received vehicle position information to the target position, generate a driving control signal for causing the vehicle 100 to travel on the generated route, and control the actuator group 120 by using the generated driving control signal.

[0126] (3)In each of the above forms (1) and (2), an internal sensor may be installed on the vehicle 100, and the detection result output from the internal sensor may be used for at least one of the generation of the route and the generation of the driving control signal. The internal sensor is a sensor installed in the vehicle 100. The internal sensor may 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, or a sensor that detects 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. For example, in the above form (1), the server 200 may obtain the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. In the above form (1), the vehicle 100 may obtain the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal. In the above form (2), the vehicle 100 may obtain the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. In the above form (2), the vehicle 100 may obtain the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0127] (E11)In the fourth embodiment, an internal sensor may be installed on the vehicle 100v, and the detection result output from the internal sensor may be used for at least one of the generation of the route and the generation of the driving control signal. For example, the vehicle 100v may obtain the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. For example, the vehicle 100v may obtain the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0128] (E12)In the fourth embodiment, the vehicle 100v acquires vehicle position information by using the detection results from the external sensor 300. On the other hand, an internal sensor may be installed in the vehicle 100v, and the vehicle 100v may acquire vehicle position information by using the detection results of the internal sensor, determine the target position to which the vehicle 100v should go next, generate a route from the current position of the vehicle 100v represented by the acquired vehicle position information to the target position, generate a driving control signal for traveling on the generated route, and control the actuator group 120 by using the generated driving control signal. In this case, the vehicle 100v can travel without using the detection results of the external sensor 300 at all. The vehicle 100v may acquire the target arrival time or traffic congestion information from outside the vehicle 100v and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. In addition, all functions of the system 50v may be provided in the vehicle 100v. That is, the processing implemented by the system 50v according to the present disclosure may be implemented by the vehicle 100v alone.

[0129] (E13) The vehicle 100 may be manufactured by combining a plurality of modules. A module refers to a unit composed of a plurality of components assembled depending on a part or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that forms the front part of the platform, a center module that forms the central part of the platform, and a rear module that forms the rear part of the platform. In addition, the number of modules constituting the platform is not limited to 3, and may be 2 or less or 4 or more. Instead of or in addition to the components constituting the platform, the components forming parts different from the platform in the vehicle 100 may be modularized. In addition, various modules may include any external components (such as bumpers or grilles) or any internal components (such as seats or consoles). Such a module can be manufactured, for example, by joining components via welding or fasteners, etc., or by integrally molding at least a part of the components constituting the module into one component via casting. The molding method of integrally molding one component, particularly a relatively large component, is also called giga casting or mega casting. For example, the front module, the center module, and the rear module may be manufactured by using giga casting.

[0130] (E14) The transportation of the vehicle 100 that travels via driverless is also called "autonomous transportation". The configuration for realizing autonomous transportation is also called "vehicle remote control autonomous driving transportation system". The production method of manufacturing the vehicle 100 by using autonomous transportation is also called "autonomous production". In autonomous production, for example, at the factory FC where the vehicle 100 is manufactured, at least a part of the transportation of the vehicle 100 is implemented by autonomous transportation.

[0131] (E15)In each of the above embodiments, part or all of the functions and processes implemented by software can be implemented by hardware. Alternatively, part or all of the functions and processes implemented by hardware can be implemented by software. As the hardware for implementing the various functions in each of the above embodiments, for example, various circuits such as integrated circuits or discrete circuits can be used.

[0132] The present disclosure is not limited to the above embodiments and can be implemented in various configurations without departing from the gist of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each form described in the summary of the invention can be appropriately replaced or combined to solve the above object or achieve part or all of the above effects. When the technical features are not described as always required in this specification, these features can be deleted as appropriate.

Claims

1. A monitoring device for monitoring a vehicle that is a target of a plurality of processes in a factory for manufacturing a vehicle that travels unmanned, characterized in that: The monitoring device comprises: a process acquisition unit configured to acquire process information about a target process among the plurality of processes for the vehicle; a torque acquisition unit configured to acquire torque information regarding an output torque of the vehicle in the targeted process; and A detection unit is configured to detect abnormality in an output torque of the vehicle by using the process information and the torque information.

2. The monitoring device according to claim 1, characterized in that: The detection unit is configured to detect an abnormality in the output torque of the vehicle indicated by the torque information, a process indicated by the process information, and a torque-related standard set in association with the process.

3. The monitoring device according to claim 2, characterized in that: setting a threshold value of the output torque in the process as the torque-related standard; and The detection unit is configured to determine that there is an abnormality in the output torque of the vehicle when the value of the output torque is greater than a threshold value of the output torque.

4. The monitoring device according to claim 3, characterized in that: As the first threshold value of the output torque set for a first step among the plurality of steps, a value smaller than the second threshold value of the output torque set for a second step performed later than the first step is set.

5. The monitoring device according to claim 2, characterized in that: The torque-related standard is a standard related to a waveform representing the output torque acquired in time series.

6. The monitoring device according to any one of claims 1 to 5, characterized in that: The system further comprises a control instruction generating unit, wherein the control instruction generating unit is configured to generate a control instruction for remotely controlling the driving of the vehicle and transmit the generated control instruction to the vehicle, wherein: The detection unit is configured to, when an abnormality in the output torque of the vehicle is detected, notify the control instruction generation unit of the detection of the abnormality in the output torque; and The control command generation unit is configured to generate a control command to stop the vehicle or reduce a running speed of the vehicle to a speed lower than a current speed when being notified of an abnormality in the output torque.

7. The monitoring device according to claim 1, characterized in that: A notification unit is further included, the notification unit being configured to notify the vehicle of the detection of the abnormality in the output torque of the vehicle when the detection unit detects the abnormality in the output torque of the vehicle.

8. In a factory that performs a plurality of processes for manufacturing a vehicle that travels unmanned, a method for monitoring the vehicle that is the subject of the plurality of processes, characterized in that: The method comprises: acquiring, for the vehicle, process information on a target process among the plurality of processes; acquiring torque information regarding output torque of the vehicle in the targeted process; and By using the process information and the torque information, abnormality in the output torque of the vehicle is detected.

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